CN113942381B - Hydraulic hybrid power wheel loader energy optimization method based on working condition mode - Google Patents

Hydraulic hybrid power wheel loader energy optimization method based on working condition mode Download PDF

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CN113942381B
CN113942381B CN202111078690.9A CN202111078690A CN113942381B CN 113942381 B CN113942381 B CN 113942381B CN 202111078690 A CN202111078690 A CN 202111078690A CN 113942381 B CN113942381 B CN 113942381B
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loader
hydraulic accumulator
pressure
energy
hydraulic
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CN113942381A (en
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王峰
吴子晗
徐兵
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
    • B60K6/08—Prime-movers comprising combustion engines and mechanical or fluid energy storing means
    • B60K6/12—Prime-movers comprising combustion engines and mechanical or fluid energy storing means by means of a chargeable fluidic accumulator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L7/00—Electrodynamic brake systems for vehicles in general
    • B60L7/10—Dynamic electric regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • 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
    • 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
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84—Data processing systems or methods, management, administration
    • 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
    • Y02T10/80—Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/92—Energy efficient charging or discharging systems for batteries, ultracapacitors, supercapacitors or double-layer capacitors specially adapted for vehicles

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The invention discloses an energy optimization method of a hydraulic hybrid power wheel loader based on a working condition mode. Comprising the following steps: dividing the working modes of the loader based on the power requirements of the loader under the current working condition; according to the working mode of the loader, setting a pressure state change curve of a hydraulic accumulator of the loader; and repeating the current working condition of the loader, optimizing the pressure state change curve of the hydraulic accumulator of the loader according to the energy consumption of the loader, obtaining the optimized pressure state change curve of the hydraulic accumulator, optimizing energy distribution and an engine working point by using the optimized pressure state change curve of the hydraulic accumulator, and finally improving the energy conversion efficiency and the power performance of the loader. The invention realizes energy recovery, reduces emission and improves the dynamic performance of the vehicle.

Description

Hydraulic hybrid power wheel loader energy optimization method based on working condition mode
Technical Field
The invention belongs to a loader energy optimization method in the field of engineering machinery, and relates to a hydraulic hybrid power wheel loader energy optimization method based on a working condition mode.
Background
In recent years, in order to achieve the objective of "carbon neutralization", a series of emission standards have been established by the country for non-road mobile vehicles such as construction machines, agricultural machines. In order to reduce carbon emissions of engineering machinery, hybrid power is an important development trend of a vehicle power system at present. The hybrid power vehicle can be combined with the engine through the auxiliary power source, so that the working state of the engine is optimized, the oil consumption is reduced, and the carbon emission is reduced.
In road vehicles, hybrid power technology has been widely applied, but the existing energy optimization method of road vehicles is not suitable for working conditions with high repeatability and predictability of engineering machinery, and the working cycle of the engineering machinery has greater energy recovery potential.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide an energy optimization method of a hydraulic hybrid power wheel loader based on a working condition mode, which is suitable for the hydraulic hybrid power wheel loader and realizes the distribution of required power between a main power source and a hydraulic energy accumulator. Compared with the existing energy optimization method, the method is suitable for working conditions of engineering machinery, energy recovery is achieved through the hydraulic energy accumulator, energy is saved, and meanwhile power performance of the system is improved.
The invention is simple enough and can be widely applied to real-time control of the wheel loader by determining the SOC change curve of the hydraulic accumulator to recover the braking energy aiming at the working cycle of the wheel loader. The invention has certain adaptability, optimizes the strategy by parameter training aiming at the repeated working condition, improves the maximum output power, reduces the peak value of the output power of the main power source and improves the energy conversion efficiency.
The technical scheme of the invention is as follows:
the invention comprises the following steps:
step 1: dividing the working modes of the loader based on the power requirements of the loader under the current working condition;
step 2: according to the working mode of the loader, setting a pressure state change curve of a hydraulic accumulator of the loader;
step 3: and repeating the current working condition of the loader, optimizing the pressure state change curve of the hydraulic accumulator of the loader according to the energy consumption of the loader, obtaining the optimized pressure state change curve of the hydraulic accumulator, optimizing energy distribution and an engine working point by using the optimized pressure state change curve of the hydraulic accumulator, and finally improving the energy conversion efficiency and the power performance of the loader.
In the step 1, the working modes of the loader are divided into a starting mode, an accelerating mode and a decelerating mode.
When the loader is in the starting mode, the power requirement of the loader is low, and the main power source of the loader supplies energy; when the loader is in the acceleration mode, the power requirement of the loader is high, and the main power source and the hydraulic accumulator of the loader jointly provide energy; when the loader is in the deceleration mode, the power requirement of the loader is negative, the loader stores energy in the hydraulic accumulator after energy is recovered, and the energy in the deceleration mode is provided by a main power source and a braking source of the loader.
When the loader is in the starting mode, the pressure of a hydraulic accumulator of the loader is kept unchanged; when the loader is in the acceleration mode, the hydraulic accumulator of the loader releases energy, and the pressure of the hydraulic accumulator is reduced along with time; when the loader is in the deceleration mode, the hydraulic accumulator of the loader is charged and discharged for energy storage, the pressure of the hydraulic accumulator is increased along with time, and finally the pressure returns to the initial pressure.
The step 3 specifically comprises the following steps:
3.1 According to the pressure state change curve of the hydraulic accumulator of the loader, determining the maximum value and the minimum value of the pressure of the hydraulic accumulator and the energy consumption of the loader under the current pressure state change curve of the hydraulic accumulator, and setting the lower limit of the maximum value and the lower limit of the minimum value of the pressure of the hydraulic accumulator;
3.2 Under the maximum value of the current hydraulic accumulator pressure, reducing the minimum value of the hydraulic accumulator pressure with a preset step length, updating the pressure state change curve of the hydraulic accumulator, repeating the current working condition of the loader, and calculating the loader energy under the updated pressure state change curve of the hydraulic accumulator;
3.3 Continuously repeating the step 3.2) until the minimum value of the hydraulic accumulator pressure is smaller than the lower limit of the minimum value, obtaining the energy of the loader corresponding to the minimum value of each hydraulic accumulator pressure under the maximum value of the current hydraulic accumulator pressure, and selecting the minimum value of the hydraulic accumulator pressure corresponding to the lowest energy of the loader as the minimum value of the optimal hydraulic accumulator pressure corresponding to the maximum value of the current hydraulic accumulator pressure;
3.4 Reducing the maximum value of the hydraulic accumulator pressure under the preset step length, and continuously repeating the steps 3.2) -3.3) until the maximum value of the hydraulic accumulator pressure is smaller than the lower limit of the maximum value, and obtaining the minimum value of the optimal hydraulic accumulator pressure corresponding to the maximum value of each hydraulic accumulator pressure and the energy consumption of the loader;
3.5 Selecting the maximum value of the hydraulic accumulator pressure with the lowest energy consumption in the step 3.4) and the minimum value of the corresponding optimal hydraulic accumulator pressure as the maximum value and the minimum value of the optimal hydraulic accumulator pressure, and obtaining an optimized hydraulic accumulator pressure state change curve;
the beneficial effects of the invention are as follows:
1) The working cycle of the loader is analyzed, the requirements of the loader on power and energy consumption in each working stage are fully known, the energy distribution of the two power sources is determined according to the power requirements of the loader, the maximum power requirements of the main power source are reduced, the power performance of the loader is improved, and the energy recovery is realized.
2) According to the invention, the SOC change curve of the hydraulic accumulator is optimized in real time, so that the power performance of the loader is further improved, and the fuel consumption is reduced.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic diagram of a mode cut versus hydraulic accumulator SOC curve of the present invention;
FIG. 3 is a parametric training flow chart of the hydraulic accumulator SOC curve of the present invention;
FIG. 4 is a schematic diagram of a tandem oil hybrid wheel loader;
FIG. 5 is a control schematic of the loader;
in the figure, 1, an engine, 2, a main pump, 3, a one-way valve, 4, a high-pressure energy accumulator, 5, a speed reduction system, wheels, 6, a hydraulic motor, 7, a low-pressure energy accumulator, 8, an overflow valve, 9, an oil tank, 10, a make-up pump, 11 and a second one-way valve.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clear, the present invention will be described in further detail with reference to the accompanying drawings.
In this embodiment, as shown in fig. 4, the loader is in a tandem type oil hybrid wheel loader configuration, and includes an engine 1, a main pump 2, a first check valve 3, a high-pressure accumulator 4, a deceleration system and wheels 5, a hydraulic motor 6, a low-pressure accumulator 7, an overflow valve 8, an oil tank 9, a supplemental pump 10, and a second check valve 11.
An output shaft of the engine 1 is coaxially connected with an input shaft of the main pump 2, an output shaft of the main pump 2 is coaxially connected with an input shaft of the oil supplementing pump 10, an oil inlet of the oil supplementing pump 10 is communicated with the oil tank 9, an oil outlet of the oil supplementing pump 10 is communicated with an oil inlet of the second one-way valve 11, an oil outlet of the second one-way valve 11 is communicated with the oil tank through the overflow valve 8, the oil inlet of the main pump 2, the oil outlet of the oil supplementing pump 10, an oil inlet and outlet of the low-pressure accumulator 7 and a low-pressure oil inlet and outlet of the hydraulic motor 6 are mutually communicated, the oil outlet of the main pump 2 is communicated with an oil inlet of the first one-way valve 3, and the oil inlet and outlet of the high-pressure accumulator 4 and a high-pressure oil inlet and outlet of the hydraulic motor 6 are mutually communicated; the output shaft of the hydraulic motor 6 is coaxially connected with the input shaft of the wheels 5 and the reduction system. The high-pressure accumulator 4 and the low-pressure accumulator 7 form a hydraulic accumulator of the loader, the engine 1 is a main power source of the loader, and the hydraulic motor 6, the speed reducing system and the wheels 5 form a braking source of the loader.
The main loop of the hydraulic driving module of the serial oil hybrid power wheel loader consists of a main pump, a hydraulic motor, a high-pressure energy accumulator and a one-way valve which are connected in series, wherein the engine drives the main pump to provide power, the high-pressure energy accumulator is used for storing hydraulic energy for assisting in energy supply, the one-way valve is used for limiting the steering and energy flow direction of the main pump, and the hydraulic motor drives wheels of the loader through a speed reducer; the hydraulic oil supplementing loop of the serial oil hybrid power wheel loader consists of an oil supplementing pump, an overflow valve, a low-pressure energy accumulator and a one-way valve, wherein the oil supplementing pump is driven by an engine and is mainly used for supplementing oil when a main pump runs at a high speed, the low-pressure energy accumulator is mainly used for supplementing oil when the rotating speed of the main pump is low, and the one-way valve and the overflow valve are used for guaranteeing the safety of the loop.
As shown in fig. 1, the present invention comprises the steps of:
step 1: the operating modes of the loader are divided based on the power requirements of the loader under the current operating conditions. In this embodiment, the current working condition specifically operates according to a certain rule, the speed curve is fitted by using a cosine function, and the operation is repeated, as shown in fig. 2;
in this embodiment, the formula fit for the primary motion speed in the wheel loader operating cycle is as follows:
v(t)＝v_0/2-v_0/2cos(2πt/T)
where v_0 is the maximum speed of the loader movement, T is the total time of one movement, T represents the moment, and v (T) represents the speed of the loader.
The invention relates to a typical working cycle of a wheel loader, which can be decomposed into a plurality of unidirectional motions, aiming at the characteristics of high repeatability and predictability of the working cycle of the loader, the invention divides one motion into three stages of a starting mode, an accelerating mode and a decelerating mode, and the characteristics of each mode are as follows:
start mode: the starting mode is 0-t_1s after the movement starts, the speed is low when the vehicle is started, the acceleration is low, and the overall power requirement is low;
acceleration mode: after the starting mode is finished, t_1-t_2+t_1 seconds are taken as an acceleration mode, the duration time is t_2, the average speed is higher in the vehicle acceleration mode, the average acceleration is higher, and the overall power requirement is higher;
deceleration mode: after the acceleration mode is finished, t_1+t_2-t_1+t_2+t_3 seconds are taken as a deceleration mode, the duration of vehicle deceleration and braking is t_3, the vehicle speed reduction acceleration is a negative value, and the braking energy is reversely input into a hydraulic system to be recovered.
Step 2: according to the working mode Of the loader, a pressure State change curve (State Of Charge curve, abbreviated as SOC curve) Of a hydraulic accumulator Of the loader is set, as shown in FIG. 2, and FIG. 2 shows a speed curve, an SOC change curve and a mode division condition Of one movement. The one-time motion time is T=t_1+t_2+t_3, wherein t_1, t_2 and t_3 are the duration time of starting, accelerating and decelerating modes respectively, and the SOC curve is a cosine curve, so that the sudden change of the pressure change rate is prevented from generating impact on the pump-motor of the hydraulic system. The pressure state change curve of the hydraulic accumulator is related to the current working condition.
When the loader is in a starting mode, the power requirement of the loader is low, and the main power source of the loader supplies energy; when the loader is in an acceleration mode, the power requirement of the loader is high, and the main power source and the hydraulic accumulator of the loader jointly provide energy; when the loader is in a deceleration mode, the power requirement of the loader is negative, the loader stores energy in the hydraulic accumulator after energy is recovered, and the energy in the deceleration mode is provided by a main power source and a braking source of the loader.
When the loader is in a starting mode, the pressure of a hydraulic accumulator of the loader is kept unchanged; when the loader is in an acceleration mode, the hydraulic accumulator of the loader releases energy, the pressure of the hydraulic accumulator is reduced along with time, and the pressure of the hydraulic accumulator reaches a minimum value SOC_l after the acceleration mode is finished; when the loader is in a deceleration mode, the hydraulic accumulator of the loader is charged in and out, the pressure of the hydraulic accumulator rises along with time, finally the initial pressure SOC_h is returned, and the next movement is ready to start.
Step 3: and repeating the current working condition of the loader, optimizing the pressure state change curve of the hydraulic accumulator of the loader according to the energy consumption of the loader, obtaining the optimized pressure state change curve of the hydraulic accumulator, optimizing energy distribution and an engine working point by using the optimized pressure state change curve of the hydraulic accumulator, and finally improving the energy conversion efficiency and the power performance of the loader.
As shown in fig. 3, step 3 specifically includes:
3.1 Determining the maximum value SOC_h and the minimum value SOC_l of the hydraulic accumulator pressure and the loader energy consumption under the current hydraulic accumulator pressure state change curve according to the hydraulic accumulator pressure state change curve of the loader, and setting the lower limit of the maximum value and the lower limit of the minimum value of the hydraulic accumulator pressure;
3.2 Under the maximum value of the current hydraulic accumulator pressure, reducing the minimum value of the hydraulic accumulator pressure with a preset step length, updating the pressure state change curve of the hydraulic accumulator, repeating the current working condition of the loader, and calculating the loader energy under the updated pressure state change curve of the hydraulic accumulator;
3.3 Continuously repeating the step 3.2) until the minimum value of the hydraulic accumulator pressure is smaller than the lower limit of the minimum value, obtaining the energy of the loader corresponding to the minimum value of each hydraulic accumulator pressure under the maximum value of the current hydraulic accumulator pressure, and selecting the minimum value of the hydraulic accumulator pressure corresponding to the lowest energy of the loader as the minimum value of the optimal hydraulic accumulator pressure corresponding to the maximum value of the current hydraulic accumulator pressure;
3.4 Reducing the maximum value of the hydraulic accumulator pressure under the preset step length, and continuously repeating the steps 3.2) -3.3) until the maximum value of the hydraulic accumulator pressure is smaller than the lower limit of the maximum value, and obtaining the minimum value of the optimal hydraulic accumulator pressure corresponding to the maximum value of each hydraulic accumulator pressure and the energy consumption of the loader;
3.5 In the specified training time, selecting the maximum value of the hydraulic accumulator pressure with the lowest energy consumption in the step 3.4) and the corresponding minimum value of the optimal hydraulic accumulator pressure as the maximum value and the minimum value of the optimal hydraulic accumulator pressure to obtain an optimized hydraulic accumulator pressure state change curve;
in this embodiment, the equation of the SOC variation curve of the hydraulic accumulator set in the energy distribution strategy is as follows:
start mode (0 to t_1):
SOC(t)＝SOC_h
acceleration modes (t_1 to t_2+t_1):
SOC(t)＝((SOC_h+SOC_l))/2+((SOC_h-SOC_l))/2 cos(π/t_2(t-t_1))
deceleration patterns (t_1+t_2 to t_1+t_2+t_3):
SOC(t)＝((SOC_h+SOC_l))/2-((SOC_h-SOC_l))/2cos(π/t_3(t-t_1-t_2))
where t_1, t_2, t_3 are the start, acceleration, deceleration pattern durations.
As shown in fig. 5, the high pressure accumulator pressure closed loop control principle is shown. In the embodiment, the loader driving system is provided with two controllers, the pressure controller is used for controlling the high-pressure accumulator SOC, and the control variable is the output torque of the engine; the speed controller is used for controlling the speed of the wheel loader, and the control variable is the main pump displacement.
The invention realizes the recovery of braking energy, can be applied to an oil hybrid power wheel loader, optimizes the working state of an engine, can perform parameter optimization, reduces energy consumption and has good instantaneity.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the design of the present invention.

Claims (4)

1. The hydraulic hybrid power wheel loader energy optimization method based on the working condition mode is characterized by comprising the following steps of:
step 1: dividing the working modes of the loader based on the power requirements of the loader under the current working condition;
step 2: according to the working mode of the loader, setting a pressure state change curve of a hydraulic accumulator of the loader;
step 3: repeating the current working condition of the loader, optimizing the pressure state change curve of the hydraulic accumulator of the loader according to the energy consumption of the loader, obtaining an optimized pressure state change curve of the hydraulic accumulator, optimizing energy distribution and an engine working point by using the optimized pressure state change curve of the hydraulic accumulator, and finally improving the energy conversion efficiency and the power performance of the loader;
the step 3 specifically comprises the following steps:
3.1 According to the pressure state change curve of the hydraulic accumulator of the loader, determining the maximum value and the minimum value of the pressure of the hydraulic accumulator and the energy consumption of the loader under the current pressure state change curve of the hydraulic accumulator, and setting the lower limit of the maximum value and the lower limit of the minimum value of the pressure of the hydraulic accumulator;
3.2 Under the maximum value of the current hydraulic accumulator pressure, reducing the minimum value of the hydraulic accumulator pressure with a preset step length, updating the pressure state change curve of the hydraulic accumulator, repeating the current working condition of the loader, and calculating the loader energy under the updated pressure state change curve of the hydraulic accumulator;
3.3 Continuously repeating the step 3.2) until the minimum value of the hydraulic accumulator pressure is smaller than the lower limit of the minimum value, obtaining the energy of the loader corresponding to the minimum value of each hydraulic accumulator pressure under the maximum value of the current hydraulic accumulator pressure, and selecting the minimum value of the hydraulic accumulator pressure corresponding to the lowest energy of the loader as the minimum value of the optimal hydraulic accumulator pressure corresponding to the maximum value of the current hydraulic accumulator pressure;
3.4 Reducing the maximum value of the hydraulic accumulator pressure under the preset step length, and continuously repeating the steps 3.2) -3.3) until the maximum value of the hydraulic accumulator pressure is smaller than the lower limit of the maximum value, and obtaining the minimum value of the optimal hydraulic accumulator pressure corresponding to the maximum value of each hydraulic accumulator pressure and the energy consumption of the loader;
3.5 Selecting the maximum value of the hydraulic accumulator pressure with the lowest energy consumption in the step 3.4) and the minimum value of the corresponding optimal hydraulic accumulator pressure as the maximum value and the minimum value of the optimal hydraulic accumulator pressure, and obtaining an optimized hydraulic accumulator pressure state change curve.
2. The method for optimizing energy of a hydraulic hybrid wheel loader according to claim 1, wherein in step 1, the working modes of the loader are divided into a start mode, an acceleration mode and a deceleration mode.
3. A method of optimizing the energy of a hydraulic hybrid wheel loader based on a duty mode according to claim 2, characterized in that when the loader is in said start mode, the power demand of the loader is low, the energy being supplied by the main power source of the loader; when the loader is in the acceleration mode, the power requirement of the loader is high, and the main power source and the hydraulic accumulator of the loader jointly provide energy; when the loader is in the deceleration mode, the power requirement of the loader is negative, the loader stores energy in the hydraulic accumulator after energy is recovered, and the energy in the deceleration mode is provided by a main power source and a braking source of the loader.
4. A method of optimizing the energy of a hydraulic hybrid wheel loader based on a duty mode according to claim 2, characterized in that the hydraulic accumulator pressure of the loader remains unchanged when the loader is in the start mode; when the loader is in the acceleration mode, the hydraulic accumulator of the loader releases energy, and the pressure of the hydraulic accumulator is reduced along with time; when the loader is in the deceleration mode, the hydraulic accumulator of the loader is charged and discharged for energy storage, the pressure of the hydraulic accumulator is increased along with time, and finally the pressure returns to the initial pressure.
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