Method, processor and crane for controlling a hydraulic auxiliary drive system

Abstract

Embodiments of the present application provide a method, a processor, a crane and a machine readable storage medium for controlling a hydraulic auxiliary drive system. The method comprises: determining a first torque output by a mechanical drive axle of the crane; determining a second torque output by a hydraulic drive axle; and adjusting the magnitude of the torque output by the hydraulic drive axle if the difference between the first torque and the second torque is greater than a preset difference. Through the above technical solution, the torque output by the hydraulic drive axle and the torque output by the mechanical drive axle can satisfy a set distribution relationship, thereby reducing the unnecessary consumption of power between different power sources and improving the power performance and economy of the vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to a method for controlling a hydraulic auxiliary driving system, a processor, a crane and a machine readable storage medium. BACKGROUND

[0002] Large cranes are mainly used in the markets of city construction, bridge, wind power and the like, and are widely distributed in plains, hills and mountains. With the rapid development of the market, users have higher requirements for the power performance of crane load transfer, and the traditional chassis engine driven mechanical drive axle has reached its maximum capacity due to the constraints of conditions. Therefore, driving a hydraulic drive axle by using a hydraulic auxiliary driving system to provide additional power has become one of the main research directions.

[0003] In the prior art, the hydraulic auxiliary driving system usually adopts an open-loop control strategy. After the vehicle confirms the use of the hydraulic drive function and determines that the set conditions are met, the hydraulic auxiliary driving system is started to drive, and the hydraulic drive axle is controlled to reach the set torque and vehicle speed. In the existing control strategy, the torque output by the hydraulic drive axle is a fixed value. However, the torque of the mechanical drive axle gradually changes during the starting process of the crane. The torque of the hydraulic drive axle and the torque of the mechanical drive axle do not match during the starting process, which will cause the useless consumption of power between different power sources, thereby reducing the power performance and economy of the vehicle. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a method for controlling a hydraulic auxiliary driving system, a processor, a crane and a machine readable storage medium.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a method for controlling a hydraulic auxiliary driving system, applied to a crane, the hydraulic auxiliary driving system comprising a hydraulic drive axle, and the method comprising:

[0006] determining a first torque output by a mechanical drive axle of the crane;

[0007] determining a second torque output by the hydraulic drive axle;

[0008] in the case where the difference between the first torque and the second torque is greater than a preset difference value, adjusting the size of the torque output by the hydraulic drive axle.

[0009] Optionally, determining the first torque output by the mechanical drive axle of the crane comprises:

[0010] obtaining the speed of a chassis engine of the crane and the load rate of the chassis engine;

[0011] determining the torque of the chassis engine according to the speed of the chassis engine, the load rate of the chassis engine and the external characteristic curve of the chassis engine;

[0012] The first torque is determined according to a torque of a chassis engine, a gear of a transmission of the crane and a transmission speed ratio of a mechanical transmission chain of the crane.

[0013] Optionally, the hydraulic auxiliary driving system further comprises a hydraulic driving motor;

[0014] The second torque output by the hydraulic driving axle is determined, comprising:

[0015] The pressure of the hydraulic driving motor and the displacement of the hydraulic driving motor are acquired;

[0016] The second torque is determined according to the pressure of the hydraulic driving motor, the displacement of the hydraulic driving motor and the transmission speed ratio of the hydraulic driving axle.

[0017] Optionally, the size of the torque output by the hydraulic driving axle is adjusted, comprising:

[0018] The displacement of the hydraulic driving motor is adjusted to adjust the size of the torque output by the hydraulic driving axle.

[0019] Optionally, the method further comprises:

[0020] The size of the torque output by the hydraulic driving axle is adjusted in a case where the first torque is less than the second torque.

[0021] Optionally, the method further comprises:

[0022] It is determined whether a hydraulic driving start instruction is received;

[0023] In a case where it is determined that the hydraulic driving start instruction is received, the hydraulic auxiliary driving system is controlled to drive.

[0024] Optionally, the hydraulic auxiliary driving system further comprises a superstructure engine and a hydraulic driving oil pump;

[0025] The hydraulic auxiliary driving system is controlled to drive, comprising:

[0026] The superstructure engine is controlled to start to drive the hydraulic driving oil pump.

[0027] Optionally, the method further comprises:

[0028] A first vehicle speed of a first vehicle wheel driven by a mechanical driving axle is determined;

[0029] A second vehicle speed of a second vehicle wheel driven by a hydraulic driving axle is determined;

[0030] In a case where a difference between the first vehicle speed and the second vehicle speed is located outside an allowable range, the size of the vehicle speed of the second vehicle wheel is adjusted.

[0031] Optionally, the first vehicle speed of the first vehicle wheel driven by the mechanical driving axle is determined, comprising:

[0032] obtaining a rotational speed of a transmission of the crane;

[0033] determining the first vehicle speed based on the rotational speed of the transmission, a gear of the transmission, a transmission ratio of the mechanical drive train, and a diameter of the first vehicle wheel.

[0034] Optionally, the hydraulic auxiliary drive system further comprises a hydraulic drive motor;

[0035] determining a second vehicle speed of a second vehicle wheel driven by the hydraulic drive axle, comprising:

[0036] obtaining a rotational speed of the hydraulic drive motor;

[0037] determining the second vehicle speed based on the rotational speed of the hydraulic drive motor, a transmission ratio of the hydraulic drive axle, and a diameter of the second vehicle wheel.

[0038] Optionally, adjusting the magnitude of the vehicle speed of the second vehicle wheel, comprises:

[0039] adjusting a displacement of the hydraulic drive motor to adjust the magnitude of the vehicle speed of the second vehicle wheel.

[0040] Optionally, the hydraulic auxiliary drive system further comprises a superstructure engine and a hydraulic drive pump;

[0041] adjusting the magnitude of the vehicle speed of the second vehicle wheel, comprises:

[0042] adjusting a rotational speed of the superstructure engine and / or a flow rate of the hydraulic drive pump to adjust the magnitude of the vehicle speed of the second vehicle wheel.

[0043] The second aspect of the application provides a processor configured to perform the above-mentioned method for controlling a hydraulic auxiliary drive system.

[0044] The third aspect of the application provides a crane, comprising:

[0045] a hydraulic auxiliary drive system; and

[0046] the above-mentioned processor.

[0047] The fourth aspect of the application provides a machine-readable storage medium having stored thereon instructions which, when executed by a processor, cause the processor to be configured to perform the above-mentioned method for controlling a hydraulic auxiliary drive system.

[0048] By the technical solution, the first torque output by the mechanical drive axle of the crane is determined, the second torque output by the hydraulic drive axle is determined, and the size of the torque output by the hydraulic drive axle is adjusted in the case that the difference between the first torque and the second torque is greater than the preset difference value, so that the torque output by the hydraulic drive axle follows the torque output by the mechanical drive axle in real time. In this way, the torque output by the hydraulic drive axle and the torque output by the mechanical drive axle can meet the set distribution relationship, thereby reducing the useless consumption of power between different power sources and improving the power performance and economy of the vehicle.

[0049] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0050] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific implementation to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0051] Figure 1 is a flowchart of the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application;

[0052] Figure 2 is a flowchart of step S11 in the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application;

[0053] Figure 3 is a flowchart of step S12 in the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application;

[0054] Figure 4 is another flowchart of the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application;

[0055] Figure 5 is a flowchart of step S14 in the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application;

[0056] Figure 6 is a flowchart of step S15 in the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application;

[0057] Figure 7 is an internal structure diagram of the computer device provided in the embodiments of the present application. DETAILED DESCRIPTION

[0058] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work belong to the scope of protection of the present application.

[0059] Figure 1 is a flowchart of the method for controlling the hydraulic auxiliary driving system provided in the embodiments of the present application. As shown in Figure 1 , in an embodiment of the present application, a method for controlling a hydraulic auxiliary driving system is provided, which is applied to a crane, and the hydraulic auxiliary driving system comprises a hydraulic driving axle. The method comprises the following steps:

[0060] Step S11: determining a first torque output by a mechanical driving axle of the crane;

[0061] Step S12: determining a second torque output by the hydraulic driving axle;

[0062] Step S13: adjusting the size of the torque output by the hydraulic driving axle when the difference between the first torque and the second torque is greater than a preset difference.

[0063] Specifically, a large crane usually has two power sources, i.e., a chassis engine and a superstructure engine. When the driving force required by the crane for heavy-load climbing or getting out of a poor road condition cannot be met by the mechanical driving axle driven by the chassis engine, the superstructure engine can be started to drive the hydraulic driving axle through the hydraulic auxiliary driving system, so as to provide auxiliary driving force for the crane. After the first torque output by the mechanical driving axle and the second torque output by the hydraulic driving axle are determined in steps S11 and S12, step S13 is entered. In step S13, it is judged whether the difference between the first torque and the second torque is greater than a preset difference. When the difference between the first torque and the second torque is greater than the preset difference, the size of the torque output by the hydraulic driving axle is adjusted, so that the torque output by the hydraulic driving axle can follow the torque output by the mechanical driving axle in real time. Through the above method, the torque output by the hydraulic driving axle and the torque output by the mechanical driving axle can meet the set distribution relationship, thereby reducing the useless consumption of power between different power sources and improving the power performance and economy of the whole vehicle.

[0064] In actual application, the PID (Proportion Integral Differential) algorithm can be used to control the difference between the first torque and the second torque in real time, i.e., ΔT = |T1-T2|≤ set value, where T1 is the first torque and T2 is the second torque, so as to ensure that the torque output by the hydraulic drive axle and the torque output by the mechanical drive axle meet certain relationship requirements, the torque output by the hydraulic drive axle follows the torque output by the mechanical drive axle in real time and is adjusted accordingly, and the torques of all the drive axles of the vehicle meet the set distribution relationship.

[0065] Referring to Figure 2 , Figure 2 is a flowchart of step S11 in the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application. Determining the first torque output by the mechanical drive axle of the crane in step S11 can include the following steps.

[0066] Step S111: obtaining the speed of the chassis engine of the crane and the load rate of the chassis engine;

[0067] Step S112: determining the torque of the chassis engine according to the speed of the chassis engine, the load rate of the chassis engine and the external characteristic curve of the chassis engine;

[0068] Step S113: determining the first torque according to the torque of the chassis engine, the gear of the transmission of the crane and the transmission speed ratio of the mechanical transmission chain of the crane.

[0069] Specifically, the chassis engine transmits power to the mechanical drive axle through the transmission and the transfer. In step S111, the load rate is a relative concept of the percentage of the torque of the engine at a certain speed, and the speed and the load rate of the chassis engine can be directly obtained from the chassis engine controller of the crane, and then step S112 is entered. In step S112, the external characteristic curve of the engine refers to the curve of the power or torque measured at full load of the engine with the change of the speed, and the torque of the chassis engine can be calculated according to the speed, the load rate and the external characteristic curve of the chassis engine. Further, in step S113, the first torque output by the mechanical drive axle is determined according to the torque of the chassis engine, the gear of the transmission of the crane and the transmission speed ratio of the mechanical transmission chain of the crane. The transmission speed ratio of the mechanical transmission chain includes the transmission speed ratio corresponding to each gear of the transmission, the transmission speed ratio of the transfer and the transmission speed ratio of the mechanical drive axle.

[0070] In one embodiment, the hydraulic auxiliary drive system further includes a hydraulic drive motor. Referring to Figure 3 , Figure 3is a flowchart of step S12 in the method for controlling the hydraulic auxiliary driving system provided in the embodiments of the present application. Determining the second torque output by the hydraulic driving axle in step S12 can include the following steps:

[0071] Step S121: obtaining the pressure of the hydraulic driving motor and the displacement of the hydraulic driving motor;

[0072] Step S122: determining the second torque according to the pressure of the hydraulic driving motor, the displacement of the hydraulic driving motor and the transmission speed ratio of the hydraulic driving axle.

[0073] Specifically, the hydraulic driving motor is drivingly connected with the hydraulic driving axle. After obtaining the pressure of the hydraulic driving motor and the displacement of the hydraulic driving motor in step S121, step S122 is entered. In step S122, the torque of the hydraulic driving motor can be calculated according to the pressure and the displacement of the hydraulic driving motor, and the second torque output by the hydraulic driving axle can be determined according to the transmission speed ratio of the hydraulic driving axle.

[0074] In one embodiment, adjusting the size of the torque output by the hydraulic driving axle in step S13 can include:

[0075] Adjusting the displacement of the hydraulic driving motor to adjust the size of the torque output by the hydraulic driving axle.

[0076] Specifically, the output torque of the hydraulic driving motor is determined by the displacement of the hydraulic driving motor and the pressure of the hydraulic driving motor, so changing the displacement of the hydraulic driving motor can adjust the output torque of the hydraulic driving motor, and further adjust the size of the torque output by the hydraulic driving axle. In actual application, the displacement of the hydraulic driving motor can be changed by adjusting the current of the hydraulic driving motor.

[0077] In one embodiment, the method can further include:

[0078] Adjusting the size of the torque output by the hydraulic driving axle in the case where the first torque is less than the second torque.

[0079] Specifically, when it is judged that the first torque is less than the second torque, the size of the torque output by the hydraulic driving axle is adjusted to ensure that the torque output by the hydraulic driving axle cannot be greater than the torque output by the mechanical driving axle at any time, thereby protecting the hydraulic driving axle from being damaged due to excessive torque.

[0080] In one embodiment, the method can further include:

[0081] Determining whether a hydraulic driving start instruction is received;

[0082] In the case where it is determined that the hydraulic driving start instruction is received, controlling the hydraulic auxiliary driving system to drive.

[0083] Specifically, when the operator presses the hydraulic drive switch, a hydraulic drive starting instruction can be generated, and after the system receives the hydraulic drive starting instruction, the hydraulic auxiliary drive system is controlled to drive, thereby providing the crane with an auxiliary driving force. In actual application, the hydraulic drive switch can be arranged in the cab, so as to facilitate the operator to manually open or close the hydraulic drive mode according to the running conditions of the crane.

[0084] In one embodiment, the hydraulic auxiliary drive system further comprises a superstructure engine and a hydraulic drive oil pump, and the step of controlling the hydraulic auxiliary drive system to drive can comprise:

[0085] controlling the superstructure engine to start to drive the hydraulic drive oil pump.

[0086] Specifically, the superstructure engine is in driving connection with the hydraulic drive oil pump. After the system receives the hydraulic drive starting instruction, the superstructure engine is controlled to start, and it is detected whether the system is normal, for example, whether the rotating speed of the superstructure engine reaches a preset rotating speed and whether the pressure of the hydraulic drive oil pump reaches a preset pressure. After the detection is normal, the hydraulic reversing valve between the hydraulic drive oil pump and the hydraulic drive motor is controlled to open, so that the hydraulic oil in the hydraulic oil tank enters the hydraulic drive motor through the hydraulic drive oil pump, to drive the hydraulic drive motor to rotate, and then the power is transmitted to the hydraulic drive axle through the hydraulic drive motor, so as to finally output the auxiliary driving force, thereby realizing smooth climbing and escape in the process of heavy-load running of the crane.

[0087] Please refer to Figure 4 , Figure 4 is another flowchart of the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application. Based on the steps S11 to S13, the method can further comprise the following steps:

[0088] Step S14: determining a first vehicle speed of the first vehicle wheel driven by the mechanical drive axle;

[0089] Step S15: determining a second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle;

[0090] Step S16: adjusting the size of the vehicle speed of the second vehicle wheel in the case that the difference between the first vehicle speed and the second vehicle speed is located outside the allowable range.

[0091] Specifically, in step S14 and step S15, after the torque output by the hydraulic drive axle and the torque output by the mechanical drive axle meet the set distribution relationship, the first vehicle speed of the first vehicle wheel driven by the mechanical drive axle and the second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle are further determined, and then step S16 is entered. In step S16, it is judged whether the difference between the first vehicle speed and the second vehicle speed is within the allowable range. When the difference between the first vehicle speed and the second vehicle speed is not within the allowable range, the size of the second vehicle speed is adjusted so that the second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle follows the first vehicle speed of the first vehicle wheel driven by the mechanical drive axle in real time, ensuring that the matching accuracy of the second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle and the first vehicle speed of the first vehicle wheel driven by the mechanical drive axle meets certain requirements, and avoiding the phenomenon of slipping or dragging of the hydraulic drive axle caused by different vehicle speeds.

[0092] In actual application, the PID algorithm can be used to control the difference between the first vehicle speed and the second vehicle speed in real time, that is, ΔV = |V1-V2|≤set value, where V1 is the first vehicle speed and V2 is the second vehicle speed, so that the second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle follows the first vehicle speed of the first vehicle wheel driven by the mechanical drive axle in real time, ensuring that the matching accuracy of the second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle and the first vehicle speed of the first vehicle wheel driven by the mechanical drive axle meets certain requirements.

[0093] Please refer to Figure 5 , Figure 5 is a flowchart of step S14 in the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application. Determining the first vehicle speed of the first vehicle wheel driven by the mechanical drive axle in step S14 can include the following steps:

[0094] Step S141: obtaining the speed of the transmission of the crane;

[0095] Step S142: determining the first vehicle speed according to the speed of the transmission, the gear of the transmission, the transmission speed ratio of the mechanical transmission chain and the diameter of the first vehicle wheel.

[0096] Specifically, in step S141, a speed sensor can be installed on the transmission to obtain the speed of the transmission, and then step S142 is entered. In step S142, the first vehicle speed of the first vehicle wheel driven by the mechanical drive axle is determined according to the speed of the transmission, the gear of the transmission, the transmission speed ratio of the mechanical transmission chain and the diameter of the first vehicle wheel.

[0097] In actual application, the first vehicle speed of the first vehicle wheel driven by the mechanical drive axle can also be determined by the wheel speed of the first vehicle wheel driven by the mechanical drive axle output by the ABS controller and the diameter of the first vehicle wheel.

[0098] In one embodiment, the hydraulic auxiliary drive system further comprises a hydraulic drive motor. Please refer to Figure 6 ,Figure 6 is a flowchart of step S15 in the method for controlling the hydraulic auxiliary drive system provided in the embodiments of the present application. Determining the second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle in step S15 can include the following steps:

[0099] Step S151: obtaining the rotational speed of the hydraulic drive motor;

[0100] Step S152: determining the second vehicle speed according to the rotational speed of the hydraulic drive motor, the transmission speed ratio of the hydraulic drive axle, and the diameter of the second vehicle wheel.

[0101] Specifically, the hydraulic drive motor is drivingly connected to the hydraulic drive axle. After obtaining the rotational speed of the hydraulic drive motor in step S151, step S152 is entered. In step S122, the second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle can be determined according to the rotational speed of the hydraulic drive motor, the transmission speed ratio of the hydraulic drive axle, and the diameter of the second vehicle wheel.

[0102] In one embodiment, adjusting the magnitude of the vehicle speed of the second vehicle wheel in step S16 can include:

[0103] adjusting the displacement of the hydraulic drive motor to adjust the magnitude of the vehicle speed of the second vehicle wheel.

[0104] Specifically, when the flow rate input to the hydraulic drive motor is constant, the rotational speed of the hydraulic drive motor is inversely proportional to the displacement of the hydraulic drive motor, so changing the displacement of the hydraulic drive motor can adjust the rotational speed of the hydraulic drive motor, and further adjust the second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle. In actual application, the displacement of the hydraulic drive motor can be changed by adjusting the current of the hydraulic drive motor.

[0105] Further, the hydraulic auxiliary drive system further includes an upper vehicle engine and a hydraulic drive oil pump. In an alternative embodiment, adjusting the magnitude of the vehicle speed of the second vehicle wheel in step S16 can include:

[0106] adjusting the rotational speed of the upper vehicle engine and / or the flow rate of the hydraulic drive oil pump to adjust the magnitude of the vehicle speed of the second vehicle wheel.

[0107] Specifically, the rotational speed of the upper vehicle engine can be directly adjusted to change the flow rate of the hydraulic drive oil pump, so that the rotational speed of the hydraulic drive motor changes, and further the second vehicle speed of the second vehicle wheel driven by the hydraulic drive axle is adjusted.

[0108] By the technical solution, the first torque output by the mechanical drive axle of the crane is determined, the second torque output by the hydraulic drive axle is determined, and the size of the torque output by the hydraulic drive axle is adjusted in the case that the difference between the first torque and the second torque is greater than the preset difference value, so that the torque output by the hydraulic drive axle follows the torque output by the mechanical drive axle in real time. In this way, the torque output by the hydraulic drive axle and the torque output by the mechanical drive axle can meet the set distribution relationship, thereby reducing the useless consumption of power between different power sources and improving the power performance and economy of the vehicle.

[0109] The embodiment of the application further provides a processor used for running a program, wherein the program performs the method for controlling the hydraulic auxiliary drive system when running, and is applied to a crane. The hydraulic auxiliary drive system comprises a hydraulic drive axle. The method comprises the following method steps: determining a first torque output by a mechanical drive axle of the crane; determining a second torque output by the hydraulic drive axle; and adjusting the size of the torque output by the hydraulic drive axle in the case that the difference between the first torque and the second torque is greater than a preset difference value.

[0110] In one embodiment, the determination of the first torque output by the mechanical drive axle of the crane comprises: obtaining a load rate of a chassis engine of the crane; determining the torque of the chassis engine and the rotating speed of the chassis engine according to the load rate and the external characteristic curve of the chassis engine; and determining the first torque according to the torque of the chassis engine, the rotating speed of the chassis engine, the gear position of a transmission of the crane and the transmission speed ratio of the mechanical transmission chain of the crane.

[0111] In one embodiment, the hydraulic auxiliary drive system further comprises a hydraulic drive motor. The determination of the second torque output by the hydraulic drive axle comprises: obtaining the pressure of the hydraulic drive motor and the displacement of the hydraulic drive motor; and determining the second torque according to the pressure of the hydraulic drive motor, the displacement of the hydraulic drive motor and the transmission speed ratio of the hydraulic drive axle.

[0112] In one embodiment, the adjustment of the size of the torque output by the hydraulic drive axle comprises: adjusting the displacement of the hydraulic drive motor to adjust the size of the torque output by the hydraulic drive axle.

[0113] In one embodiment, the method further comprises: adjusting the size of the torque output by the hydraulic drive axle in the case that the first torque is less than the second torque.

[0114] In one embodiment, the method further comprises: determining whether a hydraulic drive starting instruction is received; and controlling the hydraulic auxiliary drive system to drive in the case that it is determined that the hydraulic drive starting instruction is received.

[0115] In an embodiment, the hydraulic auxiliary driving system further comprises a superstructure engine and a hydraulic driving oil pump; and the method of controlling the hydraulic auxiliary driving system to drive comprises: controlling the superstructure engine to start to drive the hydraulic driving oil pump.

[0116] In an embodiment, the method further comprises: determining a first vehicle speed of the first vehicle wheel driven by the mechanical driving axle; determining a second vehicle speed of the second vehicle wheel driven by the hydraulic driving axle; and adjusting the magnitude of the vehicle speed of the second vehicle wheel in a case that a difference between the first vehicle speed and the second vehicle speed is out of an allowable range.

[0117] In an embodiment, the determining of the first vehicle speed of the first vehicle wheel driven by the mechanical driving axle comprises: acquiring a rotational speed of a transmission of the crane; and determining the first vehicle speed according to the rotational speed of the transmission, a gear position of the transmission, a transmission speed ratio of the mechanical transmission chain, and a diameter of the first vehicle wheel.

[0118] In an embodiment, the hydraulic auxiliary driving system further comprises a hydraulic driving motor; and the determining of the second vehicle speed of the second vehicle wheel driven by the hydraulic driving axle comprises: acquiring a rotational speed of the hydraulic driving motor; and determining the second vehicle speed according to the rotational speed of the hydraulic driving motor, a transmission speed ratio of the hydraulic driving axle, and a diameter of the second vehicle wheel.

[0119] In an embodiment, the adjusting of the magnitude of the vehicle speed of the second vehicle wheel comprises: adjusting a displacement of the hydraulic driving motor to adjust the magnitude of the vehicle speed of the second vehicle wheel.

[0120] In an embodiment, the hydraulic auxiliary driving system further comprises a superstructure engine and a hydraulic driving oil pump; and the adjusting of the magnitude of the vehicle speed of the second vehicle wheel comprises: adjusting a rotational speed of the superstructure engine and / or a flow of the hydraulic driving oil pump to adjust the magnitude of the vehicle speed of the second vehicle wheel.

[0121] It should be noted that the specific process of the processor performing the above operations is described in detail in the method embodiment, which will not be described here.

[0122] Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiment of the present application, the embodiment of the present application further provides a crane, comprising: a hydraulic auxiliary driving system; and the above processor.

[0123] In an embodiment, the crane can further comprise:

[0124] a communication interface capable of information interaction with other devices (such as network devices, terminals, etc.);

[0125] a memory for storing a computer program capable of running on the processor.

[0126] The processor includes a core, and the core retrieves corresponding program units from the memory. The core can be one or more, and the core parameters are adjusted to implement the method provided in the one or more technical solutions.

[0127] The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0128] In actual application, various components in the crane can be coupled together through a bus system. It can be understood that the bus system is used to realize the connection and communication between the components. In addition to the data bus, the bus system also includes a power bus, a control bus and a state signal bus.

[0129] The memory in the embodiment of the present application is used to store various types of data to support the operation of the crane. Examples of these data include any computer program used to operate on the crane.

[0130] The method disclosed in the above embodiment of the present application can be applied to the processor or implemented by the processor. The processor can be an integrated circuit chip with a signal processing capability. In the implementation process, each step of the above method can be completed by the integrated logic circuit of hardware in the processor or the instruction in the form of software. The processor mentioned above can be a general processor, a digital signal processor (DSP), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general processor can be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiments of the present application, the hardware decoding processor can be directly embodied to execute the above method, or the hardware and software modules in the decoding processor can be combined to execute the above method. The software module can be located in a storage medium, and the storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.

[0131] In exemplary embodiments, the processor can be implemented by one or more Application Specific Integrated Circuits (ASICs), DSPs, Programmable Logic Devices (PLDs), Complex Programmable Logic Devices (CPLDs), Field Programmable Gate Arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors (Microprocessors), or other electronic elements for executing the aforementioned methods.

[0132] It can be understood that the memory of the embodiments of the present application can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM, Read Only Memory), a programmable read-only memory (PROM, Programmable Read Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read Only Memory), an electrically erasable programmable read-only memory (EEPROM, Electrically Erasable Programmable Read Only Memory), a ferromagnetic random access memory (FRAM, ferromagnetic random access memory), a flash memory (Flash Memory), a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD ROM, Compact Disc Read Only Memory); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM, Random Access Memory) used as an external cache. By way of example but not limitation, many forms of RAM can be used, such as static random access memory (SRAM, Static Random Access Memory), synchronous static random access memory (SSRAM, Synchronous Static Random Access Memory), dynamic random access memory (DRAM, Dynamic Random Access Memory), synchronous dynamic random access memory (SDRAM, Synchronous Dynamic Random Access Memory), double data rate synchronous dynamic random access memory (DDR SDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), enhanced synchronous dynamic random access memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), direct memory bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory described in the embodiments of the present application is intended to include, but not limited to, these and any other suitable types of memory.

[0133] The embodiments of the present application also provide a machine readable storage medium, which stores instructions for controlling a method for controlling a hydraulic auxiliary drive system applied to a crane, the hydraulic auxiliary drive system comprising a hydraulic drive axle, the method comprising the following method steps: determining a first torque output by a mechanical drive axle of the crane; determining a second torque output by the hydraulic drive axle; in the case that a difference between the first torque and the second torque is greater than a preset difference, adjusting a size of the torque output by the hydraulic drive axle.

[0134] In an embodiment, the determining of the first torque output by the mechanical drive axle of the crane comprises: obtaining a load rate of a chassis engine of the crane; determining a torque of the chassis engine and a rotating speed of the chassis engine according to the load rate and an external characteristic curve of the chassis engine; and determining the first torque according to the torque of the chassis engine, the rotating speed of the chassis engine, a gear of a transmission of the crane and a transmission speed ratio of a mechanical transmission chain of the crane.

[0135] In an embodiment, the hydraulic auxiliary drive system further comprises a hydraulic drive motor; and the determining of the second torque output by the hydraulic drive axle comprises: obtaining a pressure of the hydraulic drive motor and a displacement of the hydraulic drive motor; and determining the second torque according to the pressure of the hydraulic drive motor, the displacement of the hydraulic drive motor and a transmission speed ratio of the hydraulic drive axle.

[0136] In an embodiment, the adjusting of the size of the torque output by the hydraulic drive axle comprises: adjusting the displacement of the hydraulic drive motor to adjust the size of the torque output by the hydraulic drive axle.

[0137] In an embodiment, the method further comprises: in the case that the first torque is less than the second torque, adjusting the size of the torque output by the hydraulic drive axle.

[0138] In an embodiment, the method further comprises: determining whether a hydraulic drive start instruction is received; and in the case that it is determined that the hydraulic drive start instruction is received, controlling the hydraulic auxiliary drive system to drive.

[0139] In an embodiment, the hydraulic auxiliary drive system further comprises a superstructure engine and a hydraulic drive oil pump; and the controlling of the hydraulic auxiliary drive system to drive comprises: controlling the superstructure engine to start to drive the hydraulic drive oil pump.

[0140] In an embodiment, the method further comprises: determining a first vehicle speed of a first vehicle wheel driven by the mechanical drive axle; determining a second vehicle speed of a second vehicle wheel driven by the hydraulic drive axle; and in the case that a difference between the first vehicle speed and the second vehicle speed is out of an allowable range, adjusting a size of the second vehicle speed.

[0141] In one embodiment, determining the first speed of the first wheel driven by the mechanical drive axle includes: obtaining the rotational speed of the crane's transmission; and determining the first speed based on the transmission's rotational speed, the transmission's gear, the transmission ratio of the mechanical transmission chain, and the diameter of the first wheel.

[0142] In one embodiment, the hydraulic auxiliary drive system further includes a hydraulic drive motor; determining the second vehicle speed of the second wheel driven by the hydraulic drive axle includes: acquiring the rotational speed of the hydraulic drive motor; and determining the second vehicle speed based on the rotational speed of the hydraulic drive motor, the transmission ratio of the hydraulic drive axle, and the diameter of the second wheel.

[0143] In one embodiment, adjusting the speed of the second wheel includes adjusting the displacement of the hydraulic drive motor to adjust the speed of the second wheel.

[0144] In one embodiment, the hydraulic auxiliary drive system further includes an upper engine and a hydraulic drive oil pump; adjusting the speed of the second wheel includes adjusting the rotational speed of the upper engine and / or the flow rate of the hydraulic drive oil pump to adjust the speed of the second wheel.

[0145] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 7 As shown. The computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements the method of any of the above embodiments. The display screen A04 can be a liquid crystal display or an electronic ink display. The input device A05 can be a touch layer covering the display screen, a button, trackball, or touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0146] Those skilled in the art will understand that Figure 7The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0147] The embodiment of the present application provides a device, which comprises a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the method of any one of the above-mentioned embodiments is implemented.

[0148] The present application also provides a computer program product adapted to perform the method of any one of the above-mentioned embodiments when executed on a data processing device.

[0149] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage media, etc.) containing computer-usable program code.

[0150] The present application is described with reference to flowcharts and / or block diagrams of the method, device (system), and computer program product according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device implemented in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the function specified in the flow or flows and / or block or blocks.

[0151] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that performs the function specified in the flow or flows and / or block or blocks.

[0152] These computer program instructions can also be loaded into a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 Figure 1

[0153] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0154] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the processor can execute instructions. The memory can also include non-volatile memory, such as read only memory (ROM), electrically programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory (PROM), erasable programmable read only memory (EPROM), flash memory, or a combination of non-volatile memories in different types. The memory can also include a compact disk read only memory (CD-ROM), digital versatile disk (DVD), Blu-ray, or another non-transitory computer readable medium, which is non-volatile and non-transitory in nature, but volatile in that it can lose its content if the power to the computer is turned off or if the computer crashes. The memory is an example of a computer readable medium.

[0155] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically programmable read only memory (EEPROM), flash memory or other memory technology, compact disk read only memory (CD-ROM), digital versatile disk (DVD), or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media such as modulated data signals and carriers.

[0156] It should also be noted that the terms "comprising," "including," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0157] ​​The above merely provides an example of the present application, and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall fall into the scope of claims of the present application.

Claims

1. A method for controlling a hydraulic auxiliary drive system, characterized in that, Applied to cranes, the hydraulic auxiliary drive system includes a hydraulic drive axle, and the method includes: Determine a first torque output by the mechanical drive axle of the crane, wherein the mechanical drive axle is driven by a chassis engine; Determine the second torque output by the hydraulic drive axle, wherein the hydraulic drive axle is driven by the upper vehicle engine; If the difference between the first torque and the second torque is greater than a preset difference, the magnitude of the torque output by the hydraulic drive axle is adjusted. The determination of the first torque output by the mechanical drive axle of the crane includes: Obtain the rotational speed of the chassis engine and the load rate of the chassis engine of the crane; The torque of the chassis engine is determined based on the engine speed, the load rate of the chassis engine, and the external characteristic curve of the chassis engine. The first torque is determined based on the torque of the chassis engine, the gear position of the crane's transmission, and the transmission ratio of the crane's mechanical transmission chain.

2. The method according to claim 1, characterized in that, The hydraulic auxiliary drive system also includes a hydraulic drive motor; Determining the second torque output by the hydraulic drive axle includes: Obtain the pressure and displacement of the hydraulic drive motor; The second torque is determined based on the pressure of the hydraulic drive motor, the displacement of the hydraulic drive motor, and the transmission ratio of the hydraulic drive axle.

3. The method according to claim 2, characterized in that, Adjusting the magnitude of the torque output by the hydraulic drive axle includes: Adjust the displacement of the hydraulic drive motor to adjust the torque output of the hydraulic drive axle.

4. The method according to claim 1, characterized in that, Also includes: When the first torque is less than the second torque, the magnitude of the torque output by the hydraulic drive axle is adjusted.

5. The method according to claim 1, characterized in that, Also includes: Determine if the liquid drive start command has been received; Upon receiving the hydraulic drive start command, the hydraulic auxiliary drive system is controlled to drive.

6. The method according to claim 5, characterized in that, The hydraulic auxiliary drive system also includes an upper engine and a hydraulic drive oil pump; The control of the hydraulic auxiliary drive system to drive includes: The engine of the vehicle is started to drive the hydraulic drive pump.

7. The method according to claim 1, characterized in that, Also includes: Determine the first vehicle speed of the first wheel driven by the mechanical drive axle; Determine the second vehicle speed of the second wheel driven by the hydraulic drive axle; If the difference between the first vehicle speed and the second vehicle speed is outside the allowable range, adjust the speed of the second wheel.

8. The method according to claim 7, characterized in that, Determining the first vehicle speed of the first wheel driven by the mechanical drive axle includes: Obtain the rotational speed of the crane's transmission; The first vehicle speed is determined based on the rotational speed of the transmission, the gear of the transmission, the transmission ratio of the mechanical transmission chain, and the diameter of the first wheel.

9. The method according to claim 7, characterized in that, The hydraulic auxiliary drive system also includes a hydraulic drive motor; Determining the second vehicle speed of the second wheel driven by the hydraulic drive axle includes: Obtain the rotational speed of the hydraulic drive motor; The second vehicle speed is determined based on the rotational speed of the hydraulic drive motor, the transmission ratio of the hydraulic drive axle, and the diameter of the second wheel.

10. The method according to claim 9, characterized in that, Adjusting the speed of the second wheel includes: Adjust the displacement of the hydraulic drive motor to adjust the speed of the second wheel.

11. The method according to claim 9, characterized in that, The hydraulic auxiliary drive system also includes an upper engine and a hydraulic drive oil pump; Adjusting the speed of the second wheel includes: Adjust the speed of the upper engine and / or the flow rate of the hydraulic drive oil pump to adjust the speed of the second wheel.

12. A processor, characterized in that, Configured to perform the method for controlling a hydraulically assisted drive system according to any one of claims 1 to 11.

13. A crane, characterized in that, include: Hydraulic auxiliary drive system; as well as The processor according to claim 12.

14. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform a method for controlling a hydraulically assisted drive system according to any one of claims 1 to 11.

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