Control method, processor and tire crane for suspension system

Abstract

The embodiments of the present application provide a control method, a processor, a tire crane and a machine-readable storage medium for a suspension system. The suspension system includes a suspension cylinder, and a damping regulator is provided on the oil return line of the suspension cylinder. The control method includes: obtaining a driving state signal of the tire crane within a preset time period; determining whether there is a situation where a characteristic value of the driving state signal is greater than a preset characteristic value; and when it is determined that there is a characteristic value greater than the preset characteristic value, adjusting the damping of the damping regulator. Through the above technical solution, the driving bumps and vibrations of the tire crane can be reduced, thereby improving the driving comfort of the driver, while reducing the structural strength of the tire crane caused by driving vibration and the damage to the power, hydraulic and electrical components.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and in particular to a control method for a suspension system, a processor, a tire crane, and a machine-readable storage medium. Background Art

[0002] Tire cranes, especially off-road tire cranes, are non-road vehicles that are often used in deserts, Gobi, plateaus, mines, etc., where the road conditions are relatively poor. The suspension system has good shock absorption performance and can ensure the smoothness and stability of the vehicle's driving, so it has been widely used in tire cranes.

[0003] In the prior art, the damping of the suspension system of a tire crane is not adjustable, and the damping of the suspension system cannot be adjusted according to the road conditions during driving. The vibration and bumps of driving still exist, which not only brings an uncomfortable experience to the driver, but also easily causes damage to the structural strength of the crane as well as the power, hydraulic, and electrical components. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a control method, a processor, a tire crane and a machine-readable storage medium for a suspension system.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a control method for a suspension system, which is applied to a tire crane. The suspension system includes a suspension cylinder, and a damping regulator is arranged on the oil return pipeline of the suspension cylinder. The control method includes:

[0006] Acquire the driving status signal of the tire crane within a preset time period;

[0007] Determine whether the driving state signal has a characteristic value greater than a preset characteristic value;

[0008] When it is determined that there is a characteristic value greater than a preset characteristic value, the damping magnitude of the damping adjuster is adjusted.

[0009] Optionally, the travel status signal includes a travel speed signal of the tire crane and a pressure signal of a luffing cylinder of the tire crane.

[0010] Optionally, determining whether the driving state signal has a characteristic value greater than a preset characteristic value includes:

[0011] Determine whether the driving speed signal is greater than a preset speed value;

[0012] When it is determined that the driving speed signal is greater than the preset speed value, it is determined whether the pressure signal has a characteristic value greater than the preset characteristic value.

[0013] Optionally, when it is determined that there is a characteristic value greater than a preset characteristic value, adjusting the damping of the damping regulator includes:

[0014] In the case where it is determined that there is a characteristic value greater than the preset characteristic value, determining whether the number of occurrences of the characteristic value greater than the preset characteristic value is greater than the preset number of times;

[0015] When it is determined that the number of occurrences is greater than the preset number value, the damping size of the damping regulator is adjusted.

[0016] Optionally, the damping regulator includes a proportional solenoid valve;

[0017] When it is determined that the number of occurrences is greater than the preset number of times, adjusting the damping of the damping regulator includes:

[0018] When it is determined that the number of occurrences is greater than a preset number of times, determining the operating current of the proportional solenoid valve according to the number of occurrences and the corresponding relationship between the number of occurrences and the operating current of the proportional solenoid valve;

[0019] A working current is applied to the proportional solenoid valve to adjust the size of the opening of the proportional solenoid valve.

[0020] Optionally, the corresponding relationship between the number of occurrences and the operating current of the proportional solenoid valve is determined by:

[0021] When it is determined that the number of occurrences is greater than the preset number of times, a preset working current is loaded to the proportional solenoid valve;

[0022] Get the vibration signal of tire crane;

[0023] Determining whether the vibration signal is greater than a preset vibration value;

[0024] When it is determined that the vibration signal is greater than the preset vibration value, increasing or decreasing the working current of the proportional solenoid valve according to the preset step size until the vibration signal is less than or equal to the preset vibration value;

[0025] The number of occurrences and the operating current of the proportional solenoid valve corresponding to the number of occurrences are stored.

[0026] Optionally, the damping regulator further includes a one-way valve connected in parallel with the proportional solenoid valve.

[0027] A second aspect of the present application provides a processor configured to execute the above-mentioned control method for a suspension system.

[0028] A third aspect of the present application provides a tire crane, comprising:

[0029] Suspension systems; and

[0030] The processors described above.

[0031] A fourth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configure the processor to execute the above-mentioned control method for a suspension system.

[0032] Through the above technical solution, that is, by setting a damping regulator on the oil return pipeline of the suspension cylinder, the driving status signal of the tire crane within a preset time period is obtained, and it is determined whether there is a characteristic value of the driving status signal that is greater than the preset characteristic value. When it is determined that there is a characteristic value greater than the preset characteristic value, the damping size of the damping regulator is adjusted. In this way, the driving bumps and vibrations of the tire crane can be reduced, thereby improving the driving comfort of the driver, and at the same time reducing the structural strength of the tire crane caused by driving vibration and the damage to the power, hydraulic and electrical components.

[0033] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0035] Figure 1 is a structural schematic diagram of a suspension system provided in an embodiment of the present application;

[0036] Figure 2 is a schematic diagram of the hydraulic structure of the suspension system provided in the embodiment of the present application;

[0037] Figure 3 is a flow chart of a control method for a suspension system provided in an embodiment of the present application;

[0038] Figure 4 is a flow chart of step S12 in the control method for a suspension system provided in an embodiment of the present application;

[0039] Figure 5 is a flow chart of step S13 in the control method for a suspension system provided in an embodiment of the present application;

[0040] Figure 6 is a flow chart of step S132 in the control method for a suspension system provided in an embodiment of the present application;

[0041] Figure 7 It is a flow chart of determining the corresponding relationship between the number of occurrences and the working current of the proportional solenoid valve provided in the embodiment of the present application;

[0042] Figure 8 It is an internal structure diagram of the computer device provided in the embodiment of the present application.

[0043] Description of Reference Numerals

[0044] 11. Left suspension cylinder; 12. Right suspension cylinder;

[0045] 21. First proportional solenoid valve; 22. Second proportional solenoid valve

[0046] 31. First one-way valve; 32. Second one-way valve

[0047] 40, swing frame 50, rear axle

[0048] 60. Frame. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods 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 ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0050] The embodiment of the present application mainly provides a control method for a suspension system, which is applied to a tire crane. In order to more clearly explain the present solution, the structure of the suspension system is first described.

[0051] See also Figure 1 , Figure 1 Schematic diagram of the structure of the suspension system provided in the embodiment of the present application. Figure 1 As shown, in one embodiment of the present application, a suspension system is provided, which is applied to a tire crane. The suspension system includes a suspension cylinder. The number of the suspension cylinders can be set to two, namely a left suspension cylinder 11 and a right suspension cylinder 12. Damping regulators (not shown) are provided on the return oil pipelines of the left suspension cylinder 11 and the right suspension cylinder 12. The damping regulator can be an adjustable damping valve, such as a proportional solenoid valve or an electromagnetic reversing valve with a damping hole, etc. By adjusting the size of the opening of the adjustable damping valve, the damping size of the adjustable damping valve can be adjusted, thereby controlling the return oil speed of the left suspension cylinder 11 and the right suspension cylinder 12 to adjust the damping force of the left suspension cylinder 11 and the right suspension cylinder 12, thereby reducing the driving bumps and vibrations of the tire crane.

[0052] Furthermore, the suspension system also includes a swing frame 40, which is rigidly connected to the rear axle 50 by bolts, and one side of the left suspension oil cylinder 11 and the right suspension oil cylinder 12 are connected to the frame 60, and the other side is connected to the swing frame 40. When the rodless chamber and the rod chamber of the left suspension oil cylinder 11 and the right suspension oil cylinder 12 are connected to the return oil, they can be regarded as hydraulic oil springs. When the tire crane is traveling, the rear axle 50 can swing around the installation hinge point with the frame 60, thereby reducing the vibration of the vehicle.

[0053] See also Figure 2 , Figure 2 Schematic diagram of the hydraulic structure of the suspension system provided in the embodiment of the present application. Figure 2 As shown, the damping regulator includes a first proportional solenoid valve 21 and a second proportional solenoid valve 22. The rodless chamber of the left suspension oil cylinder 11 and the rod chamber of the right suspension oil cylinder 12 are both connected to the return oil through the first proportional solenoid valve 21, and the rod chamber of the left suspension oil cylinder 11 and the rodless chamber of the right suspension oil cylinder 12 are both connected to the return oil through the second proportional solenoid valve 22. By adjusting the working current of the first proportional solenoid valve 21 and the second proportional solenoid valve 22, the size of the opening of the first proportional solenoid valve 21 and the second proportional solenoid valve 22 can be adjusted, thereby controlling the return oil speed of the left suspension oil cylinder 11 and the right suspension oil cylinder 12.

[0054] Furthermore, the damping regulator also includes a first one-way valve 31 connected in parallel with the first proportional solenoid valve 21 and a second one-way valve 32 connected in parallel with the second proportional solenoid valve 22. By providing the first one-way valve 31 and the second one-way valve 32, the left suspension cylinder 11 and the right suspension cylinder 12 can be replenished with oil.

[0055] In actual application, the first one-way valve 31 and the second one-way valve 32 can be provided separately, or can be integrated in the first proportional solenoid valve 21 and the second proportional solenoid valve 22 respectively, which is not specifically limited in the present application.

[0056] In summary, the embodiment of the present application first provides a suspension system to more clearly illustrate the method to be provided by the embodiment of the present application. Therefore, those skilled in the art should understand that by replacing the suspension system with a different type or adding to the structure, as long as the suspension system has the function of adjusting the damping, it can be applied to the control method for the suspension system provided in the embodiment of the present application, and should also fall within the scope of protection covered by the present application.

[0057] Based on this, the present application also provides a control method for a suspension system. Figure 3 , Figure 3It is a flow chart of a control method for a suspension system provided in an embodiment of the present application. As can be seen from the above, the suspension system includes a suspension cylinder, and a damping regulator is provided on the oil return pipeline of the suspension cylinder. The control method may include:

[0058] Step S11: Acquire the driving status signal of the tire crane within a preset time period;

[0059] Step S12: determining whether the driving state signal has a characteristic value greater than a preset characteristic value;

[0060] Step S13: When it is determined that there is a characteristic value greater than a preset characteristic value, the damping of the damping regulator is adjusted.

[0061] Specifically, in step S11, the preset duration can be set according to actual needs, for example, set to 5 minutes, and the driving state signal is used to reflect the vibration state of the tire crane when driving. In step S12, when collecting signals, sampling is usually performed at a fixed working cycle, that is, multiple driving state signal values ​​of the tire crane can be obtained within the preset duration, and at this time, it can be determined whether there is a situation where the characteristic value of the multiple driving state signal values ​​obtained is greater than the preset characteristic value. In step S13, when there is a situation where the characteristic value is greater than the preset characteristic value, the damping size of the damping regulator is adjusted, and then the damping force of the suspension cylinder is adjusted to reduce the driving bumps and vibrations of the tire crane. In the above manner, the driving bumps and vibrations of the tire crane can be reduced, thereby improving the driving comfort of the driver, and at the same time reducing the structural strength of the tire crane caused by driving vibration and the damage to the power, hydraulic and electrical components.

[0062] In one embodiment, the travel status signal includes a travel speed signal of the tire crane and a pressure signal of a luffing cylinder of the tire crane.

[0063] Specifically, the jolting vibration of a tire crane during driving is not only affected by the ground conditions, but also related to the driving speed. The driving speed signal of the tire crane output by the gearbox controller can be read through the bus network. In the driving state, by collecting the pressure state at the pressure point of the tire crane, the vibration state of the tire crane can be reflected, such as the pressure state of the luffing cylinder or the pressure state of the suspension cylinder. In actual application, a pressure sensor can be installed on the luffing cylinder to collect the pressure signal of the luffing cylinder.

[0064] For further information, see Figure 4 , Figure 4The flowchart of step S12 in the control method for the suspension system provided in the embodiment of the present application is shown in FIG. 1. In step S11, determining whether the driving state signal has a characteristic value greater than a preset characteristic value may include the following steps:

[0065] Step S121: Determine whether the driving speed signal is greater than a preset speed value;

[0066] Step S122: When it is determined that the driving speed signal is greater than the preset speed value, determine whether the pressure signal has a characteristic value greater than the preset characteristic value.

[0067] Specifically, in step S121, after obtaining the driving speed signal of the tire crane, it is determined whether the driving speed signal is greater than a preset speed value. The preset speed value can be set according to the actual experience of the driver. In step S122, when the driving speed signal is greater than the preset speed value, it is further determined whether the pressure signal has a characteristic value greater than the preset characteristic value. The characteristic value can include any one or any combination of the following: maximum value, peak-to-peak value, and effective value.

[0068] For further information, see Figure 5 , Figure 5 1 is a flow chart of step S13 in the control method for the suspension system provided in the embodiment of the present application. In step S13, when it is determined that there is a characteristic value greater than a preset characteristic value, adjusting the damping of the damping regulator may include the following steps:

[0069] Step S131: when it is determined that there is a characteristic value greater than a preset characteristic value, determining whether the number of occurrences of the characteristic value greater than the preset characteristic value is greater than a preset number of times;

[0070] Step S132: When it is determined that the number of occurrences is greater than a preset number, the damping of the damping regulator is adjusted.

[0071] It can be understood that when a tire crane encounters sudden acceleration, deceleration, turning, etc., it may cause excessive driving vibration in a short period of time, so that the pressure signal has a characteristic value greater than the preset characteristic value, but this is not caused by the bad road conditions, and there is no need to adjust the damping of the damping regulator. Therefore, in step S121, when there is a situation where the characteristic value is greater than the preset characteristic value, it is further determined whether the number of occurrences of the characteristic value greater than the preset characteristic value is greater than the preset number value. Among them, the preset number value can be determined through experiments. In step S132, when the number of occurrences is greater than the preset number value, it is determined that the excessive driving vibration of the tire crane is caused by the bad road conditions. At this time, the damping of the damping regulator is adjusted to reduce the driving bumps and vibrations of the tire crane.

[0072] Furthermore, according to the structure of the above suspension system, the damping regulator includes a proportional solenoid valve. Figure 6 , Figure 6 1 is a flow chart of step S132 in the control method for the suspension system provided in the embodiment of the present application. In step S132, when it is determined that the number of occurrences is greater than the preset number of times, adjusting the damping of the damping regulator may include the following steps:

[0073] Step S1321: when it is determined that the number of occurrences is greater than a preset number, determining the operating current of the proportional solenoid valve according to the number of occurrences and the corresponding relationship between the number of occurrences and the operating current of the proportional solenoid valve;

[0074] Step S1322: Loading a working current to the proportional solenoid valve to adjust the size of the opening of the proportional solenoid valve.

[0075] Specifically, the corresponding relationship between the number of occurrences and the working current required by the proportional solenoid valve can be obtained and stored by conducting a running test of the tire crane under different road conditions. In step S1321, when the number of occurrences is greater than the preset number of times, the working current required by the proportional solenoid valve can be determined based on the number of occurrences and the corresponding relationship. Then, in step S1322, the working current is loaded to the proportional solenoid valve to adjust the size of the opening of the proportional solenoid valve, thereby controlling the oil return speed of the suspension cylinder, adjusting the damping force of the suspension cylinder, and reducing the driving bumps and vibrations of the tire crane.

[0076] See also Figure 7 , Figure 7 1 is a flow chart of determining the corresponding relationship between the number of occurrences and the working current of the proportional solenoid valve provided in the embodiment of the present application. Figure 7 As shown, the corresponding relationship between the number of occurrences and the operating current of the proportional solenoid valve is determined by the following method:

[0077] Step S21: When it is determined that the number of occurrences is greater than a preset number, a preset working current is applied to the proportional solenoid valve;

[0078] Step S22: obtaining a vibration signal of the tire crane;

[0079] Step S23: Determine whether the vibration signal is greater than a preset vibration value;

[0080] Step S24: when it is determined that the vibration signal is greater than the preset vibration value, increasing or decreasing the working current of the proportional solenoid valve according to the preset step length until the vibration signal is less than or equal to the preset vibration value;

[0081] Step S25: Store the number of occurrences and the operating current of the proportional solenoid valve corresponding to the number of occurrences.

[0082] Specifically, a tire crane running test can be conducted under different road conditions, and the driving speed signal of the tire crane and the pressure signal of the variable-luffing cylinder within a preset time length can be obtained, and it can be determined whether the driving speed signal is greater than the preset speed value. When it is determined that the driving state signal is greater than the preset speed value, it can be determined whether the pressure signal has a characteristic value greater than the preset characteristic value. When it is determined that there is a characteristic value greater than the preset characteristic value, it can be further determined whether the number of occurrences of the characteristic value greater than the preset characteristic value is greater than the preset number value. When it is determined that the number of occurrences is greater than the preset number value, a preset working current is loaded to the proportional solenoid valve, and then the vibration signal of the tire crane detected by the vibration sensor is obtained, and it can be determined whether the vibration signal is greater than the preset vibration value. If the vibration signal is greater than the preset vibration value, it means that the current working current of the solenoid valve does not meet the requirements. Then, according to whether the proportional solenoid valve is based on forward regulation or reverse regulation, the working current of the proportional solenoid valve is correspondingly increased or decreased according to the preset step size; if the vibration signal is less than or equal to the preset vibration value, it is considered that the working current at this time is the optimal working current required by the solenoid valve under the number of occurrences. By repeating the above operation, the working current required by the solenoid valve under different occurrence times can be calibrated and stored for reading and calling during control.

[0083] Through the above technical solution, that is, by setting a damping regulator on the oil return pipeline of the suspension cylinder, the driving status signal of the tire crane within a preset time period is obtained, and it is determined whether there is a characteristic value of the driving status signal that is greater than the preset characteristic value. When it is determined that there is a characteristic value greater than the preset characteristic value, the damping size of the damping regulator is adjusted. In this way, the driving bumps and vibrations of the tire crane can be reduced, thereby improving the driving comfort of the driver, and at the same time reducing the structural strength of the tire crane caused by driving vibration and the damage to the power, hydraulic and electrical components.

[0084] An embodiment of the present application also provides a processor, which is used to run a program, wherein a control method for a suspension system is executed when the program is run. The control method is applied to a tire crane, and the suspension system includes a suspension cylinder. A damping regulator is arranged on the oil return pipeline of the suspension cylinder. The control method includes the following steps: obtaining a driving state signal of the tire crane within a preset time period; determining whether the driving state signal has a characteristic value greater than a preset characteristic value; and if it is determined that the characteristic value is greater than the preset characteristic value, adjusting the damping of the damping regulator.

[0085] In one embodiment, the travel status signal includes a travel speed signal of the tire crane and a pressure signal of a luffing cylinder of the tire crane.

[0086] In one embodiment, determining whether a driving status signal has a characteristic value greater than a preset characteristic value includes: determining whether a driving speed signal is greater than a preset speed value; and when determining that the driving speed signal is greater than the preset speed value, determining whether a pressure signal has a characteristic value greater than the preset characteristic value.

[0087] In one embodiment, when it is determined that there is a characteristic value greater than a preset characteristic value, the damping size of the damping regulator is adjusted, including: when it is determined that there is a characteristic value greater than the preset characteristic value, determining whether the number of occurrences of the characteristic value greater than the preset characteristic value is greater than a preset number value; when it is determined that the number of occurrences is greater than the preset number value, adjusting the damping size of the damping regulator.

[0088] In one embodiment, the damping regulator includes a proportional solenoid valve; when it is determined that the number of occurrences is greater than a preset number value, the damping size of the damping regulator is adjusted, including: when it is determined that the number of occurrences is greater than the preset number value, determining the working current of the proportional solenoid valve according to the number of occurrences and the corresponding relationship between the number of occurrences and the working current of the proportional solenoid valve; loading the working current to the proportional solenoid valve to adjust the size of the opening of the proportional solenoid valve.

[0089] In one embodiment, the method further includes: determining whether a hydraulic drive start instruction is received; and controlling the hydraulic auxiliary drive system to drive if it is determined that the hydraulic drive start instruction is received.

[0090] In one embodiment, the correspondence between the number of occurrences and the working current of the proportional solenoid valve is determined in the following manner: when it is determined that the number of occurrences is greater than a preset number value, a preset working current is loaded into the proportional solenoid valve; a vibration signal of the tire crane is obtained; it is determined whether the vibration signal is greater than a preset vibration value; when it is determined that the vibration signal is greater than the preset vibration value, the working current of the proportional solenoid valve is increased or decreased according to a preset step size until the vibration signal is less than or equal to the preset vibration value; and the number of occurrences and the working current of the proportional solenoid valve corresponding to the number of occurrences are stored.

[0091] In one embodiment, the damping adjuster further includes a one-way valve connected in parallel with the proportional solenoid valve.

[0092] It should be noted that the specific process of the processor executing the above operations is detailed in the method embodiment and will not be repeated here.

[0093] 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 also provides a tire crane, including: a suspension system; and the above processor.

[0094] In one embodiment, the tire crane may further include:

[0095] Communication interface, capable of exchanging information with other devices (such as network equipment, terminals, etc.);

[0096] Memory is used to store computer programs that can be executed on the processor.

[0097] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the method provided by one or more technical solutions above can be implemented by adjusting kernel parameters.

[0098] The memory may 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 RAM, and the memory includes at least one memory chip.

[0099] In practical applications, the various components in the tire crane can be coupled together through a bus system. It can be understood that the bus system is used to achieve connection and communication between these components. In addition to the data bus, the bus system also includes a power bus, a control bus and a status signal bus.

[0100] The memory in the embodiment of the present application is used to store various types of data to support the operation of the tire crane. Examples of such data include: any computer program used to operate on the tire crane.

[0101] The method disclosed in the above embodiment of the present application can be applied to a processor or implemented by a processor. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present application, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0102] In an exemplary embodiment, the processor may be implemented by one or more application specific integrated circuits (AS IC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field programmable gate array (FPGA), general processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the aforementioned method.

[0103] It can be understood that the memory of the embodiment 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), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAMbus random access memory (DRRAM, Direct Rambus Random Access Memory).The memories described in the embodiments of the present application are intended to include, but are not limited to, these and any other suitable types of memories.

[0104] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored. The instructions are executed by a processor to control a suspension system. The control method is applied to a tire crane. The suspension system includes a suspension cylinder. A damping regulator is arranged on the oil return pipeline of the suspension cylinder. The control method includes the following steps: obtaining a driving status signal of the tire crane within a preset time period; determining whether the driving status signal has a characteristic value greater than a preset characteristic value; and if it is determined that the characteristic value is greater than the preset characteristic value, adjusting the damping of the damping regulator.

[0105] In one embodiment, the travel status signal includes a travel speed signal of the tire crane and a pressure signal of a luffing cylinder of the tire crane.

[0106] In one embodiment, determining whether a driving status signal has a characteristic value greater than a preset characteristic value includes: determining whether a driving speed signal is greater than a preset speed value; and when determining that the driving speed signal is greater than the preset speed value, determining whether a pressure signal has a characteristic value greater than the preset characteristic value.

[0107] In one embodiment, when it is determined that there is a characteristic value greater than a preset characteristic value, the damping size of the damping regulator is adjusted, including: when it is determined that there is a characteristic value greater than the preset characteristic value, determining whether the number of occurrences of the characteristic value greater than the preset characteristic value is greater than a preset number value; when it is determined that the number of occurrences is greater than the preset number value, adjusting the damping size of the damping regulator.

[0108] In one embodiment, the damping regulator includes a proportional solenoid valve; when it is determined that the number of occurrences is greater than a preset number value, the damping size of the damping regulator is adjusted, including: when it is determined that the number of occurrences is greater than the preset number value, determining the working current of the proportional solenoid valve according to the number of occurrences and the corresponding relationship between the number of occurrences and the working current of the proportional solenoid valve; loading the working current to the proportional solenoid valve to adjust the size of the opening of the proportional solenoid valve.

[0109] In one embodiment, the method further includes: determining whether a hydraulic drive start instruction is received; and controlling the hydraulic auxiliary drive system to drive if it is determined that the hydraulic drive start instruction is received.

[0110] In one embodiment, the correspondence between the number of occurrences and the working current of the proportional solenoid valve is determined in the following manner: when it is determined that the number of occurrences is greater than a preset number value, a preset working current is loaded into the proportional solenoid valve; a vibration signal of the tire crane is obtained; it is determined whether the vibration signal is greater than a preset vibration value; when it is determined that the vibration signal is greater than the preset vibration value, the working current of the proportional solenoid valve is increased or decreased according to a preset step size until the vibration signal is less than or equal to the preset vibration value; and the number of occurrences and the working current of the proportional solenoid valve corresponding to the number of occurrences are stored.

[0111] In one embodiment, the damping adjuster further includes a one-way valve connected in parallel with the proportional solenoid valve.

[0112] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 8 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 in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an 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 in the non-volatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, the method of any one of the above embodiments is implemented. The display screen A04 of the computer device can be a liquid crystal display or an electronic ink display, and the input device A05 of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0113] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0114] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, a method of any one of the above embodiments is implemented.

[0115] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing the method of initializing any one of the above embodiments.

[0116] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0117] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, 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 generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0118] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0119] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0120] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0121] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0122] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be 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 erasable 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 cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0123] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0124] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for a suspension system, characterized in that: Applied to a tire crane, the suspension system includes a suspension cylinder, a damping regulator is provided on the oil return pipeline of the suspension cylinder, and the control method includes: Acquire a driving state signal of the tire crane within a preset time period, wherein the driving state signal includes a driving speed signal of the tire crane and a pressure signal of a luffing cylinder of the tire crane; Determine whether the driving state signal has a characteristic value greater than a preset characteristic value; In the case where it is determined that the characteristic value is greater than the preset characteristic value, adjusting the damping of the damping regulator; The determining whether the driving state signal has a characteristic value greater than a preset characteristic value includes: determining whether the driving speed signal is greater than a preset speed value; In the case where it is determined that the driving speed signal is greater than the preset speed value, determining whether the pressure signal has a characteristic value greater than a preset characteristic value; When it is determined that the characteristic value is greater than the preset characteristic value, adjusting the damping of the damping regulator includes: In the case where it is determined that the characteristic value is greater than the preset characteristic value, determining whether the number of occurrences of the characteristic value being greater than the preset characteristic value is greater than a preset number of times; When it is determined that the number of occurrences is greater than the preset number value, adjusting the damping of the damping regulator; The damping regulator includes a proportional solenoid valve; When it is determined that the number of occurrences is greater than the preset number of times, adjusting the damping of the damping regulator includes: In the case where it is determined that the number of occurrences is greater than the preset number of times, determining the operating current of the proportional solenoid valve according to the number of occurrences and the corresponding relationship between the number of occurrences and the operating current of the proportional solenoid valve; Loading the working current to the proportional solenoid valve to adjust the size of the opening of the proportional solenoid valve; The corresponding relationship between the number of occurrences and the working current of the proportional solenoid valve is determined by the following method: When it is determined that the number of occurrences is greater than the preset number of times, a preset working current is applied to the proportional solenoid valve; Acquiring a vibration signal of the tire crane; Determining whether the vibration signal is greater than a preset vibration value; When it is determined that the vibration signal is greater than the preset vibration value, increasing or decreasing the operating current of the proportional solenoid valve according to a preset step size until the vibration signal is less than or equal to the preset vibration value; The occurrence number and the operating current of the proportional solenoid valve corresponding to the occurrence number are stored.

2. The control method according to claim 1, characterized in that: The damping regulator also includes a one-way valve connected in parallel with the proportional solenoid valve.

3. A processor, characterized in that: The method is configured to execute the control method for a suspension system according to claim 1 or 2.

4. A tire crane, characterized in that: include: Suspension system; as well as A processor according to claim 3.

5. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the control method for a suspension system according to claim 1 or 2.

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