Drive system of a construction vehicle and method of controlling the same, construction vehicle

Abstract

The application provides a driving system of an engineering vehicle, a control method of the driving system and the engineering vehicle, and belongs to the technical field of engineering vehicles. The control method of the driving system of the engineering vehicle comprises the following steps: obtaining a standard displacement of the driving system of the engineering vehicle according to an input user instruction; obtaining steering angle information and traveling pump pressure information of the engineering vehicle; and controlling the driving system according to the standard displacement, the steering angle information and the traveling pump pressure information. According to the technical scheme, the pressure signal is used as a control object, which belongs to active control, can correct system errors in real time, and can avoid the problem that system errors become larger and larger due to factors such as excessively high precision requirements for sensors and execution unit components and component aging and wear.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of engineering vehicles, and particularly relates to a driving system of an engineering vehicle and a control method thereof and an engineering vehicle. BACKGROUND

[0002] The all-wheel drive technology of the engineering vehicle includes speed matching of a rigid transmission system mainly with a mechanical gearbox and a flexible transmission system mainly with a hydraulic pump and a hydraulic motor, and matching of speed difference between the inner wheel and the outer wheel caused by steering and speed difference between the front wheel and the rear wheel. The prior art adopts a rotational speed sensor to measure the front and rear wheel speeds, and then adjusts the displacement of the traveling pump and the motor through a control unit to perform closed-loop control of speed matching. The speed signal is used as a control object, which belongs to passive control. The speed change is actually a result reflected after all control logics occur. When the result occurs, the control actually makes an adjustment with a lag. It can be seen that the current all-wheel drive control has a delay, cannot timely adjust the displacement of the driving system, and has poor control effect. SUMMARY

[0003] Embodiments according to the present application aim to at least improve one of the technical problems existing in the prior art or related art.

[0004] Therefore, a first object of embodiments according to the present application is to provide a control method of a driving system of an engineering vehicle.

[0005] A second object of embodiments according to the present application is to provide a driving system of an engineering vehicle.

[0006] A third object of embodiments according to the present application is to provide a readable storage medium.

[0007] A fourth object of embodiments according to the present application is to provide an engineering vehicle.

[0008] To achieve the first object of the present application, the technical solution of the first aspect of the present application provides a control method of a driving system of an engineering vehicle, comprising: obtaining a standard displacement of the driving system of the engineering vehicle according to an input user instruction; acquiring steering angle information and traveling pump pressure information of the engineering vehicle, wherein the traveling pump pressure information is a pressure difference between a working port and a supplement oil port of the traveling pump; and controlling the driving system according to the standard displacement, the steering angle information and the traveling pump pressure information.

[0009] The control method of the driving system of the engineering vehicle provided in the application first obtains the standard displacement of the driving system of the engineering vehicle according to the input user instruction, and the standard displacement includes the standard displacement of the traveling pump and the standard displacement of the motor. Then, the steering angle information of the engineering vehicle and the pressure information of the traveling pump are obtained, and the driving system of the engineering vehicle is controlled according to the standard displacement, the steering angle information and the pressure information, and the traveling pump and the motor perform corresponding displacement actions, so that the front and rear wheel speeds and the left and right wheel speeds are matched. The pressure information of the traveling pump is the pressure difference between the working port and the oil supplement port of the traveling pump. The pressure signal of the traveling pump is used as the main control object, the system error can be corrected in real time, the system pressure value is corrected before the tire slips, and the purpose of active control is achieved. The problem that the system error becomes larger and larger due to the high precision requirement of the sensor and the execution unit and the aging and wear of the components can also be avoided.

[0010] In addition, the technical solution provided in the application can also have the following additional technical features:

[0011] In the above technical solution, the driving system is controlled according to the standard displacement, the steering angle information and the pressure information of the traveling pump, and specifically, the front and rear wheel speed ratio and the left and right wheel speed ratio of the engineering vehicle are obtained according to the steering angle information, the target displacement of the driving system is obtained according to the front and rear wheel speed ratio, the left and right wheel speed ratio and the standard displacement, and the displacement of the driving system is adjusted according to the target displacement until the pressure information of the traveling pump meets the preset requirement.

[0012] In the technical solution, the driving system is controlled according to the standard displacement, the steering angle information and the pressure information of the traveling pump, and specifically, the front and rear wheel speed ratio and the left and right wheel speed ratio of the engineering vehicle are obtained according to the steering angle information, the target displacement of the driving system is obtained according to the front and rear wheel speed ratio, the left and right wheel speed ratio and the standard displacement, and the displacement of the driving system is adjusted according to the target displacement until the pressure information of the traveling pump meets the preset requirement. Specifically, the steering angle of the whole vehicle is calculated through the angle sensing unit such as the cylinder displacement sensor and the hinged angle sensor, and the front and rear wheel speed ratio and the left and right wheel speed ratio of the engineering vehicle can be calculated through the geometric relationship of the whole vehicle. The target displacement can be obtained according to the front and rear wheel speed ratio, the left and right wheel speed ratio and the standard displacement. The displacement of the driving system is continuously adjusted according to the target displacement and the pressure difference between the working port and the oil supplement port of the traveling pump until the pressure information of the traveling pump meets the preset requirement, and then the traveling pump and the motor perform corresponding displacement actions to match the front and rear wheel speeds and the left and right wheel speeds.

[0013] In the technical solution, the displacement of the driving system is adjusted according to the target displacement until the travel pump pressure information meets the preset requirement, specifically including: adjusting the displacement of the driving system according to the target displacement; when the travel pump pressure information is greater than the preset pressure difference threshold, reducing the displacement of the driving system until the travel pump pressure information meets the requirement of the preset pressure difference threshold; when the travel pump pressure information is less than the preset pressure difference threshold, increasing the displacement of the driving system until the travel pump pressure information meets the requirement of the preset pressure difference threshold.

[0014] In the technical solution, the displacement of the driving system is adjusted according to the target displacement until the travel pump pressure information meets the preset requirement, specifically including: adjusting the displacement of the driving system according to the target displacement; when the travel pump pressure information is greater than the preset pressure difference threshold, reducing the displacement of the driving system until the travel pump pressure information meets the requirement of the preset pressure difference threshold; when the travel pump pressure information is less than the preset pressure difference threshold, increasing the displacement of the driving system until the travel pump pressure information meets the requirement of the preset pressure difference threshold.

[0015] In the technical solution, the target displacement of the driving system is obtained according to the front-rear wheel speed ratio, the left-right wheel speed ratio and the standard displacement, specifically including: obtaining an adjusted displacement according to the front-rear wheel speed ratio and the left-right wheel speed ratio; adding the standard displacement and the adjusted displacement to obtain the target displacement of the driving system.

[0016] In the technical solution, the target displacement of the driving system is obtained according to the front-rear wheel speed ratio, the left-right wheel speed ratio and the standard displacement, specifically including: obtaining an adjusted displacement according to the front-rear wheel speed ratio and the left-right wheel speed ratio; adding the standard displacement and the adjusted displacement to obtain the target displacement of the driving system.

[0017] In the technical solution, after the displacement of the driving system is adjusted according to the target displacement until the travel pump pressure information meets the preset requirement, the front-rear wheel speed difference information of the engineering vehicle is obtained, and the displacement of the driving system is adjusted according to the front-rear wheel speed difference information.

[0018] In the technical solution, after adjusting the displacement of the driving system according to the target displacement until the travel pump pressure information meets the preset requirement, the front-rear wheel speed difference information of the engineering vehicle is obtained, and then the displacement of the driving system is adjusted according to the front-rear wheel speed difference information. It can be understood that if the pressure signal as the main control fails to make the system operate normally, or in the extreme case, the speed difference calculation module will intervene forcibly according to the front-rear wheel speed information to calculate the front-rear wheel speed difference and adjust the displacement of the driving system according to the front-rear wheel speed difference, so that the system returns to a controllable state, the front-rear wheel speed and the left-right wheel speed are matched, and the driving system of the engineering vehicle continuously monitors the pressure and the speed, and adjusts in the next round when shifting, accelerating or decelerating, or an abnormality occurs.

[0019] In the technical solution, before the driving system is controlled according to the standard displacement, the steering angle information and the travel pump pressure information, if the steering angle information is zero, the driving system is controlled according to the standard displacement.

[0020] In the technical solution, before the driving system is controlled according to the standard displacement, the steering angle information and the travel pump pressure information, if the steering angle information is zero, the driving system is controlled according to the standard displacement.

[0021] To achieve the second object of the present application, the technical solution of the second aspect of the present application provides a driving system of an engineering vehicle, comprising: an input module configured to obtain a standard displacement of the driving system of the engineering vehicle according to an input user instruction; an acquisition module configured to acquire steering angle information and travel pump pressure information of the engineering vehicle; and a processing module configured to control the driving system according to the standard displacement, the steering angle information and the travel pump pressure information.

[0022] In the technical solution, the driving system of the engineering vehicle comprises an input module, an acquisition module and a processing module. The input module is configured to obtain a standard displacement of the driving system of the engineering vehicle according to an input user instruction, the acquisition module is configured to acquire steering angle information and travel pump pressure information of the engineering vehicle, and the processing module is configured to control the driving system according to the standard displacement, the steering angle information and the travel pump pressure information, so that the front-rear wheel speed and the left-right wheel speed are matched.

[0023] In the technical solution, the driving system of the engineering vehicle further comprises a pressure detection module configured to detect the pressure of the working port and the oil supplement port of the travel pump.

[0024] In the technical solution, the driving system of the engineering vehicle further comprises a pressure detection module configured to detect the pressure of the working port and the oil supplement port of the travel pump, so as to acquire the travel pump pressure information.

[0025] To achieve the third object of the present application, the technical solution of the third aspect of the present application provides a readable storage medium, which has a program or instruction stored thereon, and the program or instruction is executed by a processor to realize the steps of the control method of the drive system of the engineering vehicle according to any one of the first aspect of the present application, so as to have the technical effects of any one of the first aspect of the present application, which will not be repeated here.

[0026] To achieve the fourth object of the present application, the technical solution of the fourth aspect of the present application provides an engineering vehicle, which comprises the drive system of the engineering vehicle according to any one of the technical solutions of the present application.

[0027] The engineering vehicle provided by the technical solution of the present application comprises the drive system of the engineering vehicle according to any one of the technical solutions of the present application, so as to have all the beneficial effects of the drive system of the engineering vehicle according to any one of the technical solutions of the present application, which will not be repeated here. The engineering vehicle comprises a grader.

[0028] Additional aspects and advantages of embodiments according to the present application will become apparent from the following description with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a step flow chart of the control method of the drive system of the engineering vehicle according to an embodiment provided by the present application;

[0030] Figure 2 is a step flow chart of the control method of the drive system of the engineering vehicle according to an embodiment provided by the present application;

[0031] Figure 3 is a step flow chart of the control method of the drive system of the engineering vehicle according to an embodiment provided by the present application;

[0032] Figure 4 is a step flow chart of the control method of the drive system of the engineering vehicle according to an embodiment provided by the present application;

[0033] Figure 5 is a step flow chart of the control method of the drive system of the engineering vehicle according to an embodiment provided by the present application;

[0034] Figure 6 is a step flow chart of the control method of the drive system of the engineering vehicle according to an embodiment provided by the present application;

[0035] Figure 7 is a structural schematic diagram of the engineering vehicle according to an embodiment provided by the present application;

[0036] Figure 8is a structural schematic diagram of an engineering vehicle according to another embodiment provided by the present application;

[0037] Figure 9 is a structural schematic block diagram of a drive system of an engineering vehicle according to an embodiment provided by the present application;

[0038] Figure 10 is a structural schematic block diagram of a drive system of an engineering vehicle according to another embodiment provided by the present application;

[0039] Figure 11 is a structural schematic block diagram of a drive system of an engineering vehicle according to still another embodiment provided by the present application;

[0040] Figure 12 is a structural schematic diagram of an engineering vehicle according to an embodiment provided by the present application;

[0041] Figure 13 is a working principle schematic diagram of a drive system of an engineering vehicle according to an embodiment provided by the present application.

[0042] wherein, Figures 7 to 13 the correspondence between the reference signs in the drawings and the component names is as follows:

[0043] 10: drive system of an engineering vehicle; 110: input module; 120: acquisition module; 130: processing module; 140: pressure detection module; 210: input unit; 220: standard displacement calculation module; 230: angle sensing unit; 240: speed ratio calculation unit; 250: speed sensing unit; 260: speed difference calculation unit; 270: pressure sensing unit; 280: pressure difference calculation module; 290: adjustment amount calculation module; 300: memory; 310: output displacement calculation module; 320: execution unit; 400: processor; 50: engineering vehicle. DETAILED DESCRIPTION

[0044] In order to make the above-mentioned purposes, features and advantages of the embodiments according to the present application more clearly understood, the embodiments according to the present application are further described in detail below with reference to the drawings and specific embodiments. It should be noted that the features of the embodiments according to the present application can be combined with each other without conflict.

[0045] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the embodiments according to the present application, however, the embodiments according to the present application can also be implemented in other ways different from those described herein, therefore, the protection scope provided by the embodiments according to the present application is not limited by the specific embodiments disclosed below.

[0046] Some embodiments provided by the present application are described below with reference to Figures 1 to 13 the drawings.

[0047] As Figure 1 shown, the embodiment of the first aspect of the application provides a control method of a drive system of an engineering vehicle, comprising:

[0048] Step S102: obtaining a standard displacement of the drive system of the engineering vehicle according to an input user instruction;

[0049] Step S104: obtaining steering angle information and travel pump pressure information of the engineering vehicle, wherein the travel pump pressure information is a pressure difference between a working port and a compensation port of the travel pump;

[0050] Step S106: controlling the drive system according to the standard displacement, the steering angle information and the travel pump pressure information.

[0051] In this embodiment, first, the standard displacement of the drive system of the engineering vehicle is obtained according to the input user instruction, and the standard displacement includes a standard displacement of the travel pump and a standard displacement of the motor. Then, the steering angle information and the pressure information of the travel pump of the engineering vehicle are obtained, and the drive system of the engineering vehicle is controlled according to the standard displacement, the steering angle information and the pressure information, so that the travel pump and the motor perform corresponding displacement actions, thereby matching the front and rear wheel speeds and the left and right wheel speeds. The travel pump pressure information is a pressure difference between a working port and a compensation port of the travel pump. Using the travel pump pressure signal as the main control object can correct the system error in real time, correct the system pressure value before the tire slips, and achieve the purpose of active control. It can also avoid the problem that the system error becomes larger and larger due to factors such as too high precision requirements for sensors and execution unit components and component aging and wear.

[0052] As Figure 2 shown, according to the control method of the drive system of the engineering vehicle according to one embodiment of the application, the drive system is controlled according to the standard displacement, the steering angle information and the travel pump pressure information, and the following process steps are specifically included:

[0053] Step S202: obtaining front and rear wheel speed ratios and left and right wheel speed ratios of the engineering vehicle according to the steering angle information;

[0054] Step S204: obtaining a target displacement of the drive system according to the front and rear wheel speed ratios, the left and right wheel speed ratios and the standard displacement;

[0055] Step S206: adjusting the displacement of the drive system according to the target displacement until the travel pump pressure information meets the preset requirements.

[0056] In this embodiment, the driving system is controlled according to the standard displacement, the steering angle information and the travel pump pressure information, specifically, the front-rear wheel speed ratio and the left-right wheel speed ratio of the engineering vehicle are obtained according to the steering angle information, and then the target displacement of the driving system is obtained according to the front-rear wheel speed ratio, the left-right wheel speed ratio and the standard displacement, and the displacement of the driving system is adjusted according to the target displacement until the travel pump pressure information meets the preset requirement. Specifically, the steering angle of the whole vehicle is calculated through an angle sensing unit such as a cylinder displacement sensor and a hinge angle sensor, and then the front-rear wheel speed ratio and the left-right wheel speed ratio of the engineering vehicle can be calculated through the geometric relationship of the whole vehicle, and the target displacement can be obtained according to the front-rear wheel speed ratio, the left-right wheel speed ratio and the standard displacement. According to the target displacement and the pressure difference between the working port and the oil supplement port of the travel pump, the displacement of the driving system is continuously adjusted until the travel pump pressure information meets the preset requirement, and then the travel pump and the motor perform the corresponding displacement action to make the front-rear wheel speed and the left-right wheel speed match.

[0057] As shown in the control method of the driving system of the engineering vehicle according to one embodiment of the present application, Figure 3 specifically includes the following process steps:

[0058] Step S302: adjusting the displacement of the driving system according to the target displacement;

[0059] Step S304: when the travel pump pressure information is greater than the preset pressure difference threshold, reducing the displacement of the driving system until the travel pump pressure information meets the requirement of the preset pressure difference threshold;

[0060] Step S306: when the travel pump pressure information is less than the preset pressure difference threshold, increasing the displacement of the driving system until the travel pump pressure information meets the requirement of the preset pressure difference threshold.

[0061] In this embodiment, the displacement of the driving system is adjusted according to the target displacement until the travel pump pressure information meets the preset requirement, specifically, the displacement of the driving system is adjusted according to the target displacement, when the travel pump pressure information is greater than the preset pressure difference threshold, the displacement of the driving system needs to be reduced until the travel pump pressure information is within the preset pressure difference threshold, and when the travel pump pressure information is less than the preset pressure difference threshold, the displacement of the driving system needs to be increased until the travel pump pressure information meets the requirement of the preset pressure difference threshold. It can be understood that if the steering angle is greater than zero and the travel pump pressure information is higher than the set value, it represents that the front wheel displacement is too large and needs to be reduced. If the travel pump pressure information is lower than the set value, it represents that the front wheel displacement is too small and needs to be increased. The above process is a continuous adjustment until the travel pump pressure information is within the preset pressure difference threshold.

[0062] As shown in the control method of the driving system of the engineering vehicle according to one embodiment of the present application, Figure 4As shown, a control method for the drive system of an engineering vehicle according to an embodiment of this application obtains the target displacement of the drive system based on the front-to-rear wheel speed ratio, the left-to-right wheel speed ratio, and the standard displacement. The method specifically includes the following steps:

[0063] Step S402: Obtain the adjusted displacement based on the front-to-rear wheel speed ratio and the left-to-right wheel speed ratio;

[0064] Step S404: Add the standard displacement to the adjusted displacement to obtain the target displacement of the drive system.

[0065] In this embodiment, the target displacement of the drive system is obtained based on the front-to-rear wheel speed ratio, the left-to-right wheel speed ratio, and the standard displacement. Specifically, an adjustable displacement is obtained based on the front-to-rear wheel speed ratio and the left-to-right wheel speed ratio. The adjustable displacement can be positive or negative. Then, the adjustable displacement is added to the standard displacement to obtain the target displacement of the drive system. It can be understood that when the adjustable displacement is negative, the displacement value obtained by adding the standard displacement and the adjustable displacement is less than the standard displacement; when the adjustable displacement is positive, the displacement value obtained by adding the standard displacement and the adjustable displacement is greater than the standard displacement.

[0066] like Figure 5 As shown, the control method for the drive system of an engineering vehicle according to an embodiment of this application, after adjusting the displacement of the drive system according to the target displacement until the pressure information of the driving pump meets the preset requirements, further includes the following process steps:

[0067] Step S502: Obtain the front and rear wheel speed difference information of the engineering vehicle;

[0068] Step S504: Adjust the displacement of the drive system based on the front and rear wheel speed difference information.

[0069] In this embodiment, after adjusting the drive system's displacement according to the target displacement until the driving pump pressure information meets the preset requirements, the front and rear wheel speed difference information of the engineering vehicle is obtained. Then, the drive system's displacement is adjusted based on the front and rear wheel speed difference information. It can be understood that if the pressure signal, as the main control, fails to enable the system to operate normally, or if extreme situations occur causing a speed difference between the front and rear wheels, such as slippage, the speed difference calculation module will forcibly intervene. It calculates the front and rear wheel speed difference based on the front and rear wheel speed information and adjusts the drive system's displacement accordingly, thereby restoring the system to a controllable state. The front and rear wheel speeds, as well as the left and right wheel speeds, are matched. The engineering vehicle's drive system continuously monitors pressure and speed, and performs the next round of adjustments when shifting gears, accelerating or decelerating, or when an anomaly occurs.

[0070] like Figure 6 As shown, the control method for the drive system of an engineering vehicle according to an embodiment of this application further includes the following process steps before controlling the drive system based on standard displacement, steering angle information, and driving pump pressure information:

[0071] Step S602: When the steering angle information is zero, control the drive system according to the standard displacement.

[0072] In this embodiment, before controlling the drive system based on the standard displacement, steering angle information, and drive pump pressure information, if the steering angle information is zero, the drive system is controlled based on the standard displacement.

[0073] like Figure 9 As shown, an embodiment of the second aspect of this application provides a drive system 10 for an engineering vehicle, including an input module 110, an acquisition module 120, and a processing module 130. Specifically, the input module 110 is used to obtain the standard displacement of the drive system 10 of the engineering vehicle according to the input user instructions. The acquisition module 120 is used to acquire the steering angle information and the driving pump pressure information of the engineering vehicle. The processing module 130 is used to control the drive system according to the standard displacement, steering angle information, and driving pump pressure information.

[0074] In this embodiment, the drive system of the engineering vehicle includes an input module 110, an acquisition module 120, and a processing module 130. The input module 110 is used to obtain the standard displacement of the drive system 10 of the engineering vehicle according to the input user instructions. The acquisition module 120 is used to acquire the steering angle information and the driving pump pressure information of the engineering vehicle 50. The processing module 130 is used to control the drive system according to the standard displacement, steering angle information, and driving pump pressure information, so that the speeds of the front and rear wheels and the speeds of the left and right wheels are matched.

[0075] Furthermore, the drive system of the engineering vehicle also includes a pressure detection module 140, which is used to detect the pressure at the working port and the oil replenishment port of the travel pump, thereby obtaining travel pump pressure information.

[0076] like Figure 8 , Figure 10 and Figure 13As shown, in some embodiments, the engineering vehicle 50 comprises an engineering vehicle body, and the drive system 10 of the engineering vehicle comprises an input unit 210, a standard displacement calculation module 220, an angle sensing unit 230, a speed ratio calculation unit 240, a speed difference calculation unit 260, a pressure sensing unit 270, a pressure difference calculation module 280, an adjustment amount calculation module 290, an output displacement calculation module 310, and an execution unit 320. The input unit 210 is arranged on the engineering vehicle body and is configured to collect a user instruction. The standard displacement calculation module 220 is connected to the input unit 210 and is configured to obtain a standard displacement of the drive system 10 of the engineering vehicle according to the input user instruction. The angle sensing unit 230 is arranged on the engineering vehicle body and is configured to collect steering angle information of the engineering vehicle. The speed ratio calculation unit 240 is connected to the angle sensing unit 230 and is configured to calculate front-rear wheel speed ratios and left-right wheel speed ratios of the engineering vehicle when turning according to the steering angle information, and the speed ratio calculation unit 240 comprises a front-rear wheel speed ratio calculation unit and a left-right wheel speed ratio calculation unit. The speed sensing unit 250 is arranged on the engineering vehicle body and is configured to collect front-rear wheel speeds of the engineering vehicle. The speed difference calculation unit 260 is connected to the speed sensing unit 250 and is configured to calculate a front-rear wheel speed difference. The pressure sensing unit 270 is arranged on the engineering vehicle body and is configured to collect travel pump pressure information. The pressure difference calculation module 280 is connected to the pressure sensing unit 270 and is configured to calculate a pressure difference between a working port and a replenishing port of the travel pump. The adjustment amount calculation module 290 is connected to the speed ratio calculation unit 240 and is configured to calculate an adjustment displacement according to the front-rear wheel speed ratios and the left-right wheel speed ratios. The output displacement calculation module 310 is connected to the adjustment amount calculation module 290 and is configured to add the adjustment displacement and the standard displacement to obtain a target displacement. The execution unit 320 is configured to drive the engineering vehicle according to the target displacement, the travel pump pressure information, and the front-rear wheel speed difference information.

[0077] Further, the input unit 210 is composed of a gear lever, an accelerator pedal, a clutch pedal and a brake pedal. The angle sensing unit 230 includes a hinge angle sensor, a left steering cylinder displacement sensor and a right steering cylinder displacement sensor, the hinge angle sensor is arranged on the engineering vehicle body, and the left steering cylinder displacement sensor and the right steering cylinder displacement sensor are connected with the left steering cylinder and the right steering cylinder of the front wheels respectively. The speed sensing unit 250 includes a left motor speed sensor, a right motor speed sensor and a gearbox speed sensor, the left motor speed sensor and the right motor speed sensor are connected with the left motor and the right motor of the front wheels respectively, for measuring the speed of the front left and right wheels, and the gearbox speed sensor is connected with the gearbox, for measuring the speed of the gearbox. The pressure sensing unit 270 includes a left travel pump working port pressure sensor, a left travel pump oil supplement port pressure sensor, a right travel pump working port pressure sensor and a right travel pump oil supplement port pressure sensor, which are arranged at the working port and the oil supplement port of the left and right travel pumps respectively, for measuring the pressure difference of the working port and the oil supplement port of the left and right travel pumps. The execution unit 320 includes a left travel pump, a right travel pump, a left motor and a right motor, for driving the engineering vehicle 50 to travel.

[0078] As shown in the Figure 11 application, in some embodiments, the driving system of the engineering vehicle further includes a memory 300 and a processor 400, wherein the memory 300 stores a program or instructions executable on the processor 400, and the processor 400 executes the program or instructions to implement the steps of the control method of the driving system of the engineering vehicle of any one of the embodiments of the first aspect, thus having the technical effects of any one of the embodiments of the first aspect, which will not be repeated here.

[0079] The embodiment of the third aspect of the application provides a readable storage medium having a program or instructions stored thereon, and the program or instructions are executed by the processor 400 to implement the steps of the control method of the driving system of the engineering vehicle of any one of the embodiments of the first aspect, thus having the technical effects of any one of the embodiments of the first aspect, which will not be repeated here.

[0080] As shown in the Figure 12 application, the embodiment of the fourth aspect of the application provides an engineering vehicle 50, which includes the driving system 10 of the engineering vehicle according to any one of the above embodiments.

[0081] The engineering vehicle 50 according to the embodiment of the application includes the driving system 10 of the engineering vehicle according to any one of the above embodiments, thus having all the beneficial effects of the driving system 10 of the engineering vehicle according to any one of the above embodiments, which will not be repeated here. The engineering vehicle 50 includes a grader.

[0082] As shown in the Figures 1 to 13As shown, a specific embodiment of the driving system 10 of an engineering vehicle according to this application includes an input unit 210, a standard displacement calculation module 220, an angle sensing unit 230, a speed ratio calculation unit 240, a speed difference calculation unit 260, a pressure sensing unit 270, a pressure difference calculation module 280, an adjustment amount calculation module 290, an output displacement calculation module 310, and an execution unit 320.

[0083] The input unit 210 includes a gear selector, accelerator pedal, clutch pedal, and brake pedal, used to collect user commands. The execution unit 320 includes a left drive pump, a right drive pump, a left motor, and a right motor, used to execute user commands and control commands.

[0084] The standard displacement calculation module 220 is used to calculate the ratio of standard driving pump and motor displacements by means of user instructions collected by the input unit 210.

[0085] The angle sensing unit 230 includes an articulated angle sensor, a left steering cylinder displacement sensor, and a right steering cylinder displacement sensor, which are used to collect the vehicle's steering angle information.

[0086] like Figure 7 As shown, the speed ratio calculation unit 240 includes a front-to-rear wheel speed ratio calculation unit 240 and a left-to-right wheel speed ratio calculation unit 240, used to process the collected steering angle information and calculate the front-to-rear wheel speed ratio and the left-to-right wheel speed ratio during turning. Specifically, the minimum turning radius of the outer front wheel of the engineering vehicle 50 is 'a', the minimum turning radius of the inner front wheel is 'b', and the minimum turning radius of the rear axle center point is 'c'. Therefore, the speed ratio between the outer and inner front wheels of the engineering vehicle 50 is a / b, and the speed ratio between the outer and rear front wheels is a / c. Furthermore, we know that the maximum steering angle of the front wheels is 47.5°, and the maximum steering angle of the articulated wheel is 15°. We can correlate the speed ratio with the steering angle through simple mathematical calculations (approximately linear). For example, when the front wheel steering angle is 47.5°, the speed of the inner front wheel is calculated based on the speed of the outer front wheel: front outer wheel speed / (a / c). Then, the required displacement and control current are calculated theoretically.

[0087] The speed sensing unit 250 includes a left motor speed sensor, a right motor speed sensor, and a gearbox speed sensor, which are used to collect information on the speed of the front-wheel drive left and right wheels and the overall vehicle speed.

[0088] Speed ​​difference calculation unit 260 is used to calculate the speed difference between the front and rear wheels.

[0089] The pressure sensing unit 270 includes a pressure sensor at the working port of the left drive pump, a pressure sensor at the oil replenishment port of the left drive pump, a pressure sensor at the working port of the right drive pump, and a pressure sensor at the oil replenishment port of the right drive pump, which are used to collect drive pump pressure information.

[0090] The differential pressure calculation module 280 is configured to calculate the pressure difference between the working port of the traveling pump and the oil supplement port.

[0091] The adjustment amount calculation module 290 is configured to comprehensively calculate the adjustment amount according to the adjustment amounts given by the speed ratio calculation module, the speed difference calculation module and the differential pressure calculation module 280.

[0092] The output displacement calculation module 310 is configured to calculate the actual output displacement value. The execution unit 320 includes a left traveling pump, a right traveling pump, a left motor and a right motor, and is configured to execute the displacement instruction given by the output displacement calculation module 310.

[0093] Taking the front wheel pump of the engineering vehicle as the traveling pump, the specific implementation steps are as follows:

[0094] In step S702, the system calculates the standard displacement according to the user instruction collected by the input unit.

[0095] In step S704, the angle sensor unit, the speed sensor unit and the pressure sensor unit collect system information and transmit the information to the speed ratio calculation module, the speed difference calculation module and the differential pressure calculation module, respectively.

[0096] In step S706, when the angle sensor unit feeds back the steering angle information greater than zero, the speed ratio calculation module calculates the required adjustment amount and feeds back the adjustment amount to the adjustment amount calculation module.

[0097] In step S708, the adjustment amount calculation module calculates the adjusted displacement, adds the adjusted displacement to the standard displacement to obtain the target displacement, and sends the target displacement to the execution unit.

[0098] In step S710, the execution unit obtains the instruction and the traveling pump and the motor execute the corresponding displacement action.

[0099] In step S712, if the differential pressure calculation module feeds back the traveling pump pressure information that does not meet the preset requirement, the execution unit continuously adjusts the displacement of the traveling pump and the motor until the traveling pump pressure information meets the preset requirement.

[0100] In step S714, after the traveling pump pressure information meets the preset requirement, if the speed difference calculation module feeds back the abnormality, the execution unit continuously adjusts the displacement of the traveling pump and the motor until the front wheel speed is effectively matched.

[0101] Specifically, at a certain moment, the angle sensing unit such as the cylinder displacement sensor and the hinged angle sensor calculates the whole vehicle steering angle, and then calculates the speed ratio of the left and right front wheels as a and the speed ratio of the front and rear wheels as b (the speed ratio of the front and rear wheels is calculated based on the front outer wheel) through the geometric relationship of the whole vehicle.

[0102] When the rear-drive mechanical gearbox is in F3 gear and the theoretical vehicle speed is 7.95 Km / h, the system will calculate the standard displacement required by the driving pump (the outer wheel) as 33.74 L in advance. If the steering angle information is zero, the driving system is controlled according to the standard displacement, which is the first level of matching. If the steering angle is greater than 0, the actual displacement required by the front-drive outer wheel is 33.74*b, and the displacement required by the inner wheel is 33.74*b / a, that is, the driving system is controlled according to the front-rear wheel speed ratio, the left-right wheel speed ratio and the standard displacement, which is the second level of matching. Then the system will judge whether the given displacement value is appropriate by monitoring the pressure difference (the working pressure of the driving pump-the oil supplement pressure) of the driving pump. If the pressure difference is higher than the set value, it means that the displacement of the front wheel is too large and needs to be reduced. If the pressure difference is lower than the set value, it means that the displacement of the front wheel is too small and needs to be increased. The above process is a continuous adjustment until the system pressure parameter is normal, and the actual displacement value is output to the pump, which is the third level of matching.

[0103] If the third level of matching also fails to make the system operate normally, or the front-rear wheel speed difference appears in the extreme case, such as the slipping condition, the speed difference calculation module will intervene forcibly, adjusts the displacement of the driving system according to the front-rear wheel speed difference, and makes the system return to a controllable state, which is the fourth level of matching.

[0104] After the above four levels of speed matching, the front-rear wheel speed and the left-right wheel speed of the system are matched, and the system continuously monitors the pressure and speed and adjusts in the next round when shifting, accelerating or decelerating, or an abnormality occurs.

[0105] In summary, the beneficial effects of the embodiments of the application are:

[0106] 1. The speed control mode adopts a pressure signal as a main control object and a speed signal as an auxiliary control object. This control mode can avoid the problem of too high precision requirement for the sensor input unit and the execution unit device, and avoid the problem of system error becoming larger and larger due to factors such as device aging and wear.

[0107] 2. The speed control mode adopts four levels of matching adjustment to correct system error in real time. This control mode can correct system pressure value before the tire slips, so as to achieve the purpose of active control. In the extreme slipping case, the speed difference calculation adjusts the system back to the normal range, which is a double insurance for the system speed matching.

[0108] In the embodiments according to the present application, the terms "first", "second", "third" are only used for descriptive purpose, and should not be understood as indicating or implying relative importance. The term "multiple" means two or more, unless otherwise explicitly limited. The terms "mount", "connect", "connection", "fix", and the like should be interpreted broadly, for example, "connection" can be fixed connection, or detachable connection, or integral connection; "connection" can be direct connection, or indirect connection through intermediate medium. For those skilled in the art, the specific meanings of the above terms in the embodiments according to the present application can be understood according to the specific circumstances.

[0109] In the description of the embodiments according to the present application, it should be understood that the terms "upper", "lower", "left", "right", "front", "back", etc. indicate the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the embodiments according to the present application and simplify the description, and do not indicate or imply that the device or unit referred to must have a particular direction, be constructed and operated in a particular orientation, therefore, should not be understood as a limitation on the embodiments according to the present application.

[0110] In the description of the present specification, the terms "one embodiment", "some embodiments", "certain embodiments", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example according to the present application. In the present specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0111] The above is only the preferred embodiments according to the present application, and is not intended to limit the embodiments according to the present application. The embodiments according to the present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the embodiments according to the present application should be included in the protection scope of the embodiments according to the present application.

Claims

1. A method of controlling a drive system of a work vehicle, characterized by, The method comprises the following steps: obtaining a standard displacement of a driving system of the engineering vehicle according to an input user instruction; obtaining steering angle information and travel pump pressure information of the engineering vehicle, wherein the travel pump pressure information is a pressure difference between a working port and a supplement oil port of a travel pump; controlling the driving system according to the standard displacement, the steering angle information and the travel pump pressure information; controlling the driving system according to the standard displacement, the steering angle information and the travel pump pressure information, specifically comprising: obtaining front-rear wheel speed ratio and left-right wheel speed ratio of the engineering vehicle according to the steering angle information; obtaining a target displacement of the driving system according to the front-rear wheel speed ratio, the left-right wheel speed ratio and the standard displacement; adjusting the displacement of the driving system according to the target displacement until the travel pump pressure information meets a preset requirement; the standard displacement comprises a standard displacement of a travel pump and a standard displacement of a motor.

2. The control method of the drive system of the work vehicle according to claim 1, characterized by, the adjusting the displacement of the driving system according to the target displacement until the travel pump pressure information meets a preset requirement, specifically comprising: adjusting the displacement of the driving system according to the target displacement; when the travel pump pressure information is greater than a preset pressure difference threshold, reducing the displacement of the driving system until the travel pump pressure information meets a requirement of the preset pressure difference threshold; when the travel pump pressure information is less than the preset pressure difference threshold, increasing the displacement of the driving system until the travel pump pressure information meets a requirement of the preset pressure difference threshold.

3. The control method of the drive system of the work vehicle according to claim 1, characterized in that, the obtaining a target displacement of the driving system according to the front-rear wheel speed ratio, the left-right wheel speed ratio and the standard displacement, specifically comprising: obtaining an adjusted displacement according to the front-rear wheel speed ratio and the left-right wheel speed ratio; adding the standard displacement and the adjusted displacement to obtain the target displacement of the driving system.

4. The control method of the drive system of the work vehicle according to claim 2 or 3, characterized in that, after the adjusting the displacement of the driving system according to the target displacement until the travel pump pressure information meets a preset requirement, further comprising: obtaining front-rear wheel speed difference information of the engineering vehicle; adjusting the displacement of the driving system according to the front-rear wheel speed difference information.

5. The control method of the drive system of the work vehicle according to claim 1, characterized in that, before the controlling the driving system according to the standard displacement, the steering angle information and the travel pump pressure information, further comprising: when the steering angle information is zero, controlling the driving system according to the standard displacement.

6. A drive system of a work vehicle characterized by, The method comprises the following steps: an input module (110) is configured to obtain a standard displacement of a driving system of the engineering vehicle according to an input user instruction; an obtaining module (120) is configured to obtain steering angle information and travel pump pressure information of the engineering vehicle; a processing module (130) is configured to control the driving system according to the standard displacement, the steering angle information and the travel pump pressure information; the processing module is further configured to obtain front-rear wheel speed ratio and left-right wheel speed ratio of the engineering vehicle according to the steering angle information; obtain a target displacement of the driving system according to the front-rear wheel speed ratio, the left-right wheel speed ratio and the standard displacement; adjust the displacement of the driving system according to the target displacement until the travel pump pressure information meets a preset requirement; The standard displacement includes a standard displacement of the traveling pump and a standard displacement of the motor.

7. The drive system of the work vehicle of claim 6, wherein, Further comprising: a pressure detection module (140) configured to detect a pressure of the working port and the oil supplement port of the traveling pump.

8. A readable storage medium, on which a program or instructions are stored, characterized in that, The program or the instruction, when executed by a processor, implements the steps of the control method of the drive system of the engineering vehicle according to any one of claims 1 to 5.

9. An engineering vehicle characterized by, Comprising: The drive system of the engineering vehicle according to claim 6 or 7.

Images