Control method, control device, and controller for a road roller

Abstract

The application relates to a control method, a control device and a controller of a road roller, and the control method comprises the following steps: acquiring a real-time working condition of the road roller; determining a real-time working demand amount of a hydraulic system of the road roller according to the real-time working condition; adjusting a real-time engine rotating speed of the road roller according to the real-time working condition; and adjusting a real-time pump displacement and a real-time motor displacement according to the real-time engine rotating speed and the real-time working demand amount, wherein the real-time working demand amount is a fixed value corresponding to the real-time working condition, the real-time working demand amount is positively correlated with the real-time engine rotating speed and the real-time pump displacement, and the real-time working demand amount is inversely correlated with the real-time motor displacement. The application provides a technical scheme for flexibly adjusting the real-time engine rotating speed, the real-time pump displacement and the real-time motor displacement according to the real-time working condition and the real-time working demand amount, so that the adaptability of the road roller to various real-time working conditions is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a control method, a control device and a controller of a road roller. BACKGROUND

[0002] The background section provided herein is merely for information and is not necessarily prior art.

[0003] At present, the engineering vehicle generally adopts a fixed control mode. Taking a road roller as an example, after the speed and vibration frequency of the road roller are fixed, the real-time engine speed, real-time pump displacement and real-time motor displacement will no longer be adjusted. The fixed control mode includes various working conditions of the road roller under light load and heavy load. However, in some working conditions, the power of the road roller is too abundant, and the road roller is not adaptively adjusted, which not only reduces the adaptability of the road roller to various real-time working conditions, but also increases the energy consumption of the road roller. SUMMARY

[0004] The present application provides a control method, a control device and a controller of a road roller, which aims to at least solve the technical problem that the existing road roller cannot flexibly adjust the energy consumption of the road roller according to real-time working conditions. The purpose is achieved by the following technical solutions:

[0005] The first aspect of the present application provides a control method of a road roller, which comprises the steps of: obtaining a real-time working condition of the road roller; determining a real-time working demand of a hydraulic system of the road roller according to the real-time working condition; adjusting a real-time engine speed of the road roller according to the real-time working condition; and adjusting a real-time pump displacement and a real-time motor displacement according to the real-time engine speed and the real-time working demand, wherein the real-time working demand is a fixed value corresponding to the real-time working condition, and the real-time working demand is positively correlated with the real-time engine speed and the real-time pump displacement, and the real-time working demand is inversely correlated with the real-time motor displacement.

[0006] The present application proposes a technical solution of flexibly adjusting the real-time engine speed, the real-time pump displacement and the real-time motor displacement according to the real-time working condition and the real-time working demand through the relationship between the real-time working demand and the real-time engine speed, the real-time pump displacement and the real-time motor displacement, so as to improve the adaptability of the road roller to various real-time working conditions.

[0007] In some embodiments, adjusting the real-time engine speed of the road roller according to the real-time working condition comprises: obtaining a real-time load of the road roller according to the real-time working condition; and adjusting the real-time engine speed according to that the real-time load of the road roller is less than a preset load.

[0008] In some embodiments, adjusting the real-time pump displacement and the real-time motor displacement according to the real-time engine speed and the real-time working demand comprises: controlling the real-time engine speed to adjust to an economic engine speed of the engine; obtaining a preset engine speed corresponding to the real-time working demand, and adjusting the real-time pump displacement and the real-time motor displacement according to the preset engine speed and the economic engine speed, wherein the economic engine speed of the engine is set to correspond to the preset load.

[0009] In some embodiments, adjusting the real-time pump displacement and the real-time motor displacement according to the preset engine speed and the economic engine speed comprises: increasing the real-time pump displacement and decreasing the real-time motor displacement according to the preset engine speed being greater than the economic engine speed; and decreasing the real-time pump displacement and increasing the real-time motor displacement according to the preset engine speed being less than the economic engine speed.

[0010] In some embodiments, obtaining the real-time load of the road roller according to the real-time working condition comprises: obtaining a vehicle speed signal, a vibration frequency signal and a forward-reverse signal of the road roller; and generating the real-time load of the road roller according to the vehicle speed signal, the vibration frequency signal and the forward-reverse signal.

[0011] In some embodiments, the real-time working condition comprises a first forward working condition / reverse working condition, a second forward working condition / reverse working condition, a third forward working condition / reverse working condition, a fourth forward working condition / reverse working condition, a fifth forward working condition / reverse working condition and a sixth forward working condition / reverse working condition.

[0012] In some embodiments, generating the real-time load of the road roller according to the vehicle speed signal, the vibration frequency signal and the forward-reverse signal comprises: obtaining a forward target speed and a forward vibration frequency of the road roller according to the road roller being in the forward working condition; and generating the real-time load of the forward working condition according to the forward target speed and the forward vibration frequency.

[0013] In some embodiments, generating the real-time load of the road roller according to the vehicle speed signal, the vibration frequency signal and the forward-reverse signal comprises: obtaining a reverse target speed and a reverse vibration frequency of the road roller according to the road roller being in the reverse working condition; and generating the real-time load of the reverse working condition according to the reverse target speed and the reverse vibration frequency.

[0014] A second aspect of the present application provides a control device of a road roller, the control device being used to execute the control method of the road roller according to the first aspect of the present application, and the control device comprising: an obtaining module configured to obtain a real-time working condition of the road roller; a determining module configured to determine a real-time working demand of a hydraulic system of the road roller according to the real-time working condition; and a control module configured to adjust a real-time engine speed of the road roller according to the real-time working condition, and adjust a real-time pump displacement and a real-time motor displacement according to the real-time engine speed and the real-time working demand,

[0015] Wherein, the real-time work demand is a fixed value corresponding to the real-time working condition, and the real-time work demand is positively correlated with the real-time engine speed and the real-time pump displacement, and the real-time work demand is inversely correlated with the real-time motor displacement.

[0016] A third aspect of the present application provides a controller of a road roller, the controller comprising the control device of the road roller according to the second aspect of the present application and the computer readable storage medium, and the computer readable storage medium stores the control instructions, and the control device implements the control method of the road roller according to the first aspect of the present application by executing the control instructions. BRIEF DESCRIPTION OF DRAWINGS

[0017] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Furthermore, the same reference numerals are intended to identify like components throughout the accompanying drawings. In the drawings:

[0018] Figure 1 Flowchart of the control method of the road roller according to an embodiment of the present application;

[0019] Figure 2 Flowchart of the control method of the road roller according to another embodiment of the present application;

[0020] Figure 3 Flowchart of the control method of the road roller according to another embodiment of the present application;

[0021] Figure 4 Working condition diagram of the cycle action of the road roller according to an embodiment of the present application;

[0022] Figure 5 Structure block diagram of the controller of the road roller according to an embodiment of the present application.

[0023] Wherein, the reference signs are as follows:

[0024] 10, controller; 11, computer readable storage medium; 12, control device; 121, acquisition module; 122, determination module; 123, control module. DETAILED DESCRIPTION

[0025] Exemplary embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0026] It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises", "comprising", "includes", "including" and "has" are inclusive and therefore specify the presence of stated features, elements, components, and / or integers, but do not preclude the presence or addition of one or more other features, elements, components, integers, and / or groups thereof.

[0027] Although the terms first, second, third, etc. can be used herein to describe various elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these terms. These terms can be only used to distinguish one element, component, region, layer or section from another region, layer or section. Unless the context clearly indicates otherwise, terms such as "first", "second" and "third", and other numeric terms when used herein do not imply a sequence or order to the items described. In addition, in the description of the present application, unless otherwise specifically indicated and limited, the terms "set", "connected" should be interpreted broadly, for example, can be fixed connection, can also be detachable connection, or integral connection, can be direct connection, or indirect connection through intermediate medium. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] For ease of description, spatial relative terms can be used herein to describe the relationship of one element or feature to another element or feature as shown in the drawings, such as "upper", "inner", "close" and the like. Such spatial relative terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the drawings. For example, if the device in the drawings is turned over, the element described as "below" or "under" the other element or feature will then be oriented "above" or "over" the other element or feature. Therefore, the example term "below" can include both up and down orientations. The device can be additionally oriented (rotated 90 degrees or in other directions) and the spatial relative relationship descriptors used herein are interpreted accordingly.

[0029] As Figure 1As shown, the first aspect of the application provides a control method of a road roller, the control method comprising the steps of: obtaining a real-time working condition of the road roller; determining a real-time working demand of a hydraulic system of the road roller according to the real-time working condition; adjusting a real-time engine speed of the road roller according to the real-time working condition; and adjusting a real-time pump displacement and a real-time motor displacement according to the real-time engine speed and the real-time working demand, wherein the real-time working demand is a fixed value corresponding to the real-time working condition, the real-time working demand is positively correlated with the real-time engine speed and the real-time pump displacement, and the real-time working demand is inversely correlated with the real-time motor displacement.

[0030] The embodiment of the application proposes a technical solution of flexibly adjusting the real-time engine speed, the real-time pump displacement and the real-time motor displacement according to the real-time working condition and the real-time working demand through the relationship between the real-time working demand, the real-time engine speed, the real-time pump displacement and the real-time motor displacement, so as to improve the adaptability of the road roller to various real-time working conditions.

[0031] Specifically, the real-time working condition of the road roller includes a driving working condition and a working working condition, and the working working condition includes a vibration working condition (the road roller compacts the road surface through vibration), the energy consumption of the real-time working condition of the road roller is positively correlated with the real-time working demand of the hydraulic system of the road roller, when the energy consumption of the real-time working condition of the road roller increases, the real-time working demand of the hydraulic system increases accordingly, and when the energy consumption of the real-time working condition of the road roller decreases, the real-time working demand of the hydraulic system decreases accordingly.

[0032] It should be noted that, in the embodiment of the application, the whole vehicle controller or ECU of the road roller can automatically generate the real-time working demand of the hydraulic system according to the real-time working condition of the road roller, and the specific relationship formula between the real-time working condition of the road roller and the real-time working demand of the hydraulic system is related to the whole machine performance of the road roller, which can be obtained by querying the performance table of the road roller, and will not be described in detail here.

[0033] Meanwhile, the main point of the application is that, under the condition of the real-time working condition of the road roller, the real-time working demand of the hydraulic system is a fixed value, at this time, the value of the real-time engine speed*real-time pump displacement / real-time motor displacement is a fixed value, by reasonably adjusting the engine speed, the real-time pump displacement and the real-time motor displacement, the value of the real-time engine speed*real-time pump displacement / real-time motor displacement can meet the real-time working demand of the hydraulic system and the oil saving demand or the carrying capacity demand of the road roller, for example, reducing the engine speed to the economic speed of the engine can meet the oil saving demand of the road roller, and then the carrying capacity of the road roller is reduced, and increasing the engine speed and the real-time motor displacement can improve the carrying capacity of the road roller, and then the oil saving demand of the road roller cannot be met.

[0034] Specifically, the real-time work demand of the hydraulic system is positively correlated with the real-time engine speed and the real-time pump displacement, and is inversely correlated with the real-time motor displacement. When the real-time work demand increases, the increase of the real-time work demand can be met by increasing the real-time engine speed, increasing the real-time pump displacement (increasing the hydraulic oil output power) or reducing the real-time motor displacement. When the real-time work demand decreases, the decrease of the real-time work demand can be met by reducing the real-time engine speed, reducing the real-time pump displacement or increasing the real-time motor displacement.

[0035] The embodiment of the present application achieves the purpose of reducing the energy consumption of the road roller by flexibly adjusting the real-time engine speed, the real-time pump displacement and the real-time motor displacement.

[0036] In some embodiments, adjusting the real-time engine speed of the road roller according to the real-time working condition comprises: obtaining the real-time load amount of the road roller according to the real-time working condition; and adjusting the real-time engine speed according to the real-time load amount of the road roller being less than a preset load amount.

[0037] In the embodiment, the carrying capacity of the road roller is positively correlated with the real-time engine speed and the real-time motor displacement. When the real-time load amount of the road roller is less than the preset load amount, it indicates that the road roller is in a light load working condition. At this time, the real-time load amount of the road roller has less demand on the real-time engine speed and the real-time motor displacement. The purpose of reducing the energy consumption of the road roller can be achieved by flexibly adjusting the real-time engine speed, the real-time pump displacement and the real-time motor displacement.

[0038] In addition, the embodiment of the present application distinguishes the light load working condition of the road roller from the heavy load working condition by the preset load amount. The preset load amount is determined according to the performance parameters of the road roller and the specific work content. For example, the vibration working condition of the road roller can represent the real-time load amount, while the excavator, the bulldozer and the loader represent the real-time load amount by the load amount.

[0039] In some embodiments, adjusting the real-time pump displacement and the real-time motor displacement according to the real-time engine speed and the real-time work demand includes: controlling the real-time engine speed to be adjusted to an economic engine speed of the engine; obtaining a preset engine speed corresponding to the real-time work demand, and adjusting the real-time pump displacement and the real-time motor displacement according to the comparison between the preset engine speed and the economic engine speed; wherein the economic engine speed of the engine is set to correspond to a preset load amount. It should be noted that the economic engine speed of the engine is related to the overall structural performance and component performance of the engine, and the economic engine speed of different engines is different, and the specific value of the economic engine speed of the engine can be obtained by querying the information table of the engine. For example, in some embodiments, the economic engine speed of the engine of the road roller is 1400 rpm, at which the engine has low fuel consumption and can achieve the purpose of economic operation. Further, the preset load amount corresponding to the economic engine speed can also be obtained by querying the information table.

[0040] The road roller in the prior art adopts a fixed control mode, and the preset engine speed, the preset pump displacement and the preset motor displacement corresponding to the real-time work demand are stored, and then the engine is controlled to operate at the preset engine speed, the pump is controlled to operate at the preset pump displacement, and the motor is controlled to operate at the preset motor displacement according to the real-time work demand, which are all fixed modes and do not take into account the case that the road roller has excessive power under light load working conditions.

[0041] The embodiments of the present application, however, propose a method of adjusting the real-time engine speed of the road roller to the economic engine speed of the engine to reduce the energy consumption of the road roller under light load working conditions, and then adjusting the real-time pump displacement and the real-time motor displacement to compensate for the loss of the real-time work demand caused by the real-time engine speed.

[0042] In some embodiments, adjusting the real-time pump displacement and the real-time motor displacement according to the comparison between the preset engine speed and the economic engine speed includes: increasing the real-time pump displacement and decreasing the real-time motor displacement according to the preset engine speed being greater than the economic engine speed; and decreasing the real-time pump displacement and increasing the real-time motor displacement according to the preset engine speed being less than the economic engine speed.

[0043] In the present embodiment, in the case that the preset engine speed is not equal to the economic engine speed of the engine, the real-time engine speed is adjusted to the economic engine speed of the engine, which will affect the real-time work demand of the hydraulic system. In order to compensate for the influence of the economic engine speed on the real-time work demand, the real-time pump displacement and the real-time motor displacement are adjusted to compensate for the influence of the economic engine speed on the real-time work demand, and at the same time, the real-time pump displacement and the real-time motor displacement can also be adjusted to compensate for the influence of the economic engine speed on the carrying capacity of the road roller.

[0044] In some embodiments, the acquiring the real-time load of the road roller according to the real-time working condition comprises: acquiring a vehicle speed signal, a vibration frequency signal and a forward-reverse signal of the road roller; and generating the real-time load of the road roller according to the vehicle speed signal, the vibration frequency signal and the forward-reverse signal.

[0045] In the embodiment, the real-time working condition of the road roller comprises a driving working condition and a working working condition, the driving working condition comprises a forward signal, a reverse signal and a vehicle speed signal, and the working working condition comprises a vibration signal (the road roller compacts the road surface by vibration), and the real-time working condition of the road roller is determined by a comprehensive signal of the vehicle speed signal, the vibration frequency signal and the forward-reverse signal.

[0046] Specifically, the real-time working condition comprises a first forward working condition / reverse working condition, a second forward working condition / reverse working condition, a third forward working condition / reverse working condition, a fourth forward working condition / reverse working condition, a fifth forward working condition / reverse working condition and a sixth forward working condition / reverse working condition.

[0047] In the embodiment, the road roller performs a cyclic reciprocating action during the operation, for example, the road roller sequentially completes a large-vibration high-speed forward / reverse working condition, a large-vibration low-speed forward / reverse working condition, a small-vibration high-speed forward / reverse working condition, a small-vibration low-speed forward / reverse working condition, a non-vibration high-speed forward / reverse working condition and a non-vibration low-speed forward / reverse working condition during the operation, and at this time, the first forward working condition / reverse working condition corresponds to the large-vibration high-speed forward / reverse working condition of the road roller, the second forward working condition / reverse working condition corresponds to the large-vibration low-speed forward / reverse working condition of the road roller, the third forward working condition / reverse working condition corresponds to the small-vibration high-speed forward / reverse working condition of the road roller, the fourth forward working condition / reverse working condition corresponds to the small-vibration low-speed forward / reverse working condition of the road roller, the fifth forward working condition / reverse working condition corresponds to the non-vibration high-speed forward / reverse working condition of the road roller, and the sixth forward working condition / reverse working condition corresponds to the non-vibration low-speed forward / reverse working condition of the road roller, and the real-time working condition is the average energy consumption of the average working condition of the road roller in the preset time.

[0048] Specifically, taking one hour as the preset time, the one hour is equally divided into 12 equal parts of 5 minutes, and the road roller sequentially completes a large-vibration high-speed forward working condition for 5 minutes, a reverse working condition for 5 minutes, a large-vibration low-speed forward working condition for 5 minutes, a reverse working condition for 5 minutes, a small-vibration high-speed forward working condition for 5 minutes, a reverse working condition for 5 minutes, a small-vibration low-speed forward working condition for 5 minutes, a reverse working condition for 5 minutes, a non-vibration high-speed forward working condition for 5 minutes, a reverse working condition for 5 minutes, a non-vibration low-speed forward working condition for 5 minutes and a reverse working condition for 5 minutes in the one hour, and the real-time energy consumptions of the 12 equal parts of 5 minutes of the real-time working condition are N1, N2, N3, N4, N5, N6, N7, N8, N9, N10, N11 and N12 respectively. 10, N 11 and N 12 , the average energy consumption of the average working condition (with 5 minutes as a unit time) in the preset time is (N1+N2+N3+N4+N5+N6+N7+N8+N9+N 10 +N 11 +N 12 ) / 12.

[0049] In some embodiments, generating the real-time load of the road roller according to the vehicle speed signal, the vibration frequency signal and the forward-reverse signal includes: obtaining a forward target speed and a forward vibration frequency of the road roller according to that the road roller is in the forward working condition; and generating the real-time load of the forward working condition according to the forward target speed and the forward vibration frequency.

[0050] In the embodiment, since the real-time working demand of the hydraulic system is different when the road roller is in the forward working condition and in the reverse working condition, the embodiment of the application classifies the real-time working demand according to the forward working condition and the reverse working condition of the road roller, so as to improve the confirmation accuracy of the real-time working demand of the hydraulic system.

[0051] Specifically, when the road roller is in the forward working condition, the road roller generates the real-time load of the forward working condition according to the forward target speed and the forward vibration frequency, and then generates the real-time working demand of the hydraulic system of the road roller according to the real-time load of the forward working condition, at this time, since the forward target speed is a constant value, the real-time engine speed needs to be adjusted to correspond to the forward target speed, and then the real-time pump displacement and the real-time motor displacement are adjusted.

[0052] Further, when the forward target speed is inconsistent with the engine economic speed, the priority of the forward target speed is higher than that of the engine economic speed, that is, the engine first needs to meet the working demand of the user, and then the engine speed is adjusted to the engine economic speed for the purpose of saving energy consumption.

[0053] In some embodiments, generating the real-time load of the road roller according to the vehicle speed signal, the vibration frequency signal and the forward-reverse signal includes: obtaining a forward target speed and a forward vibration frequency of the road roller according to that the road roller is in the forward working condition; and generating the real-time load of the forward working condition according to the forward target speed and the forward vibration frequency.

[0054] In the embodiment, since the real-time working demand of the hydraulic system is different when the road roller is in the forward working condition and in the reverse working condition, the embodiment of the application classifies the real-time working demand according to the forward working condition and the reverse working condition of the road roller, so as to improve the confirmation accuracy of the real-time working demand of the hydraulic system.

[0055] Specifically, when the road roller is in the backward working condition, the road roller generates a real-time load amount of the backward working condition according to the backward target speed and the backward vibration frequency, and then generates a real-time working demand amount of the hydraulic system of the road roller according to the real-time load amount of the backward working condition, at this time, since the backward target speed is a constant value, the real-time engine speed needs to be adjusted to correspond to the backward target speed, and then the real-time pump displacement and the real-time motor displacement are adjusted.

[0056] Further, when the backward target speed is inconsistent with the engine economic speed, the priority of the backward target speed is higher than that of the engine economic speed, that is, the engine first needs to meet the working demand of the user, and then, for the purpose of saving energy, the engine speed can be adjusted to the engine economic speed. Specific embodiments

[0058] The ECU or controller of the road roller acquires a real-time working condition a of the road roller, and then determines a real-time working demand amount b of the hydraulic system of the road roller according to the real-time working condition a by searching a MAP table, wherein the real-time working demand amount b of the hydraulic system is a fixed value in the case of the real-time working condition a, and the real-time working demand amount b is positively correlated with the real-time engine speed v and the real-time pump displacement c, and the real-time working demand amount b is inversely correlated with the real-time motor displacement d; the ECU or controller adjusts the real-time engine speed v of the road roller according to the real-time working condition, for example, when the real-time load amount q of the road roller is less than a preset load amount q1, it indicates that the road roller is in a light load working condition, at this time, the real-time load amount q of the road roller has less demand for the real-time engine speed v and the real-time motor displacement d, and the purpose of reducing the energy consumption E of the road roller can be achieved by flexibly adjusting the real-time engine speed v, the real-time pump displacement c and the real-time motor displacement d, and then the real-time pump displacement c and the real-time motor displacement d are adjusted according to the real-time engine speed v and the real-time working demand amount b, for example, in the case that the road roller is in the light load working condition, the engine speed v is reduced to the engine economic speed v1, since the carrying capacity of the road roller is positively correlated with the real-time engine speed v and the real-time motor displacement d, reducing the engine speed v to the engine economic speed v1 reduces the carrying capacity of the road roller, but the oil saving demand of the road roller can be met.

[0059] The control method of the road roller of the present application is described in detail as follows:

[0060] 1) as Figure 2As shown, the real-time working condition recognition step of the road roller is added in the control mode of the road roller. When the real-time working condition of the road roller is recognized, the real-time working condition of the road roller can be determined through the speed signal, the vibration frequency signal and the forward / reverse signal of the road roller, and specifically includes: large vibration high-speed forward / reverse working condition, large vibration low-speed forward / reverse working condition, small vibration high-speed forward / reverse working condition, small vibration low-speed forward / reverse working condition, no vibration high-speed forward / reverse working condition, no vibration low-speed forward / reverse working condition and the like.

[0061] 2) As shown in Figure 3 , the user can select the fixed control mode of the road roller. In the fixed control mode, the real-time engine speed, the real-time pump displacement and the real-time motor displacement of the road roller are no longer adjusted in the fixed control mode.

[0062] 3) The user can select the intelligent control mode of the road roller of the embodiment. In the intelligent control mode, the road roller can recognize the real-time working condition of the road roller in real time, and adjust the real-time engine speed, the real-time pump displacement and the real-time motor displacement in real time according to the real-time working condition, so as to improve the adaptability of the road roller to various real-time working conditions and reduce the energy consumption of the road roller.

[0063] 4) The user selects the (forward / reverse) speed of the road roller, the vibration frequency (the speed and the vibration frequency correspond to the preset engine speed n0).

[0064] 5) The controller obtains the following parameters: the forward target speed Vq of the road roller, the reverse target speed Vh, the forward vibration frequency Fq (which can be 0), and the reverse vibration frequency Fh (which can be 0). Specifically, Vq, Vh, Fq and Fh can be obtained according to the working instructions input by the user. For example, when the road roller needs to advance, the user can input the forward target speed Vq and the forward vibration frequency Fq on the touch screen according to the length and flatness of the road surface; when the road roller needs to retreat, the user can input the reverse target speed Vh and the reverse vibration frequency Fh on the touch screen according to the length and flatness of the road surface.

[0065] 6) As shown in Figure 4 , the cycle action of the road roller in the working process starts.

[0066] The road roller is in the forward working condition (forward action)

[0067] The controller receives the action start, and adjusts the real-time engine speed to the engine economic speed n1, the pump displacement b1, and the motor displacement m1 in combination with the Vq and Fq requirements. Specifically, when the road roller is in the forward working condition, the road roller generates the forward real-time load quantity according to the forward target speed Vq and the forward vibration frequency Fq, and then generates the real-time working requirement quantity of the hydraulic system of the road roller according to the real-time working condition of the forward working condition. At this time, since the forward target speed is a constant value, the real-time engine speed needs to be adjusted to correspond to the forward target speed, and then the real-time pump displacement and the real-time motor displacement are adjusted. Further, when the forward target speed is inconsistent with the engine economic speed, the priority of the forward target speed is higher than that of the engine economic speed, that is, the engine first needs to meet the working requirement of the user, and then, for the purpose of saving energy, the engine speed can be adjusted to the engine economic speed.

[0068] The road roller is in the backward working condition (backward action)

[0069] The controller receives the action start, and adjusts the real-time engine speed to the engine economic speed n1, the pump displacement b1, and the motor displacement m1 in combination with the Vh and Fh requirements. Specifically, when the road roller is in the backward working condition, the road roller generates the backward real-time load quantity according to the backward target speed Vh and the backward vibration frequency Fh, and then generates the real-time working requirement quantity of the hydraulic system of the road roller according to the real-time working condition of the backward working condition. At this time, since the backward target speed is a constant value, the real-time engine speed needs to be adjusted to correspond to the backward target speed, and then the real-time pump displacement and the real-time motor displacement are adjusted. Further, when the backward target speed is inconsistent with the engine economic speed, the priority of the backward target speed is higher than that of the engine economic speed, that is, the engine first needs to meet the working requirement of the user, and then, for the purpose of saving energy, the engine speed can be adjusted to the engine economic speed.

[0070] Finally, the purpose of reducing the energy consumption of the road roller is achieved by flexibly adjusting the real-time engine speed, the real-time pump displacement, and the real-time motor displacement.

[0071] As Figure 5As shown, the second aspect of the present application provides a control device 12 of a road roller, the control device 12 is used to execute the control method of the road roller according to the first aspect of the present application, the control device 12 comprises: an acquisition module 121, configured to acquire a real-time working condition of the road roller; a determination module 122, configured to determine a real-time working demand of a hydraulic system of the road roller according to the real-time working condition; and a control module 123, configured to adjust a real-time engine speed of the road roller according to the real-time working condition, and adjust a real-time pump displacement and a real-time motor displacement according to the real-time engine speed and the real-time working demand, wherein the real-time working demand is a fixed value corresponding to the real-time working condition, the real-time working demand is positively correlated with the real-time engine speed and the real-time pump displacement, and the real-time working demand is inversely correlated with the real-time motor displacement.

[0072] In the embodiment, through the relationship between the real-time working demand, the real-time engine speed, the real-time pump displacement and the real-time motor displacement, a technical scheme of flexibly adjusting the real-time engine speed, the real-time pump displacement and the real-time motor displacement according to the real-time working demand is provided, so as to improve the adaptability of the road roller to various real-time working conditions.

[0073] The third aspect of the present application provides a controller 10 of a road roller, the controller 10 comprises the control device 12 of the road roller according to the second aspect of the present application and a computer readable storage medium 11, the computer readable storage medium 11 stores control instructions, and the control device 12 realizes the control method of the road roller according to the first aspect of the present application by executing the control instructions.

[0074] In the embodiment, the controller 10 of the road roller has all the technical effects of the control method of the road roller of the present application, and details are not described herein.

[0075] In addition, the controller 10 of the road roller provided by the present application can be integrated in an ECU module or be a separate electronic control unit, the controller 10 of the road roller can communicate and exchange data with the ECU, so as to realize the control method of the road roller according to the first aspect of the present application.

[0076] Those skilled in the art can understand that all or part of the steps of the above-mentioned embodiment methods can be completed by programs instructing related hardware, the programs are stored in a memory, and the programs include a plurality of instructions for causing one (which can be a single-chip microcomputer, a chip, etc.) or a control device (such as a processor) to execute all or part of the steps of the methods described in various embodiments of the present application. The foregoing memory includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk and various program code storage media.

[0077] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements within the technical scope disclosed by the present application, which can be easily thought by those skilled in the art, should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method of a road roller, characterized by, The control method comprises the steps of: acquiring a real-time working condition of the road roller; determining a real-time working demand of a hydraulic system of the road roller according to the real-time working condition; adjusting a real-time engine speed of the road roller according to the real-time working condition; adjusting a real-time pump displacement and a real-time motor displacement according to the real-time engine speed and the real-time working demand; wherein the real-time working demand is a fixed value corresponding to the real-time working condition, and the real-time working demand is positively correlated with the real-time engine speed and the real-time pump displacement, and the real-time working demand is inversely correlated with the real-time motor displacement; adjusting the real-time engine speed of the road roller according to the real-time working condition comprises: acquiring a real-time load of the road roller according to the real-time working condition; adjusting the real-time engine speed according to that the real-time load of the road roller is less than a preset load; adjusting the real-time pump displacement and the real-time motor displacement according to the real-time engine speed and the real-time working demand comprises: controlling the real-time engine speed to be adjusted to an economic engine speed; acquiring a preset engine speed corresponding to the real-time working demand, adjusting the real-time pump displacement and the real-time motor displacement according to the magnitude between the preset engine speed and the economic engine speed; wherein the economic engine speed of the engine is set to correspond to the preset load; adjusting the real-time pump displacement and the real-time motor displacement according to the magnitude between the preset engine speed and the economic engine speed comprises: according to that the preset engine speed is greater than the economic engine speed, increasing the real-time pump displacement and decreasing the real-time motor displacement; according to that the preset engine speed is less than the economic engine speed, decreasing the real-time pump displacement and increasing the real-time motor displacement.

2. The control method of the road roller according to claim 1, characterized by, acquiring the real-time load of the road roller according to the real-time working condition comprises: acquiring a vehicle speed signal, a vibration frequency signal and a forward-reverse signal of the road roller; generating the real-time load of the road roller according to the vehicle speed signal, the vibration frequency signal and the forward-reverse signal.

3. The control method of the road roller according to claim 2, characterized by, The real-time working condition comprises a first forward / reverse working condition, a second forward / reverse working condition, a third forward / reverse working condition, a fourth forward / reverse working condition, a fifth forward / reverse working condition and a sixth forward / reverse working condition.

4. The control method of the road roller according to claim 3, characterized by generating the real-time load of the road roller according to the vehicle speed signal, the vibration frequency signal and the forward-reverse signal comprises: according to that the road roller is in a forward working condition, acquiring a forward target speed and a forward vibration frequency of the road roller; generating a real-time load of the forward working condition according to the forward target speed and the forward vibration frequency.

5. The control method of the road roller according to claim 4, characterized by generating the real-time load of the road roller according to the vehicle speed signal, the vibration frequency signal and the forward-reverse signal comprises: according to that the road roller is in a reverse working condition, acquiring a reverse target speed and a reverse vibration frequency of the road roller; generating a real-time load of the reverse working condition according to the reverse target speed and the reverse vibration frequency.

6. A control device for a road roller, characterized by comprising: The control device of the control method of the road roller according to claim 1 comprises: an acquisition module configured to acquire a real-time working condition of the road roller; a determination module configured to determine a real-time working demand of a hydraulic system of the road roller according to the real-time working condition; a control module configured to adjust a real-time engine speed of the road roller according to the real-time working condition, and adjust a real-time pump displacement and a real-time motor displacement according to the real-time engine speed and the real-time working demand; wherein the real-time working demand is a fixed value corresponding to the real-time working condition, and the real-time working demand is positively correlated with the real-time engine speed and the real-time pump displacement, and the real-time working demand is inversely correlated with the real-time motor displacement.

7. A controller for a road roller, characterized by The controller comprises the control device of the road roller according to claim 6 and a computer readable storage medium, the computer readable storage medium stores control instructions, and the control device realizes the control method of the road roller according to claim 1 by executing the control instructions.

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