Shovel quick response control system and method

Abstract

The embodiment of the application discloses a kind of control system and method of quick response of scraper, and the control method of quick response of scraper includes: obtaining the speed initial value M0 after scraper truck is driven under load;And after obtaining the speed initial value M0, the speed measurement value M of the driving state of scraper truck is collected in real time;Real-time calculation difference ΔM of the speed measurement value M and the speed initial value M0, control signal of the driving state of scraper truck is generated based on the difference ΔM, wherein the control signal includes the control signal s1 of electric control pump, the control signal s2 of accelerator pump and the total demand signal amount s of scraper truck driving;Based on the control signal, the speed of the driving state of scraper truck is controlled in real time within preset range.The control method of quick response of the scraper improves the problem that existing technology cannot quickly control the scraper in a short time when the scraper encounters dangerous situation during working process.

Description

Technical Field

[0001] This invention relates to the field of scraper technology, and more specifically to a control system and method for rapid response of scrapers. Background Technology

[0002] Underground scrapers are a primary piece of equipment in underground mining operations, widely used in underground mining and transportation, and have functions such as digging, transporting, unloading, filling, and leveling. Because scraper operating sites are generally uneven, the vehicles experience significant bumps during operation, often resulting in insufficient acceleration and stalling. In work areas potentially exposed to landslides, explosive gases, heavy metal radiation, and chemical hazards, operators need to accelerate. In such situations, insufficient acceleration by the underground scraper can seriously endanger the health and even lives of the operators.

[0003] There is an urgent need for a fast-response control system for loaders, enabling operators to quickly move away from dangerous areas and ensuring their personal safety. Summary of the Invention

[0004] The purpose of this invention is to provide a control system and method for rapid response of a loader, in order to solve the problem in the prior art that when a loader encounters a dangerous situation during operation, it is impossible to quickly control the loader in a short period of time.

[0005] To achieve the above objectives, embodiments of the present invention provide a control method for rapid response of a loader, the method specifically including:

[0006] Obtain the initial speed value M0 of the loader after it is loaded and travels; and after obtaining the initial speed value M0, collect the speed measurement value M of the loader's driving state in real time.

[0007] The difference ΔM between the measured speed value M and the initial speed value M0 is calculated in real time, and a control signal for the loader's driving status is generated based on the difference ΔM. The control signal includes the control signal s1 of the electric pump, the control signal s2 of the throttle pump, and the total driving demand signal s of the loader.

[0008] The speed of the loader is controlled within a preset range in real time based on the control signal.

[0009] Based on the above technical solution, the present invention can be further improved as follows:

[0010] Further, the step of obtaining the initial speed value M0 of the loader after it has been loaded and then collecting the speed measurement value M of the loader's driving state in real time after obtaining the initial speed value M0 includes:

[0011] When the speed measurement value M reaches a preset threshold, the initial speed value M0 is controlled to stop increasing.

[0012] Further, the real-time calculation of the difference ΔM between the measured speed value M and the initial speed value M0, and the generation of control signals for the loader's driving state based on the difference ΔM, wherein the control signals include control signals s1 for the electronically controlled pump, control signals s2 for the throttle pump, and a total demand signal s for the loader's driving, including:

[0013] The control signal is calculated using formulas 1, 2, and 3.

[0014] s1=k1×∫mdt Formula 1;

[0015] s2=k2×∫mdt Formula 2;

[0016] s=k1×∫mdt+k2×∫mdt (Formula 3)

[0017] Where k1 is the constant coefficient of the electronic pump control signal; k2 is the constant coefficient of the throttle pump signal; m is the pedal throttle signal; ∫mdt is the integral of the pedal signal in the time domain; s1 is the control signal of the electronic pump; s2 is the control signal of the throttle pump; and s is the total demand signal of the loader.

[0018] Further, the real-time calculation of the difference ΔM between the measured speed value M and the initial speed value M0, and the generation of control signals for the loader's driving state based on the difference ΔM, wherein the control signals include control signals s1 for the electronically controlled pump, control signals s2 for the throttle pump, and a total demand signal s for the loader's driving, including:

[0019] When the absolute value of ∫mdt is not greater than the preset threshold, s2 continues to increase, while the value of s1 remains unchanged;

[0020] When the absolute value of ∫mdt is not greater than the preset threshold, s2 reaches the preset threshold, and the value of s1 continues to increase;

[0021] When the absolute value of ∫mdt is greater than or equal to the preset threshold, the values ​​of s1 and s2 remain unchanged.

[0022] When the absolute value of ∫mdt is greater than or equal to the preset threshold, the s value remains unchanged, and the pedal throttle signal m is adjusted.

[0023] Furthermore, the step of controlling the speed of the loader within a preset range in real time based on the control signal includes:

[0024] The vehicle controller calculates the control signal s1 of the electronically controlled pump based on the initial speed value M0;

[0025] The electrically controlled pump changes its flow rate based on the control signal s1 of the electrically controlled pump.

[0026] The engine ECU calculates the throttle pump control signal s2 based on the initial speed value M0;

[0027] The throttle pump changes the pump flow rate based on the throttle pump control signal s2;

[0028] When the speed measurement value M reaches a preset threshold, the vehicle controller and the engine ECU automatically adjust the control signal s1 of the electronic control pump and the control signal s2 of the throttle pump.

[0029] A fast-response control system for a loader, comprising:

[0030] The detection module is used to obtain the initial speed value M0 of the loader after it is loaded and travels; and after obtaining the initial speed value M0, it collects the speed measurement value M of the loader's travel status in real time.

[0031] The control module is used to calculate the difference ΔM between the measured speed value M and the initial speed value M0 in real time, and generate control signals for the loader's driving status based on the difference ΔM. The control signals include the control signal s1 of the electric pump, the control signal s2 of the throttle pump, and the total driving demand signal s of the loader.

[0032] The execution module is used to control the speed of the loader's driving state within a preset range in real time based on the control signal.

[0033] Furthermore, the execution module is also used for:

[0034] When the speed measurement value M reaches a preset threshold, the initial speed value M0 is controlled to stop increasing.

[0035] Furthermore, the control module is also used for:

[0036] The control signal is calculated using formulas 1, 2, and 3.

[0037] s1=k1×∫mdt Formula 1;

[0038] s2=k2×∫mdt Formula 2;

[0039] s=k1×∫mdt+k2×∫mdt (Formula 3)

[0040] Where k1 is the constant coefficient of the electronic pump control signal; k2 is the constant coefficient of the throttle pump signal; m is the pedal throttle signal; ∫mdt is the integral of the pedal signal in the time domain; s1 is the control signal of the electronic pump; s2 is the control signal of the throttle pump; and s is the total demand signal of the loader.

[0041] Furthermore, the control module is also used for:

[0042] When the absolute value of ∫mdt is not greater than the preset threshold, s2 continues to increase, while the value of s1 remains unchanged;

[0043] When the absolute value of ∫mdt is not greater than the preset threshold, s2 reaches the preset threshold, and the value of s1 continues to increase;

[0044] When the absolute value of ∫mdt is greater than or equal to the preset threshold, the values ​​of s1 and s2 remain unchanged.

[0045] When the absolute value of ∫mdt is greater than or equal to the preset threshold, the s value remains unchanged, and the pedal throttle signal m is adjusted.

[0046] Furthermore, the detection module includes an accelerator pedal and a speed sensor. The accelerator pedal is used to acquire the initial speed value M0 of the loader after it has been driven with a load. The speed sensor is used to collect the speed measurement value M of the loader in real time.

[0047] The control module includes an on-board controller and an engine ECU. The on-board controller is used to calculate the control signal s1 of the electronically controlled pump based on the initial speed value M0. The engine ECU is used to calculate the control signal s2 of the throttle pump based on the initial speed value M0.

[0048] The execution module includes an electronically controlled pump and a throttle pump. The electronically controlled pump is used to change the pump flow rate based on the control signal s1 of the electronically controlled pump; the throttle pump is used to change the pump flow rate based on the control signal s2 of the throttle pump.

[0049] When the speed measurement value M reaches a preset threshold, the vehicle controller and the engine ECU automatically adjust the control signal s1 of the electronic control pump and the control signal s2 of the throttle pump.

[0050] The rapid response control method for a loader in this invention obtains an initial speed value M0 of the loader after it has started moving with a load; and after obtaining the initial speed value M0, it collects a speed measurement value M of the loader's driving state in real time; it calculates the difference ΔM between the speed measurement value M and the initial speed value M0 in real time, and generates a control signal for the loader's driving state based on the difference ΔM. The control signal includes a control signal s1 for the electric control pump, a control signal s2 for the throttle pump, and a total driving demand signal s for the loader; based on the control signal, it controls the loader's speed within a preset range in real time. This allows for rapid adjustment of the loader's speed according to changes in the road surface and working environment, ensuring the loader's safety during operation and solving the problem of low safety when the loader is operating in dangerous areas. It achieves rapid response to the driver's requirements in dangerous areas, ensuring the safety of both the vehicle and the driver. Attached Figure Description

[0051] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0052] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0053] Figure 1 This is a flowchart of the control method for rapid response of a loader according to the present invention;

[0054] Figure 2 This is a block diagram of the rapid response control system for the loader of the present invention;

[0055] Figure 3 This is a block diagram of the rapid response control system for the loader of the present invention.

[0056] The attached figures are labeled as follows:

[0057] The system includes a detection module 10, an accelerator pedal 101, a speed sensor 102, a control module 20, an on-board controller 201, an engine ECU 202, an execution module 30, an electronic control pump 301, and an accelerator pump 302. Detailed Implementation

[0058] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0059] Example

[0060] Figure 1 This is a flowchart illustrating an embodiment of the control method for rapid response of a loader according to the present invention, as shown below. Figure 1 As shown, the control method for rapid response of a loader provided in this embodiment of the invention includes the following steps:

[0061] S101, obtain the initial speed value M0 of the loader after it is loaded and travels; and after obtaining the initial speed value M0, collect the speed measurement value M of the loader's driving status in real time.

[0062] Specifically, the initial speed value M0 of the loader after it is loaded is obtained through the accelerator pedal 101; after obtaining the initial speed value M0, the speed measurement value M of the loader's driving state is collected in real time through the speed sensor 102.

[0063] When the speed measurement value M reaches a preset threshold, the initial speed value M0 is controlled to stop increasing.

[0064] It should be noted that during the operation of the loader, although all actuators are not in motion, uneven road surfaces cause the entire machine to shake, altering the loader's actual speed. This results in a difference between the measured speed value M and the initial speed value M0 during operation. The goal of this embodiment is to eliminate the difference between the initial speed value M0 and the measured speed value M, ensuring that both values ​​remain stable during the loader's operation.

[0065] The initial speed value M0 of the loader is saved under the following conditions: the direct or indirect drive cylinder of the loader is not activated (the controller has no signal output), the loader has a driving or turning action, and the speed is maintained for a preset time; specifically, in this embodiment, the preset time is 3 seconds.

[0066] S102, calculate the difference ΔM between the measured speed value M and the initial speed value M0 in real time, and generate a control signal for the loader's driving status based on the difference ΔM, wherein the control signal includes the control signal s1 of the electric control pump, the control signal s2 of the throttle pump and the total driving demand signal s of the loader;

[0067] Specifically, the control signal is calculated using formulas 1, 2, and 3;

[0068] s1=k1×∫mdt Formula 1;

[0069] s2=k2×∫mdt Formula 2;

[0070] s=k1×∫mdt+k2∫mdt (Formula 3)

[0071] Wherein, k1 is the constant coefficient of the control signal of the electronic pump 301; k2 is the constant coefficient of the signal of the throttle pump 302; m is the pedal throttle signal; ∫mdt is the integral of the pedal signal in the time domain; s1 is the control signal of the electronic pump 301; s2 is the control signal of the throttle pump 302; and s is the total demand signal of the loader.

[0072] When the absolute value of ∫mdt is not greater than the preset threshold, s2 continues to increase, while the value of s1 remains unchanged; specifically, in this embodiment, the set threshold is M1, M1 = 3°.

[0073] When the absolute value of ∫mdt is not greater than the preset threshold, s2 reaches the preset threshold, and the value of s1 continues to increase; the first set of control parameters (P3, I3 = 0) is adopted. Specifically, in this embodiment, P3 = 1.

[0074] When the absolute value of ∫mdt is greater than or equal to the preset threshold, the values ​​of s1 and s2 remain unchanged; this indicates that the angular deviation of the velocity is already significant at this point.

[0075] Active control is required, and considering that the same ΔM has different meanings at different driving speeds: at the same ΔM, the lower the vehicle speed V, the greater the road bumps, and the greater the impact on speed. Therefore, the influence of vehicle speed V needs to be considered, and the following process should be executed further:

[0076] Calculate the ratio B of ΔM to the vehicle speed measurement value V of the loader at the corresponding moment; and determine whether the absolute value of B is greater than the second preset threshold B1; specifically, in this embodiment, B1 = 1°·h / km.

[0077] When the absolute value of B is greater than B1, the first set of control parameters (P1, I1) is used. Specifically, in this embodiment,

[0078] P1 = 2, I1 = 1;

[0079] At this point, s = k1 × ∫mdt + k2 ∫mdt;

[0080] When the absolute value of B is not greater than B1, the second set of control parameters (P2, I2) is used. Specifically, in this embodiment, P2 = 3 and I2 = 0.51.

[0081] At this point, s = k1 × ∫mdt + k2 ∫mdt;

[0082] Based on S(ΔM), the total semaphore demand s for the loader's driving state is calculated:

[0083] s = k1 × ∫mdt + k2 × ∫mdt;

[0084] Wherein, K is a preset constant; specifically, in this embodiment, K = 1.

[0085] The automatic adjustment control method in this embodiment can adjust the speed of the loader in real time according to the changes in the road surface, so that the loader can maintain the following control of the road surface bumps during the driving process.

[0086] This invention solves the problem of acceleration and deceleration of the entire machine during the operation of the loader, and realizes active real-time speed control of the loader's driving status.

[0087] When the absolute value of ∫mdt is greater than or equal to the preset threshold, the s value remains unchanged, and the pedal throttle signal m is adjusted.

[0088] S103 controls the speed of the loader within a preset range in real time based on control signals.

[0089] Specifically, the vehicle controller 201 calculates the control signal s1 of the electronically controlled pump 301 based on the initial speed value M0;

[0090] The electric pump 301 changes the pump flow rate based on the control signal s1 of the electric pump 301, thereby changing the speed of the loader.

[0091] The engine ECU 202 calculates the control signal s2 of the throttle pump 302 based on the initial speed value M0;

[0092] The throttle pump 302 changes the pump flow rate based on the control signal s2 of the throttle pump 302, thereby changing the speed of the loader;

[0093] When the speed measurement value M reaches the preset threshold, the vehicle controller 201 and the engine ECU automatically adjust the control signal s1 of the electronic control pump 301 and the control signal s2 of the throttle pump 302.

[0094] The engine ECU 202 and the vehicle controller 201 communicate via CAN.

[0095] This rapid response control method for a loader involves acquiring an initial speed value M0 after the loader is loaded and moving; then, after acquiring the initial speed value M0, continuously collecting a speed measurement value M of the loader's driving state; calculating the difference ΔM between the speed measurement value M and the initial speed value M0 in real time; and generating a control signal for the loader's driving state based on the difference ΔM. This control signal includes a control signal s1 from the electric control pump 301, a control signal s2 from the throttle pump 302, and a total demand signal s for the loader's driving state. Based on the control signal, the loader's speed is controlled within a preset range in real time. This solves the problem of being unable to quickly control the loader in a short time when encountering a sudden dangerous situation during operation.

[0096] Figure 2-3 This is a flowchart of an embodiment of the fast-response control system for a loader according to the present invention; as shown. Figure 2-3 As shown in the figure, an embodiment of the present invention provides a fast-response control system for a loader, comprising the following steps:

[0097] The detection module 10 is used to obtain the initial speed value M0 of the loader after it is loaded and travels; and to collect the speed measurement value M of the loader's travel status in real time after obtaining the initial speed value M0.

[0098] Control module 20 is used to calculate the difference ΔM between the measured speed value M and the initial speed value M0 in real time, and generate control signals for the loader's driving status based on the difference ΔM. The control signals include control signals s1 of the electric control pump 301, control signals s2 of the throttle pump 302, and total driving demand signal s of the loader.

[0099] The execution module 30 is used to control the speed of the loader's driving state within a preset range in real time based on the control signal.

[0100] The execution module 30 is further configured to:

[0101] When the speed measurement value M reaches a preset threshold, the initial speed value M0 is controlled to stop increasing.

[0102] The control module 20 is also used for:

[0103] The control signal is calculated using formulas 1, 2, and 3.

[0104] s1=k1×∫mdt Formula 1;

[0105] s2=k2×∫mdt Formula 2;

[0106] s=k1×∫mdt+k2×∫mdt (Formula 3)

[0107] Wherein, k1 is the constant coefficient of the control signal of the electronic pump 301; k2 is the constant coefficient of the signal of the throttle pump 302; m is the pedal throttle signal; ∫mdt is the integral of the pedal signal in the time domain; s1 is the control signal of the electronic pump 301; s2 is the control signal of the throttle pump 302; and s is the total demand signal of the loader.

[0108] The control module 20 is also used for:

[0109] When the absolute value of ∫mdt is not greater than the preset threshold, s2 continues to increase, while the value of s1 remains unchanged;

[0110] When the absolute value of ∫mdt is not greater than the preset threshold, s2 reaches the preset threshold, and the value of s1 continues to increase;

[0111] When the absolute value of ∫mdt is greater than or equal to the preset threshold, the values ​​of s1 and s2 remain unchanged.

[0112] When the absolute value of ∫mdt is greater than or equal to the preset threshold, the s value remains unchanged, and the pedal throttle signal m is adjusted.

[0113] The detection module 10 includes an accelerator pedal 101 and a speed sensor 102. The accelerator pedal 101 is used to acquire the initial speed value M0 of the loader after it is loaded and driven. The speed sensor 102 is used to collect the speed measurement value M of the loader in real time.

[0114] The control module 20 includes an on-board controller 201 and an engine ECU 202. The on-board controller 201 is used to calculate the control signal s1 of the electronically controlled pump 301 based on the initial speed value M0. The engine ECU 202 is used to calculate the control signal s2 of the throttle pump 302 based on the initial speed value M0.

[0115] The execution module 30 includes an electronically controlled pump 301 and a throttle pump 302. The electronically controlled pump 301 is used to change the pump flow rate based on the control signal s1 of the electronically controlled pump 301; the throttle pump 302 is used to change the pump flow rate based on the control signal s2 of the throttle pump 302.

[0116] When the speed measurement value M reaches a preset threshold, the vehicle controller and the engine ECU automatically adjust the control signal s1 of the electronic control pump and the control signal s2 of the throttle pump.

[0117] The initial speed value M0 of the loader is saved under the following conditions: the direct or indirect drive cylinder of the loader is not activated (the controller has no signal output), the loader has a driving or turning action, and the speed is maintained for a preset time; specifically, in this embodiment, the preset time is 3 seconds.

[0118] The control module 20 may include a centralized controller, a distributed controller, or a remote controller. In this embodiment, a centralized controller is used.

[0119] The automatic adjustment control system in this embodiment can adjust the speed of the loader in real time according to changes in the road surface, ensuring that the loader maintains consistent control despite road bumps during operation. This solves the problem of the entire machine and road surface moving together during loader operation, achieving active real-time control of the loader's speed and offsetting the impact of road bumps on the loader.

[0120] Furthermore, it should be noted that in this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0121] Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0122] Embodiments of the present invention are described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, embedded processor, or other programmable data processing terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0123] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing terminal equipment to cause a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0124] The above description represents the preferred embodiments of the present invention. It should be noted that although preferred embodiments have been described, those skilled in the art, once they understand the basic inventive concept of the present invention, can make various improvements and modifications without departing from the principles described herein. These improvements and modifications should also be considered within the scope of protection of the present invention. Therefore, the appended claims are intended to include both the preferred embodiments and all changes and modifications falling within the scope of the embodiments of the present invention.

[0125] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A control method for rapid response of a loader, characterized in that, The method specifically includes: Obtain the initial speed value M0 of the loader after it is loaded and travels; and after obtaining the initial speed value M0, collect the speed measurement value M of the loader's travel status in real time. The difference ΔM between the measured speed value M and the initial speed value M0 is calculated in real time, and a control signal for the loader's travel status is generated based on the difference ΔM, wherein the control signal includes the control signal for the electronically controlled pump. throttle pump control signal Total demand signaling for loader movement ,include: when The absolute value is less than the preset threshold. Continue to increase, The value remains unchanged; when The absolute value is less than the preset threshold. Reaching the preset threshold, The value continues to increase; when The absolute value of is greater than or equal to the preset threshold. , The value remains unchanged; when The absolute value of is greater than or equal to the preset threshold. Keep the value unchanged and adjust the pedal throttle signal. ; The speed of the loader is controlled within a preset range in real time based on the control signal.

2. The control method for rapid response of a loader according to claim 1, characterized in that, The initial speed M0 of the loader after it has been driven with a load is obtained; And after obtaining the initial speed value M0, the speed measurement value M of the loader's driving state is collected in real time, including: When the speed measurement value M reaches a preset threshold, the initial speed value M0 is controlled to stop increasing.

3. The control method for rapid response of a loader according to claim 1, characterized in that, The difference ΔM between the measured speed value M and the initial speed value M0 is calculated in real time, and a control signal for the loader's travel status is generated based on the difference ΔM, wherein the control signal includes a control signal for the electronically controlled pump. throttle pump control signal Total demand signaling for loader movement ,include: The control signal is calculated using formulas 1, 2, and 3. Official 1; Official 2; Official 3; in, For constant coefficients of the control signal of the electric pump; This is the constant coefficient for the throttle pump control signal. This is the accelerator pedal signal. This is the integral of the pedal signal in the time domain. For the control signal of the electric pump, For the throttle pump control signal, This represents the total signal quantity required for the movement of the loader.

4. The control method for rapid response of a loader according to claim 3, characterized in that, The step of controlling the speed of the loader within a preset range in real time based on the control signal includes: The vehicle controller calculates the control signal for the electronically controlled pump based on the initial speed value M0. ; The electrically controlled pump is based on the control signal of the electrically controlled pump. Change the pump flow rate; The engine ECU calculates the throttle pump control signal based on the initial speed value M0. ; The throttle pump is based on the control signal of the throttle pump. Change the pump flow rate; When the speed measurement value M reaches a preset threshold, the vehicle controller and the engine ECU automatically adjust the control signal of the electronically controlled pump. and throttle pump control signals .

5. A fast-response control system for a loader, characterized in that, include: The detection module is used to obtain the initial speed value M0 of the loader after it has been driven with a load. And after obtaining the initial speed value M0, the speed measurement value M of the loader's driving status is collected in real time; The control module is used to calculate the difference ΔM between the measured speed value M and the initial speed value M0 in real time, and to generate control signals for the loader's travel status based on the difference ΔM, wherein the control signals include control signals for the electric pump. throttle pump control signal Total demand signaling for loader movement ; The control module is also used for: when The absolute value is less than the preset threshold. Continue to increase, The value remains unchanged; when The absolute value is less than the preset threshold. Reaching the preset threshold, The value continues to increase; when The absolute value of is greater than or equal to the preset threshold. , The value remains unchanged; when The absolute value of is greater than or equal to the preset threshold. Keep the value unchanged and adjust the pedal throttle signal. ; The execution module is used to control the speed of the loader's travel state within a preset range in real time based on the control signal.

6. The fast-response control system for a loader according to claim 5, characterized in that, The execution module is also used for: When the speed measurement value M reaches a preset threshold, the initial speed value M0 is controlled to stop increasing.

7. The fast-response control system for a loader according to claim 5, characterized in that, The control module is also used for: The control signal is calculated using formulas 1, 2, and 3. Official 1; Official 2; Official 3; in, For constant coefficients of the control signal of the electric pump; This is the constant coefficient for the throttle pump control signal. This is the accelerator pedal signal. This is the integral of the pedal signal in the time domain. For the control signal of the electric pump, For the throttle pump control signal, This represents the total signal quantity required for the movement of the loader.

8. The fast-response control system for a loader according to claim 7, characterized in that, The detection module includes an accelerator pedal and a speed sensor. The accelerator pedal is used to acquire the initial speed value M0 of the loader after it is loaded and traveling. The speed sensor is used to collect the speed measurement value M of the loader in real time. The control module includes an on-board controller and an engine ECU. The on-board controller is used to calculate the control signal for the electronically controlled pump based on the initial speed value M0. The engine ECU is used to calculate the throttle pump control signal based on the initial speed value M0. ; The execution module includes an electronically controlled pump and a throttle pump, the electronically controlled pump being used to control signals from the electronically controlled pump. Change the pump flow rate; the throttle pump is used to control the throttle pump based on the control signal. Change the pump flow rate; When the speed measurement value M reaches a preset threshold, the vehicle controller and the engine ECU automatically adjust the control signal of the electronically controlled pump. and throttle pump control signals .

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