Electric skid steer loader and control method and apparatus therefor
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- LIUGONG CHANGZHOU MACHINERY
- Filing Date
- 2022-12-30
- Publication Date
- 2026-06-16
Smart Images
Figure CN115949105B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of engineering vehicle technology, specifically to a control method for an electric skid steer loader, a control device for an electric skid steer loader, and an electric skid steer loader. Background Technology
[0002] Conventional skid steer loaders use diesel engines as their primary power source, employing hydraulic components such as hydrostatic travel motors and hydraulic work pumps for vehicle movement and the operation of their working devices. However, fuel-powered engines have numerous drawbacks, including high noise levels, expensive fuel, and harmful emissions. Therefore, electric drive systems using batteries and motors are becoming increasingly common. Currently, the travel control of electric skid steer loaders still follows the control methods of fuel-powered skid steer loaders. It is difficult to accurately control the vehicle speed via a joystick, and the steering method via the joystick is limited, failing to meet the steering requirements of various working conditions. Summary of the Invention
[0003] To solve the above-mentioned technical problems, the present invention provides an electric skid steer loader and its control method and device, which can accurately control the speed of the travel motor through the operation of a handle, thereby accurately controlling the travel speed, and can realize various steering control methods through the operation of the handle, making it suitable for a variety of different working conditions.
[0004] The technical solution adopted in this invention is as follows:
[0005] A control method for an electric skid steer loader, the electric skid steer loader including a travel motor, the travel motor including a left motor and a right motor, the control method including the following steps: acquiring the state of the travel handle, wherein the state of the travel handle includes pushing up, pushing down, pushing left, pushing right, the opening degree when pushing up or down, and the area when pushing left or right; when the travel handle is in the state of pushing up or down, controlling the left motor and the right motor to rotate forward or backward simultaneously to control the electric skid steer loader to move forward or backward, and determining the speed of the left motor and the right motor according to the opening degree when pushing up or down; when the travel handle is in the state of pushing left or right, controlling the left motor and the right motor to operate at different speeds to control the electric skid steer loader to turn left or right, and determining the steering mode according to the area when pushing left or right.
[0006] The control method for the electric skid steer loader further includes: acquiring the current travel mode of the electric skid steer loader, wherein each travel mode has a corresponding motor speed range.
[0007] The rotational speeds of the left and right motors are determined based on the opening degree during upward or downward movement. Specifically, this includes: obtaining the correspondence between the opening degree and the output coefficient; determining the output coefficients of the left and right motors based on the opening degree during upward or downward movement and the correspondence between the opening degree and the output coefficient; and calculating the rotational speeds of the left and right motors based on the output coefficients of the left and right motors and the motor speed range corresponding to the current travel mode of the electric skid steer loader.
[0008] The area for pushing left or right includes a middle area, an upper area, and a lower area. These three areas correspond one-to-one with the three steering modes. The middle area corresponds to counter-rotation. When the travel handle is in the state of pushing left or right, and the area for pushing left or right is the middle area, the motor on the inner side of the steering is reversed and the motor on the outer side of the steering is forward to achieve counter-rotation.
[0009] The control method for the electric skid steer loader further includes: when the left motor and the right motor are running in the same direction, if it is determined that the larger value of the rotational speed of the left motor and the right motor exceeds a preset multiple of the smaller value, then it is further determined whether the smaller value of the rotational speed of the left motor and the right motor exceeds a preset value. If so, it is determined that the vehicle speed is too fast and an alarm prompt is issued.
[0010] A control device for an electric skid steer loader, the electric skid steer loader including a travel motor, the travel motor including a left motor and a right motor, the control device including: a first acquisition module, used to acquire the state of the travel handle, wherein the state of the travel handle includes pushing up, pushing down, pushing left, pushing right, the opening degree when pushing up or down, and the area when pushing left or right; a control module, used to control the electric skid steer loader to move forward or backward by controlling the left motor and the right motor to rotate forward or backward simultaneously when the travel handle is in the state of pushing up or down, and to determine the speed of the left motor and the right motor according to the opening degree when pushing up or down; and to control the electric skid steer loader to turn left or right by controlling the left motor and the right motor to operate at different speeds when the travel handle is in the state of pushing left or right, and to determine the steering mode according to the area when pushing left or right.
[0011] The control device for the electric skid steer loader further includes a second acquisition module for acquiring the current travel mode of the electric skid steer loader, wherein each travel mode has a corresponding motor speed range.
[0012] The control module determines the speed of the left motor and the right motor based on the opening degree when pushing up or down. Specifically, this includes: obtaining the correspondence between the opening degree and the output coefficient; determining the output coefficients of the left motor and the right motor based on the opening degree when pushing up or down and the correspondence between the opening degree and the output coefficient; and calculating the speed of the left motor and the right motor based on the output coefficients of the left motor and the right motor and the motor speed range corresponding to the current travel mode of the electric skid steer loader.
[0013] The area for pushing left or right includes a middle area, an upper area, and a lower area. These three areas correspond one-to-one with the three steering modes. The middle area corresponds to counter-rotation. When the travel handle is in the state of pushing left or right, and the area for pushing left or right is the middle area, the control module controls the motor on the inner side of the steering to reverse and the motor on the outer side of the steering to rotate forward, so as to achieve counter-rotation.
[0014] An electric skid steer loader includes a control device for the electric skid steer loader.
[0015] The beneficial effects of this invention are:
[0016] This invention acquires the states of the travel handle when it is pushed up, down, left, or right, and the opening degree and area when it is pushed left or right. Based on these states, it controls the travel motor to control the travel speed and steering mode of the electric skid steer loader. Thus, the speed of the travel motor can be accurately controlled by the handle operation, thereby accurately controlling the travel speed. Furthermore, various steering control methods can be achieved by the handle operation, making it suitable for a variety of different working conditions. Attached Figure Description
[0017] Figure 1 This is a front view of an electric skid steer loader according to an embodiment of the present invention;
[0018] Figure 2 This is a bottom view of an electric skid steer loader according to an embodiment of the present invention;
[0019] Figure 3 This is a flowchart of a control method for an electric skid steer loader according to an embodiment of the present invention;
[0020] Figure 4 This is a schematic diagram of the area when the walking handle is pushed to the left according to an embodiment of the present invention;
[0021] Figure 5 This is a block diagram of the control device of an electric skid steer loader according to an embodiment of the present invention. Detailed Implementation
[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.
[0023] like Figure 1 and Figure 2 As shown, the electric skid steer loader of this embodiment includes a travel motor 1, which comprises a left motor and a right motor. The left motor drives the left wheel of the electric skid steer loader, and the right motor drives the right wheel of the electric skid steer loader. Furthermore, the electric skid steer loader of this embodiment also includes a power battery 2, an electric control handle 3, a low-voltage battery 4, a reducer 5, a travel controller 6, a thermal management water tank 7, a hydraulic work motor 8, a high-voltage box 9, a charging port 10, a boom 11, a bucket 12, a cab 13, and a radiator 14, etc. The power battery 2 can be a lithium battery, providing power to drive the travel motor 1. The power battery 2 can be installed in a high-voltage box. The low-voltage battery can be a 12V battery, providing power to electronic components such as the travel controller. The reducer 5 is the transmission device between the travel motor 1 and the wheels. The electric control handle 3 connects the user-operated travel handle and bucket handle. The travel handle is used for the forward, backward, and steering operations of the electric skid steer loader. The bucket handle is used for the upward, downward, left and right movement of the bucket 12 and the movement of the boom 11 of the electric skid steer loader. The thermal management water tank 7 is used for the thermal management of the vehicle's power components, including the power battery 2 and the travel motor 1. The hydraulic work motor 8 is used to provide power to the vehicle's hydraulic system. The charging port 10 is used to charge the power battery 2. The travel controller 6 is used to execute the control method of the electric skid steer loader of this embodiment. The control device of the electric skid steer loader of this embodiment is integrated into the travel controller 6.
[0024] like Figure 3 As shown, the control method for an electric skid steer loader according to an embodiment of the present invention includes the following steps:
[0025] S1, obtain the state of the walking handle, wherein the state of the walking handle includes pushing up, pushing down, pushing left, pushing right, the opening when pushing up or down, and the area when pushing left or right.
[0026] S2, when the travel handle is in the state of pushing up or pushing down, controls the electric skid steer loader to move forward or backward by controlling the left and right motors to rotate forward or reverse simultaneously, and determines the speed of the left and right motors according to the opening when pushing up or pushing down.
[0027] In one embodiment of the present invention, when the travel handle is pushed upward, the left and right motors can be controlled to rotate forward simultaneously to control the electric skid steer loader to move forward; when the travel handle is pushed downward, the left and right motors can be controlled to rotate backward simultaneously to control the electric skid steer loader to move backward. It should be understood that, to accommodate different designs of the travel handle, in some embodiments of the present invention, pushing upward and pushing downward can be replaced with pushing forward and pushing backward respectively.
[0028] The forward or backward speed of the electric skid steer loader can be controlled by the opening degree when pushing up or down. Specifically, in one embodiment of the invention, the current travel mode of the electric skid steer loader can also be obtained, wherein each travel mode has a corresponding motor speed range. For example, the electric skid steer loader has a fast mode and a slow mode, the motor speed range corresponding to the fast mode is 0 to 3500 rpm, and the motor speed range corresponding to the slow mode is 0 to 1500 rpm.
[0029] Then, the correspondence between the opening degree and the output coefficient can be obtained. In one embodiment of the present invention, in order to reduce the impact of hand tremors on speed control when the driver operates the driving handle, the opening degree when the handle is pushed up or down is discretized. In a specific embodiment, the correspondence between the opening degree and the output coefficient is shown in Table 1.
[0030] Table 1
[0031]
[0032]
[0033] Furthermore, the output coefficients of the left and right motors are determined based on the opening degree during upward or downward pushing and the correspondence between the opening degree and the output coefficient. After obtaining the opening degree during upward or downward pushing, the corresponding output coefficient can be obtained by looking up Table 1.
[0034] Finally, the speeds of the left and right motors are calculated based on the output coefficients of the left and right motors and the motor speed range corresponding to the current travel mode of the electric skid steer loader. For example, if the current travel mode of the electric skid steer loader is fast mode, then the maximum speed is 3500 rpm. Multiplying this maximum speed by the output coefficient yields the speeds of the left and right motors.
[0035] S3, when the travel handle is in the state of left push or right push, controls the left motor and right motor to operate at different speeds to control the electric skid steer loader to turn left or right, and determines the steering mode according to the area when pushing left or right.
[0036] In one embodiment of the present invention, when the travel handle is in the state of pushing to the left, the speed of the left motor can be controlled to be less than the speed of the right motor (including the case where the speed of the left motor is negative, i.e., reverse rotation, and the speed of the right motor is positive, i.e., forward rotation), thereby controlling the electric skid steer loader to turn left; when the travel handle is in the state of pushing to the right, the speed of the right motor can be controlled to be less than the speed of the left motor (including the case where the speed of the right motor is negative, i.e., reverse rotation, and the speed of the left motor is positive, i.e., forward rotation), thereby controlling the electric skid steer loader to turn right.
[0037] When pushing left or right, the travel handle can be placed in different areas. In one embodiment of the invention, the area for pushing left or right may include a middle area, an upper area, and a lower area. These three areas correspond one-to-one with three different steering methods, such as axis steering, counter-rotation steering, and progressive steering, respectively. For example, such as... Figure 4 As shown, the dashed box defines the range of motion of the travel handle. The middle area when pushing to the left corresponds to the counter-rotation. The rectangle in the middle represents the idle travel. When the travel handle falls within this middle area, it is considered that the counter-rotation of the electric skid steer loader is being controlled. Figure 4 The area directly above and directly below the middle zone can be the upper and lower zones, respectively. When the travel handle is in the left or right push position, and the area when pushing left or right is the middle zone, that is, when controlling the electric skid steer loader to counter-steer, the motor on the inside of the steering wheel can be controlled to rotate in reverse and the motor on the outside of the steering wheel can be controlled to rotate in the forward direction to achieve counter-steer.
[0038] Furthermore, in one embodiment of the present invention, when the left and right motors operate in the same direction, if it is determined that the larger of the rotational speeds of the left and right motors exceeds a preset multiple of the smaller value, the electric skid steer loader is determined to be in a steering state. When the electric skid steer loader is in a steering state, it can be further determined whether the smaller of the rotational speeds of the left and right motors exceeds a preset value. If so, it is determined that the vehicle speed is too high, and an alarm is issued. In a specific embodiment of the present invention, the preset multiple can be 1.16 times, and the preset value can be 1500 rpm.
[0039] According to the control method of the electric skid steer loader according to the embodiments of the present invention, by acquiring the states of the travel handle such as pushing up, pushing down, pushing left, pushing right, the opening degree when pushing up or down, and the area when pushing left or right, and controlling the travel motor according to these states, the travel speed and steering mode of the electric skid steer loader can be controlled. Thus, the speed of the travel motor can be accurately controlled by the handle operation, thereby accurately controlling the travel speed. Furthermore, various steering control methods can be achieved by the handle operation, making it suitable for various different working conditions.
[0040] Corresponding to the control method of the electric skid steer loader in the above embodiments, the present invention also proposes a control device for an electric skid steer loader.
[0041] like Figure 5 As shown, the control device for the electric skid steer loader in this embodiment of the invention includes a first acquisition module 100 and a control module 200. The first acquisition module 100 is used to acquire the state of the travel handle, which includes pushing up, pushing down, pushing left, pushing right, the opening degree when pushing up or down, and the area when pushing left or right. The control module 200 is used to control the electric skid steer loader to move forward or backward by controlling the left and right motors to rotate simultaneously in either direction when the travel handle is in the state of pushing up or down, and to determine the speed of the left and right motors based on the opening degree when pushing up or down; and to control the electric skid steer loader to turn left or right by controlling the left and right motors to operate at different speeds when the travel handle is in the state of pushing left or right, and to determine the steering mode based on the area when pushing left or right.
[0042] In one embodiment of the present invention, when the travel handle is pushed upward, the left and right motors can be controlled to rotate forward simultaneously to control the electric skid steer loader to move forward; when the travel handle is pushed downward, the left and right motors can be controlled to rotate backward simultaneously to control the electric skid steer loader to move backward. It should be understood that, to accommodate different designs of the travel handle, in some embodiments of the present invention, pushing upward and pushing downward can be replaced with pushing forward and pushing backward respectively.
[0043] The forward or backward speed of the electric skid steer loader can be controlled by the opening degree when pushing up or down. Specifically, in one embodiment of the present invention, the control device of the electric skid steer loader may further include a second acquisition module, which is used to acquire the current travel mode of the electric skid steer loader, wherein each travel mode has a corresponding motor speed range. For example, the electric skid steer loader has a fast mode and a slow mode, the motor speed range corresponding to the fast mode is 0 to 3500 rpm, and the motor speed range corresponding to the slow mode is 0 to 1500 rpm.
[0044] Then, the control module 200 can obtain the correspondence between the opening degree and the output coefficient. In one embodiment of the present invention, in order to reduce the impact of hand tremors on speed control when the driver operates the driving handle, the opening degree when the handle is pushed up or down is discretized. In a specific embodiment, the correspondence between the opening degree and the output coefficient is shown in Table 1.
[0045] Furthermore, the control module 200 determines the output coefficients of the left and right motors based on the opening degree during upward or downward pushing and the correspondence between the opening degree and the output coefficient. After obtaining the opening degree during upward or downward pushing, the corresponding output coefficient can be obtained by looking up Table 1.
[0046] Finally, the control module 200 calculates the speeds of the left and right motors based on the output coefficients of the left and right motors and the motor speed range corresponding to the current travel mode of the electric skid steer loader. For example, if the current travel mode of the electric skid steer loader is fast mode, then the maximum speed is 3500 rpm. Multiplying this maximum speed by the output coefficient yields the speeds of the left and right motors.
[0047] In one embodiment of the present invention, when the travel handle is in the state of pushing to the left, the speed of the left motor can be controlled to be less than the speed of the right motor (including the case where the speed of the left motor is negative, i.e., reverse rotation, and the speed of the right motor is positive, i.e., forward rotation), thereby controlling the electric skid steer loader to turn left; when the travel handle is in the state of pushing to the right, the speed of the right motor can be controlled to be less than the speed of the left motor (including the case where the speed of the right motor is negative, i.e., reverse rotation, and the speed of the left motor is positive, i.e., forward rotation), thereby controlling the electric skid steer loader to turn right.
[0048] When pushing left or right, the travel handle can be placed in different areas. In one embodiment of the invention, the area for pushing left or right may include a middle area, an upper area, and a lower area. These three areas correspond one-to-one with three different steering methods, such as axis steering, counter-rotation steering, and progressive steering, respectively. For example, such as... Figure 4 As shown, the dashed box defines the range of motion of the travel handle. The middle area when pushing to the left corresponds to the counter-rotation. The rectangle in the middle represents the idle travel. When the travel handle falls within this middle area, it is considered that the counter-rotation of the electric skid steer loader is being controlled. Figure 4 The area directly above and directly below the middle zone can be the upper zone and the lower zone, respectively. When the travel handle is in the state of pushing left or right, and the area when pushing left or right is the middle zone, that is, when controlling the electric skid steer loader to turn counter-rotate, the control module 200 can control the motor on the inside of the steering wheel to reverse and the motor on the outside of the steering wheel to turn forward, so as to achieve counter-rotation.
[0049] Furthermore, in one embodiment of the present invention, when the left and right motors are running in the same direction, if the control module 200 determines that the larger of the rotational speeds of the left and right motors exceeds a preset multiple of the smaller value, then the electric skid steer loader is in a steering state. When the electric skid steer loader is in a steering state, the control module 200 can further determine whether the smaller of the rotational speeds of the left and right motors exceeds a preset value. If so, it determines that the vehicle speed is too high and controls the alarm module to issue an alarm. In a specific embodiment of the present invention, the preset multiple can be 1.16 times, and the preset value can be 1500 rpm.
[0050] According to the control device of the electric skid steer loader according to the present invention, by acquiring the states of the travel handle such as pushing up, pushing down, pushing left, pushing right, the opening degree when pushing up or down, and the area when pushing left or right, and controlling the travel motor according to these states, the travel speed and steering mode of the electric skid steer loader can be controlled. Thus, the speed of the travel motor can be accurately controlled by the handle operation, thereby accurately controlling the travel speed. Furthermore, various steering control methods can be achieved by the handle operation, making it suitable for various different working conditions.
[0051] Based on the control device of the electric skid steer loader in the above embodiments, the present invention also proposes an electric skid steer loader.
[0052] The electric skid steer loader of this invention includes the control device of the electric skid steer loader of any of the above embodiments of this invention. The specific implementation can be referred to the above embodiments, and will not be repeated here.
[0053] The electric skid steer loader according to embodiments of the present invention can accurately control the speed of the travel motor by means of a handle operation, thereby accurately controlling the travel speed, and can achieve various steering control methods by means of a handle operation, making it suitable for a variety of different working conditions.
[0054] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. "A plurality of" means two or more, unless otherwise explicitly specified.
[0055] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.
[0056] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.
[0057] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this 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 may be combined in any suitable manner in one or more embodiments or examples. Furthermore, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.
[0058] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.
[0059] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.
[0060] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0061] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.
[0062] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.
[0063] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.
Claims
1. A control method for an electric skid steer loader, characterized in that, The electric skid steer loader includes a travel motor, which includes a left motor and a right motor. The control method includes the following steps: The state of the walking handle is obtained, wherein the state of the walking handle includes pushing up, pushing down, pushing left, pushing right, the opening degree when pushing up or down, and the area when pushing left or right; When the travel handle is in the state of being pushed up or down, the electric skid steer loader is controlled to move forward or backward by simultaneously controlling the left motor and the right motor to rotate in the forward or reverse direction, and the speed of the left motor and the right motor is determined according to the opening degree when pushing up or down; When the travel handle is in the left or right push position, the left and right motors are controlled to operate at different speeds to control the electric skid steer loader to turn left or right, and the steering mode is determined according to the area when the left or right push is applied. The control method for the electric skid steer loader further includes: when the left motor and the right motor are running in the same direction, if it is determined that the larger value of the rotational speed of the left motor and the right motor exceeds a preset multiple of the smaller value, then it is further determined whether the smaller value of the rotational speed of the left motor and the right motor exceeds a preset value. If so, it is determined that the vehicle speed is too fast and an alarm prompt is issued.
2. The control method for an electric skid steer loader according to claim 1, characterized in that, Also includes: Obtain the current travel mode of the electric skid steer loader, wherein each travel mode has a corresponding motor speed range.
3. The control method for an electric skid steer loader according to claim 2, characterized in that, The rotational speeds of the left and right motors are determined based on the opening degree during upward or downward pushing, specifically including: Obtain the correspondence between the opening degree and the output coefficient; The output coefficients of the left motor and the right motor are determined based on the opening degree when pushing up or down and the correspondence between the opening degree and the output coefficient. The speeds of the left and right motors are calculated based on the output coefficients of the left and right motors and the motor speed range corresponding to the current travel mode of the electric skid steer loader.
4. The control method for an electric skid steer loader according to claim 1, characterized in that, The area for pushing left or right includes a middle area, an upper area, and a lower area. These three areas correspond one-to-one with the three steering modes. The middle area corresponds to counter-rotation. When the travel handle is in the state of pushing left or right, and the area for pushing left or right is the middle area, the motor on the inner side of the steering is reversed and the motor on the outer side of the steering is forward to achieve counter-rotation.
5. A control device for an electric skid steer loader, characterized in that, The electric skid steer loader includes a travel motor, which includes a left motor and a right motor, and the control device includes: The first acquisition module is used to acquire the state of the walking handle, wherein the state of the walking handle includes pushing up, pushing down, pushing left, pushing right, the opening degree when pushing up or down, and the area when pushing left or right. The control module is used to control the electric skid steer loader to move forward or backward by simultaneously rotating the left and right motors in either forward or reverse direction when the travel handle is in the upward or downward position, and to determine the speed of the left and right motors based on the opening degree when the handle is pushed up or down; when the travel handle is in the left or right position, the module controls the electric skid steer loader to turn left or right by operating the left and right motors at different speeds, and to determine the steering mode based on the area covered when the handle is pushed left or right. When the left motor and the right motor are running in the same direction, if the control module determines that the larger of the rotational speeds of the left motor and the right motor exceeds a preset multiple of the smaller value, it further determines whether the smaller of the rotational speeds of the left motor and the right motor exceeds a preset value. If so, it determines that the vehicle speed is too high and controls the alarm module to issue an alarm prompt.
6. The control device for an electric skid steer loader according to claim 5, characterized in that, Also includes: The second acquisition module is used to acquire the current travel mode of the electric skid steer loader, wherein each travel mode has a corresponding motor speed range.
7. The control device for an electric skid steer loader according to claim 6, characterized in that, The control module determines the speeds of the left and right motors based on the opening degree during upward or downward pushing, specifically including: Obtain the correspondence between the opening degree and the output coefficient; The output coefficients of the left motor and the right motor are determined based on the opening degree when pushing up or down and the correspondence between the opening degree and the output coefficient. The speeds of the left and right motors are calculated based on the output coefficients of the left and right motors and the motor speed range corresponding to the current travel mode of the electric skid steer loader.
8. The control device for an electric skid steer loader according to claim 5, characterized in that, The area for pushing left or right includes a middle area, an upper area, and a lower area. These three areas correspond one-to-one with the three steering modes. The middle area corresponds to counter-rotation. When the travel handle is in the state of pushing left or right, and the area for pushing left or right is the middle area, the control module controls the motor on the inner side of the steering to reverse and the motor on the outer side of the steering to rotate forward, so as to achieve counter-rotation.
9. An electric skid steer loader, characterized in that, Includes the control device for an electric skid steer loader according to any one of claims 5-8.