Control method, controller, system, and work vehicle for work vehicle

Abstract

The application relates to the technical field of engineering vehicles, in particular to a control method, a controller, a system and an engineering vehicle for the engineering vehicle. The engineering vehicle comprises an engine, a variable pump and a variable motor. The method comprises the following steps: acquiring a first rotating speed of the engine, an outlet pressure of the variable pump and a second rotating speed of the variable motor in real time. The maximum allowable current of the variable pump is determined according to the first rotating speed and the outlet pressure. The variable pump is controlled to run at the maximum allowable current to output the maximum displacement, so that the second rotating speed increases. The current displacement of the variable motor and the maximum allowable rotating speed of the variable motor at the current displacement are determined. In the case that the second rotating speed of the variable motor is greater than the maximum allowable rotating speed, the displacement of the variable motor is controlled to increase, so that the second rotating speed is less than or equal to the maximum allowable rotating speed corresponding to the displacement of the variable motor after the displacement is increased. By using the above method, the engine power can be maximally utilized, the efficiency of the engineering vehicle is improved, and the fuel consumption is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering vehicles, and particularly relates to a control method, a controller, a system, an engineering vehicle and a storage medium for an engineering vehicle. BACKGROUND

[0002] The hydraulic motor is a common hydraulic actuator and is widely used in the slewing mechanism of an engineering vehicle and the hoist mechanism of a crane. The engine provides power for the hydraulic pump, the hydraulic pump inputs high-pressure hydraulic oil to the hydraulic motor, and the hydraulic motor is driven to rotate.

[0003] However, in the prior art, the hydraulic circuit is controlled by using a hydraulic pump combined with an overflow valve, or the input hydraulic oil is controlled by using a load-sensitive pump. In the case that the engine outputs high power, the utilization rate of the power output by the engine is low. In the prior art, the output power of the hydraulic motor is controlled by using a pump or a valve assembly, and the engine, the hydraulic pump and the hydraulic motor cannot be linked, so that the utilization rate of the engine power is low and the energy loss is high. SUMMARY

[0004] The purpose of the embodiments of the present application is to provide a control method, a controller, a system, an engineering vehicle and a storage medium for an engineering vehicle.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a control method for an engineering vehicle, the engineering vehicle comprising an engine, a variable pump and a variable motor, the engine being connected with the variable pump and being used to provide power for the variable pump, the variable pump being connected with the variable motor and being used to provide high-pressure hydraulic oil for the variable motor to drive the variable motor to rotate, the control method comprising:

[0006] acquiring a first rotation speed of the engine, an outlet port pressure of the variable pump and a second rotation speed of the variable motor in real time.

[0007] determining a maximum allowable current of the variable pump according to the first rotation speed and the outlet port pressure.

[0008] controlling the variable pump to operate at the maximum allowable current to output a maximum displacement, so that the second rotation speed increases.

[0009] determining a current displacement of the variable motor and a maximum allowable rotation speed of the variable motor at the current displacement.

[0010] in the case that the second rotation speed of the variable motor is greater than the maximum allowable rotation speed, controlling the displacement of the variable motor to increase, so that the second rotation speed is less than or equal to the maximum allowable rotation speed corresponding to the displacement of the variable motor after the increase.

[0011] In the embodiment of the present application, the control method further comprises: in the case that the outlet port pressure of the variable pump is greater than the preset pressure limit value, increasing the displacement of the variable motor to reduce the outlet port pressure.

[0012] In the embodiment of the present application, determining the maximum allowable current of the variable pump according to the first rotating speed and the outlet port pressure comprises: determining the output power of the engine according to the first rotating speed; determining the maximum output power of the variable pump according to the output power; and determining the maximum allowable current according to the maximum output power, the outlet port pressure and the first rotating speed.

[0013] In the embodiment of the present application, determining the maximum output power of the variable pump according to the output power comprises: determining the maximum output power according to formula (1):

[0014] W1=k1W (1);

[0015] wherein W1 is the maximum output power, k1 is a first preset coefficient, and W is the output power of the engine.

[0016] In the embodiment of the present application, determining the maximum allowable current according to the maximum output power, the outlet port pressure and the first rotating speed comprises: determining the maximum allowable current according to formula (2):

[0017]

[0018] wherein I1 is the maximum allowable current, η is an efficiency parameter of the variable pump, n is the first rotating speed, j is the rotating speed ratio of the variable pump to the engine, k2 is a second preset coefficient, and P is the outlet port pressure.

[0019] In the embodiment of the present application, determining the current displacement of the variable motor and the maximum allowable rotating speed of the variable motor at the current displacement comprises: determining the current displacement according to formula (3):

[0020] q1=k3I2 (3);

[0021] wherein q1 is the current displacement, k3 is a third preset coefficient, and I2 is the current input to the variable motor at the current time; and determining a rotating speed limit parameter at the current displacement according to formula (4):

[0022]

[0023] wherein k4 is the torque limit parameter, n is the first rotating speed, k2 is the second preset coefficient, I1 is the maximum allowable current, k5 is a preset flow loss parameter, j is the rotating speed ratio of the variable pump to the engine, and n is the maximum rotating speed of the variable motor; and determining the maximum allowable rotating speed at the current displacement according to formula (5): max

[0024] n2=k6k4n​max (5);

[0025] wherein n2 is the maximum allowable rotating speed, and k6 is a fourth preset coefficient.

[0026] The second aspect of the present application provides a controller configured to perform the above-mentioned control method for the engineering vehicle.

[0027] The third aspect of the present application provides a control system for an engineering vehicle, comprising: an engine connected with a variable pump, configured to provide power for the variable pump; the variable pump connected with a variable motor, configured to provide high-pressure hydraulic oil for the variable motor to drive the variable motor to rotate; the variable motor; and the controller according to the above-mentioned.

[0028] In the embodiments of the present application, the number of at least one of the engine, the variable pump and the variable motor is multiple.

[0029] The fourth aspect of the present application provides an engineering vehicle comprising the above-mentioned control system for the engineering vehicle.

[0030] The fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, cause the processor to be configured to perform the above-mentioned control method for the engineering vehicle.

[0031] Through the above-mentioned technical solution, the present application can maximize the use of engine power on the basis of meeting the safe operation of hydraulic elements under the working conditions of heavy load and / or high variable motor rotating speed requirement, thereby improving the efficiency of the engineering vehicle and reducing the fuel consumption of the engineering vehicle.

[0032] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0034] Figure 1 A first application environment schematic diagram of the control method for the engineering vehicle according to the embodiments of the present application is schematically shown;

[0035] Figure 2 A second application environment schematic diagram of the control method for the engineering vehicle according to the embodiments of the present application is schematically shown;

[0036] Figure 3 A flowchart of the control method for the engineering vehicle according to the embodiments of the present application is schematically shown.

[0037] Figure 4 A graph showing the relationship between the displacement of a variable pump and the input variable pump current according to embodiments of the application is schematically illustrated;

[0038] Figure 5 A graph showing the relationship between the displacement of a variable motor and the input variable pump current according to embodiments of the application is schematically illustrated;

[0039] Figure 6 A logic diagram of a control method for a construction vehicle according to embodiments of the application is schematically illustrated;

[0040] Figure 7 A block diagram of a control system for a construction vehicle according to embodiments of the application is schematically illustrated;

[0041] Figure 8 An internal structure diagram of a computer device according to embodiments of the application is schematically illustrated.

[0042] Reference Signs

[0043] 101 first controller 102 first variable motor

[0044] 103 first variable pump 104 first engine

[0045] n1 first speed signal n2 second speed signal

[0046] P1 first outlet port pressure signal I1 first control current signal

[0047] I2 second control current signal 201 second controller

[0048] 202 second variable motor 203 second variable pump

[0049] 204 second engine n3 third speed signal

[0050] n4 fourth speed signal P2 second outlet port pressure signal

[0051] I3 third control current signal I4 fourth control current signal DETAILED DESCRIPTION

[0052] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiments of the present application, and is not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0053] The control method for the engineering vehicle provided by the present application can be applied to an open hydraulic control system as shown in Figure 1 which includes a first controller 101, a first variable motor 102, a first variable pump 103 and a first engine 104. The first controller 101 is electrically connected with the first variable motor 102, the first variable pump 103 and the first engine 104. The first engine 104 can transmit power to the first variable pump 103, and the first variable pump 103 can transmit high-pressure hydraulic oil to the first variable motor 102. The first controller 101 can acquire a second speed signal n2 of the first engine 104, a first speed signal n1 of the first variable motor 102 and a first outlet port pressure signal P1 of the first variable pump 103. And the first controller 101 can control a first control current signal I1 input to the first variable pump 103 and a second control current signal I2 input to the first variable motor 102.

[0054] It can also be applied to a closed hydraulic control system as shown in Figure 2 which includes a second controller 201, a second variable motor 202, a second variable pump 203 and a second engine 204. The second controller 201 is electrically connected with the second variable motor 202, the second variable pump 203 and the second engine 204. The second engine 204 can transmit power to the second variable pump 203, and the second variable pump 203 can transmit high-pressure hydraulic oil to the second variable motor 202. The second controller 201 can acquire a fourth speed signal n4 of the second engine 204, a third speed signal n3 of the second variable motor 202 and a second outlet port pressure signal P2 of the second variable pump 203. And the second controller 202 can control a third control current signal I3 input to the second variable pump 203 and a fourth control current signal I4 input to the second variable motor 202.

[0055] Figure 3 The flowchart of the control method for the engineering vehicle according to the embodiments of the present application is schematically shown. As shown in Figure 3 , it includes the following steps:

[0056] S302, acquiring the first speed of the engine, the outlet port pressure of the variable pump and the second speed of the variable motor in real time.

[0057] S304, determining a maximum allowable current of the variable pump according to the first rotational speed and the outlet pressure.

[0058] S306, controlling the variable pump to operate at the maximum allowable current to output a maximum displacement, so that the second rotational speed increases.

[0059] S308, determining a current displacement of the variable motor and a maximum allowable rotational speed of the variable motor at the current displacement.

[0060] S310, in a case where the second rotational speed of the variable motor is greater than the maximum allowable rotational speed, controlling the displacement of the variable motor to increase, so that the second rotational speed is less than or equal to a maximum allowable rotational speed corresponding to the displacement of the variable motor after the increase.

[0061] The displacement of the variable pump can be controlled by a controller, and within a preset current range, the greater the current input by the controller, the greater the displacement of the variable pump. In a case where the displacement of the variable pump changes, the rotational speed of the variable motor changes, for example, in a case where the displacement of the variable pump increases and the displacement of the variable motor remains unchanged, the rotational speed of the variable motor increases. In a case where the displacement of the variable motor changes, the outlet pressure of the variable pump changes, for example, in a case where the displacement of the variable motor increases and the displacement of the variable pump remains unchanged, the rotational speed of the variable motor decreases and the outlet pressure of the variable pump decreases.

[0062] The controller of the engineering vehicle can obtain the first rotation speed of the engine, the outlet pressure of the variable pump, and the second rotation speed of the variable motor in real time. The controller can determine the maximum allowable current according to the first rotation speed and the outlet pressure of the variable pump. The power of the variable pump is related to the variable pump displacement and the outlet pressure. When the variable pump displacement increases without changing the motor displacement, the rotation speed of the variable motor increases, and the power of the variable pump increases. However, the power of the variable pump cannot be greater than the output power of the engine to prevent the engine from stalling. At the maximum allowable current value, the variable pump can obtain the maximum power of the engine, and can transmit the power to the variable motor by pressurizing the hydraulic oil. The controller can control the variable pump to operate at the maximum allowable current to output the maximum displacement, so that the second rotation speed increases. The controller can determine the current displacement of the variable motor and determine the maximum allowable rotation speed of the variable motor at the current displacement. Due to the mechanical structure limitation, the variable motor has different limit rotation speeds at different displacements. When the variable motor exceeds the limit rotation speed, the variable motor may be mechanically damaged, causing an accident. Therefore, when the second rotation speed of the variable motor is greater than the maximum allowable rotation speed, the controller can control the displacement of the variable motor to increase, so that the second rotation speed is less than or equal to the maximum allowable rotation speed of the variable motor after the displacement increases. After the displacement of the variable motor increases, the rotation speed of the variable motor decreases, and the maximum allowable rotation speed of the variable motor also changes. Therefore, after controlling the variable motor to increase, the controller can also determine whether the rotation speed after the displacement increases meets the maximum allowable rotation speed after the displacement increases. If not, the displacement of the variable motor is further adjusted.

[0063] In a specific embodiment, the control method of the engineering vehicle is applied to the hoist mechanism of a crane. When the hoist mechanism needs high rotation speed, the controller can obtain the first rotation speed of the engine, the outlet pressure of the variable pump, and the second rotation speed of the variable motor in real time. The controller can determine the maximum allowable current of the variable pump according to the first rotation speed and the outlet pressure, and control the variable pump to operate at the maximum allowable current to output the maximum displacement, so that the second rotation speed increases. The variable pump can obtain the maximum output power of the engine. The controller can determine the maximum allowable rotation speed of the variable motor at the current displacement. When the second rotation speed of the variable motor is greater than the maximum allowable rotation speed, the controller can control the displacement of the variable motor to increase, so that the second rotation speed is less than or equal to the maximum allowable rotation speed of the variable motor after the displacement increases. In a specific embodiment, the variable pump is an electric proportional variable pump, and the displacement of the electric proportional variable pump changes with the control current as shown in FIG. 1, where the horizontal axis represents the pump displacement of the electric proportional variable pump, and the vertical axis represents the control current value received by the variable pump. The displacement of the variable motor can also be controlled by the controller. In a specific embodiment, the displacement of the variable motor changes with the control current as shown in FIG. 2. Figure 4 ​Figure 5 As shown, within the preset current range, the displacement of the variable motor decreases as the control current received by the variable motor increases.

[0064] Through the above method, the application can maximize the use of engine power and improve the efficiency of the engineering vehicle and reduce the fuel consumption of the engineering vehicle under the condition of heavy load and / or high variable motor speed requirement on the basis of meeting the safe operation of the hydraulic components.

[0065] In one embodiment, the control method further comprises: in the case where the outlet pressure of the variable pump is greater than the preset pressure limit, increasing the displacement of the variable motor to reduce the outlet pressure. The greater the outlet pressure of the variable pump, the smaller the output flow. When the load driven by the variable motor increases, the outlet pressure of the variable pump will increase, which may cause the variable pump to exceed the preset outlet pressure and cause a safety accident. Therefore, by controlling the displacement of the variable motor, the outlet pressure of the variable pump can be controlled. When the displacement of the variable motor is increased, the output flow of the variable pump will increase, and the outlet pressure of the variable pump will decrease. When the displacement of the variable motor is decreased, the output flow of the variable pump will decrease, and the outlet pressure of the variable pump will increase. In the case where the outlet pressure of the variable pump is greater than the preset value, the controller can increase the displacement of the variable motor to prevent the pressure from being too large to cause damage to the hydraulic components or the overflow valve to overflow too much hydraulic oil to cause high energy loss.

[0066] In one embodiment, determining the maximum allowable current of the variable pump according to the first speed and the outlet pressure comprises: determining the output power of the engine according to the first speed; determining the maximum output power of the variable pump according to the output power; and determining the maximum allowable current according to the maximum output power, the outlet pressure, and the first speed. The power of the engine is positively related to the speed of the engine, and the engine can output higher power when the speed of the engine is higher. The controller can determine the output power of the engine according to the first speed of the engine. The maximum output power of the variable pump depends on the output power of the engine, and there is power transmission between the variable pump and the engine. In the case where the demand power of the variable pump is greater than the output power of the engine, the engine may be stalled. Therefore, the controller can determine the maximum output power of the variable pump according to the output power of the engine. The greater the current of the variable pump, the greater the displacement. The speed of the variable pump is proportional to the speed of the engine, and the controller can determine the speed of the variable pump according to the speed of the engine. Moreover, the controller can determine the maximum allowable displacement of the variable pump according to the maximum output power of the variable pump, the outlet pressure of the variable pump, and the speed of the variable pump, and further determine the maximum allowable current, so that the variable pump can obtain the output power of the engine to the greatest extent.

[0067] In one embodiment, determining the maximum output power of the variable pump according to the output power comprises: determining the maximum output power according to formula (1):

[0068] W1=k1W (1);

[0069] wherein W1 is the maximum output power, k1 is a first preset coefficient, and W is the output power of the engine. The output power of the engine can be determined according to the rotating speed of the engine. In the case that the power demand value of the variable pump is greater than or equal to the output power of the engine, the engine will be shut down. Therefore, the maximum output power of the variable pump is less than the output power of the engine. The first preset coefficient is a real number greater than zero and less than 1. The controller can determine the maximum output power of the variable pump according to the output power of the engine and the first preset coefficient.

[0070] In one embodiment, determining the maximum allowable current according to the maximum output power, the outlet pressure, and the first rotating speed comprises: determining the maximum allowable current according to formula (2):

[0071]

[0072] wherein I1 is the maximum allowable current, η is an efficiency parameter of the variable pump, n is the first rotating speed, j is a rotating speed ratio between the variable pump and the engine, k2 is a ratio of a displacement of the variable pump to an input current of the variable pump, and P is the outlet pressure. The controller can determine the maximum allowable current of the variable pump according to formula (2). The efficiency parameter of the variable pump is a ratio of the output power to the input power of the pump. n is the first rotating speed of the engine. j is the rotating speed ratio between the engine and the variable pump. k2 is a second preset coefficient. The product of the second preset coefficient and the input current of the variable pump is the displacement of the variable pump.

[0073] In one embodiment, determining the current displacement of the variable motor and the maximum allowable rotating speed of the variable motor at the current displacement comprises: determining the current displacement according to formula (3):

[0074] q1=k3I2 (3);

[0075] wherein q1 is the current displacement, k3 is a third preset coefficient, and I2 is the current input to the variable motor at the current time; and determining a rotating speed limitation parameter corresponding to the current displacement according to formula (4):

[0076]

[0077] wherein k4 is the torque limitation parameter, n is the first rotating speed, k2 is the second preset coefficient, I1 is the maximum allowable current, k5 is a preset flow loss parameter, j is the rotating speed ratio between the variable pump and the engine, and n maxis the maximum rotation speed of the variable motor; the maximum allowable rotation speed under the current displacement is determined according to formula (5) :

[0078] n2=k6k4n max (5);

[0079] wherein n2 is the maximum allowable rotation speed, and k6 is a fourth preset coefficient.

[0080] The controller can determine the current input current to the variable motor, and determine the current displacement of the variable motor through formula (3). Wherein k3 is an inherent product parameter of the variable motor, and the product of the third preset parameter and the input variable motor is the displacement of the variable motor. The controller can determine the variable motor speed limit parameter corresponding to the current displacement of the variable motor according to formula (4), wherein k5 is a preset flow loss parameter, which is a hydraulic oil loss parameter in the process of transmission from the variable pump to the variable motor. For example, there are multiple overflow valves in a hydraulic control system, and the overflow of the overflow valves will cause hydraulic oil loss during the operation of the hydraulic control system, so the preset flow loss parameter n. max is the maximum rotation speed of the variable motor, and k4 is a product parameter of the variable motor. For example, there is a variable motor A, and the maximum allowable rotation speed of the variable motor A decreases with the increase of the displacement, so the maximum rotation speed of the variable motor A is the maximum allowable rotation speed under the minimum displacement.

[0081] After determining the speed limit parameter corresponding to the current displacement, the controller can determine the maximum allowable rotation speed n2 of the variable motor under the current displacement according to formula (5). Wherein k6 is a fourth preset coefficient, which further limits the rotation speed of the variable motor to prevent the variable motor from being damaged due to overspeed. Increasing the fourth preset coefficient can prevent the variable motor from overspeeding, and the fourth preset coefficient can be a real number greater than 0 and less than 1, so that the maximum allowable rotation speed determined by the controller is less than the maximum rotation speed that the actual variable motor can withstand, so as to protect the variable motor.

[0082] In one embodiment, the construction vehicle includes an engine, a variable pump and a variable motor, the engine is connected with the variable pump for powering the variable pump, the variable pump is connected with the variable motor for providing high-pressure hydraulic oil to the variable motor to drive the variable motor to rotate, the control method includes: acquiring a first rotating speed of the engine, an outlet port pressure of the variable pump and a second rotating speed of the variable motor in real time. The output power of the engine is proportional to the rotating speed, the controller can determine the output power of the engine according to the first rotating speed. And the maximum output power of the variable pump is less than the output power of the engine, otherwise the engine will stall. Therefore, the controller can determine the maximum output power of the variable pump according to the output power of the engine, specifically, the controller can determine the maximum output power of the variable pump according to formula (1). Further, the controller determines the maximum allowable displacement according to the maximum output power, the outlet port pressure and the first rotating speed, and then determines the maximum allowable current, specifically, the controller can determine the maximum allowable current according to formula (2). The controller can control the variable pump to operate at the maximum allowable current to output the maximum displacement, so that the second rotating speed increases. The controller can determine the current displacement of the variable motor according to formula (3), and determine the maximum allowable rotating speed of the variable motor at the current displacement according to formula (4) and formula (5). In the case that the second rotating speed of the variable motor is greater than the maximum allowable rotating speed, the controller can control the displacement of the variable motor to increase, after the displacement of the variable motor increases, the rotating speed of the variable motor will decrease, so that the second rotating speed is less than or equal to the maximum allowable rotating speed corresponding to the increased displacement of the variable motor. In the case that the displacement of the variable motor increases, the outlet port pressure of the variable pump will increase, in the case that the outlet port pressure of the variable pump is greater than a preset pressure limit value, the controller can control the displacement of the variable motor to increase to reduce the outlet port pressure.

[0083] In one specific embodiment, Figure 6 A logic diagram of the control method for the construction vehicle according to the embodiments of the present application is schematically shown as Figure 6As shown, the engineering vehicle's operating handle controls engine start-up. The engine provides power to the variable displacement pump, which transmits power to the variable displacement motor via hydraulic oil. The variable displacement motor drives the load. The controller is specifically a PLC controller. After the user starts the engine via the operating handle, the PLC controller receives the engine speed signal. Based on the engine speed and the variable displacement pump's outlet pressure, the PLC controller controls the control current input to the variable displacement pump, ensuring the pump outputs maximum displacement hydraulic oil to the variable displacement motor. The variable displacement motor receives the high-pressure hydraulic oil from the pump and rotates, sending its speed signal to the PLC controller. If the PLC controller detects overspeeding, it adjusts the control current input to the variable displacement motor to adjust its displacement. If the variable displacement motor is not overspeeding, the PLC controller checks its output power. If the pump's outlet pressure exceeds the set pressure, the PLC controller adjusts the control current input to the variable displacement motor to increase its displacement and reduce the outlet pressure. If the outlet pressure is below the set pressure, the PLC controller checks the pump's power output.

[0084] By employing the above method, this application can maximize engine power utilization under heavy load and / or high variable displacement motor speed requirements, while ensuring the safe operation of hydraulic components, thereby improving the efficiency of engineering vehicles and reducing fuel consumption. Furthermore, it avoids engine stalling caused by the variable displacement pump's power demand exceeding the engine's output power. When the variable displacement motor's speed exceeds the maximum speed corresponding to the current displacement, the displacement of the variable displacement motor is adjusted to reduce its rotational speed. When the outlet pressure of the variable displacement pump exceeds a preset pressure limit, the displacement of the variable displacement motor is increased to reduce the outlet pressure, thus protecting hydraulic components or reducing energy loss caused by overflow of the relief valve.

[0085] Figure 3 This is a flowchart illustrating a control method for an engineering vehicle in one embodiment. It should be understood that, although... Figure 3 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 3 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0086] In one embodiment, as shown in Figure 7 A control system 700 for a construction vehicle is provided, comprising:

[0087] An engine 701 is connected with a variable pump 702 for powering the variable pump 702.

[0088] The variable pump 702 is connected with a variable motor 703 for providing high pressure hydraulic oil to the variable motor 703 to drive the variable motor 703 to rotate.

[0089] The variable motor 703.

[0090] And a controller 704 is used to execute the above-mentioned control method for a construction vehicle.

[0091] In one embodiment, the number of at least one of the engine, the variable pump and the variable motor is multiple. In the case of multiple engines, the controller can acquire the rotation speed of the multiple engines to determine the output power of each engine. In the case of multiple variable pumps, the controller can acquire the outlet pressure of the multiple variable pumps to adjust the input current of the variable motor to maximize the output power of the engine acquired by the multiple variable pumps. In the case of multiple variable motors, the rotation speed of the multiple variable motors can be acquired to determine the displacement of each variable motor and the rotation speed of the variable motor, and to determine whether the rotation speed of each variable motor is overspeed. And, it is determined whether the outlet pressure of each variable pump exceeds the pressure limit value, and in the case that the outlet pressure of a certain variable pump is greater than the preset pressure value, the displacement of the variable motor corresponding to the variable pump is adjusted.

[0092] In one embodiment, a construction vehicle is provided, comprising the above-mentioned control system for a construction vehicle.

[0093] The controller contains a kernel, and the kernel retrieves corresponding program units from the memory. The kernel can be one or more, and the control method for a construction vehicle is realized by adjusting the kernel parameters.

[0094] The memory can include non-permanent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

[0095] The embodiments of the present application provide a storage medium having a program stored thereon, and the program is executed by a processor or a controller to realize the above-mentioned control method for a construction vehicle.

[0096] The embodiments of the present application provide a controller, and the controller is used to run a program, wherein the program is executed to perform the above-mentioned control method for a construction vehicle.

[0097] In one embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in FIG. 1. Figure 8 The computer device includes a processor A01, a network interface A02, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A04. The non-volatile storage medium A04 stores an operating system B01, a computer program B02 and a database (not shown in the figure). The internal memory A03 provides an environment for the operating system B01 and the computer program B02 in the non-volatile storage medium A04 to run. The network interface A02 of the computer device is used to communicate with external terminals through network connection. The computer program B02 is executed by the processor A01 to implement a control method for an engineering vehicle.

[0098] Those skilled in the art can understand that Figure 8 The structure shown in FIG. 1 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0099] The embodiment of the present application provides a device, which comprises a processor, a memory and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: a first rotating speed of an engine, an outlet port pressure of a variable pump and a second rotating speed of a variable motor are acquired in real time. A maximum allowable current of the variable pump is determined according to the first rotating speed and the outlet port pressure. The variable pump is controlled to run at the maximum allowable current to output a maximum displacement, so that the second rotating speed increases. A current displacement of the variable motor and a maximum allowable rotating speed of the variable motor at the current displacement are determined. In the case that the second rotating speed of the variable motor is greater than the maximum allowable rotating speed, the displacement of the variable motor is controlled to increase, so that the second rotating speed is less than or equal to the maximum allowable rotating speed corresponding to the displacement of the variable motor after the increase.

[0100] In one embodiment, the control method further comprises: in the case that the outlet port pressure of the variable pump is greater than a preset pressure limit value, the displacement of the variable motor is controlled to increase to reduce the outlet port pressure.

[0101] In one embodiment, the determination of the maximum allowable current of the variable pump according to the first rotating speed and the outlet port pressure comprises: the output power of the engine is determined according to the first rotating speed; the maximum output power of the variable pump is determined according to the output power; and the maximum allowable current is determined according to the maximum output power, the outlet port pressure and the first rotating speed.

[0102] In one embodiment, determining the maximum output power of the variable pump based on the output power includes: determining the maximum output power according to formula (1):

[0103] W1 = k1W (1);

[0104] Wherein, W1 is the maximum output power, k1 is the first preset coefficient, and W is the output power of the engine.

[0105] In one embodiment, determining the maximum allowable current based on the maximum output power, the outlet pressure, and the first rotational speed includes: determining the maximum allowable current according to formula (2):

[0106]

[0107] Wherein, I1 is the maximum allowable current, η is the efficiency parameter of the variable pump, n is the first speed, j is the speed ratio of the variable pump to the engine, k2 is the second preset coefficient, and P is the oil outlet pressure.

[0108] In one embodiment, determining the current displacement of the variable displacement motor and the maximum permissible rotational speed of the variable displacement motor at the current displacement includes: determining the current displacement according to formula (3):

[0109] q1=k3I2 (3);

[0110] Where q1 is the current displacement, k3 is the third preset coefficient, and I2 is the current input to the variable motor at the current moment; the speed limit parameter under the current displacement is determined according to formula (4):

[0111]

[0112] Wherein, k4 is the torque limiting parameter, n is the first speed, k2 is the second preset coefficient, I1 is the maximum allowable current, k5 is the flow loss parameter, j is the speed ratio of the variable pump to the engine, and n max The maximum speed of the variable displacement motor is given; the maximum permissible rotational speed under the current displacement is determined according to formula (5):

[0113] n2=k6k4n max (5);

[0114] Wherein, n2 is the maximum allowable rotational speed, and k6 is the fourth preset coefficient.

[0115] Those skilled in the art will appreciate that embodiments of the application can be readily used as software, hardware, or a combination of software and hardware. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0116] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0117] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0118] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks.

[0119] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0120] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) and / or cache memory, for storing, in general, data and / or program instructions. The memory can also include non-volatile memory, such as read-only memory (ROM), electrically programmable read-only memory (EPROM), or electrically erasable programmable read-only memory (EEPROM), for storing, in general, static data and / or program instructions. The memory can also include removable media, such as flash memory, for storing, in general, program instructions and / or data. The memory is an example of computer-readable media.

[0121] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0122] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0123] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A control method for engineering vehicles, characterized in that, The engineering vehicle includes an engine, a variable displacement pump, and a variable displacement motor. The engine is connected to the variable displacement pump to provide power to it. The variable displacement pump is connected to the variable displacement motor to provide high-pressure hydraulic oil to drive the motor to rotate. The control method includes: The engine's first rotational speed, the variable pump's outlet pressure, and the variable motor's second rotational speed are acquired in real time. The output power of the engine is determined based on the first rotational speed; The maximum output power of the variable pump is determined based on the output power. The maximum allowable current is determined based on the maximum output power, the oil outlet pressure, and the first rotational speed. The variable pump is controlled to operate at the maximum allowable current to output the maximum displacement, thereby increasing the second rotational speed; Determine the current displacement of the variable displacement motor and the maximum permissible rotational speed of the variable displacement motor at the current displacement; When the second rotational speed of the variable motor is greater than the maximum permissible rotational speed, the displacement of the variable motor is increased so that the second rotational speed is less than or equal to the maximum permissible rotational speed corresponding to the increased displacement of the variable motor.

2. The control method for engineering vehicles according to claim 1, characterized in that, The control method further includes: When the outlet pressure of the variable pump is greater than the preset pressure limit, the displacement of the variable motor is increased to reduce the outlet pressure.

3. The control method for engineering vehicles according to claim 1, characterized in that, Determining the maximum output power of the variable pump based on the output power includes: The maximum output power is determined according to formula (1): （1）； in, The maximum output power, The first preset coefficient, The output power of the engine is [value].

4. The control method for engineering vehicles according to claim 3, characterized in that, The step of determining the maximum allowable current based on the maximum output power, the oil outlet pressure, and the first rotational speed includes: The maximum allowable current is determined according to formula (2): （2）； in, The maximum allowable current, Let n be the efficiency parameter of the variable pump, and n be the first rotational speed. The speed ratio between the variable pump and the engine. is the second preset coefficient, and P is the oil outlet pressure.

5. The control method for engineering vehicles according to claim 1, characterized in that, Determining the current displacement of the variable displacement motor and the maximum permissible rotational speed of the variable displacement motor at the current displacement includes: The current displacement is determined according to formula (3): （3）； in, For the current displacement, This is the third preset coefficient. The current input to the variable motor at the current moment; The speed limit parameter corresponding to the current displacement is determined according to formula (4): （4）； in, Here, n is the speed limit parameter, and n is the first speed. This is the second preset coefficient. The maximum allowable current, Here, j represents the preset flow loss parameter, and j is the speed ratio between the variable pump and the engine. The maximum speed of the variable motor; The maximum permissible rotational speed under the current displacement is determined according to formula (5): （5）； in, The maximum permissible rotational speed, This is the fourth preset coefficient.

6. A controller, characterized in that, It is configured to perform the control method for engineering vehicles as described in any one of claims 1 to 5.

7. A control system for engineering vehicles, characterized in that, include: An engine, connected to a variable pump, is used to provide power to the variable pump; A variable displacement pump, connected to a variable displacement motor, is used to provide high-pressure hydraulic oil to the variable displacement motor to drive the variable displacement motor to rotate; Variable displacement motor; as well as The controller according to claim 6.

8. The control system for engineering vehicles according to claim 7, characterized in that, The number of at least one of the engine, the variable pump, and the variable motor is multiple.

9. An engineering vehicle, characterized in that, Includes the control system for engineering vehicles as described in claim 8 or 7.

10. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, the instruction causes the processor to be configured to perform the control method for engineering vehicles according to any one of claims 1 to 5.

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