Dual drive control method, system, and backfill compactor

Abstract

This invention discloses a dual-drive control method, system, and backfill compactor. The dual-drive control method is applied to machinery with independent front and rear drive systems and includes the following steps: obtaining the front wheel pressure P. front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear ; Response to front wheel pressure P Front With rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At this time, adjust the current value of the front wheel pump proportional valve or the front wheel motor proportional valve, or adjust the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve, until the front wheel speed V... front With rear wheel speed V rear Synchronization. The above settings effectively ensure the synchronization of the front and rear wheel speeds during operation, enabling the machinery to move smoothly in harsh environments, reducing internal losses in the hydraulic system, and improving the working efficiency of the machinery.

Description

Technical Field

[0001] This invention relates to the field of backfill compactor technology, specifically to a dual-drive control method, system, and backfill compactor. Background Technology

[0002] Backfill compactors are mainly used for pushing and compacting work in large-scale foundation filling projects such as landfills, road foundations, water conservancy dams, and airports. The construction environment is harsh, especially during garbage backfilling operations. The single-pump dual-motor control system has poor traction and cannot meet the requirements of the construction environment. The dual-drive control backfill compactor can provide greater driving power and stronger anti-slip ability. However, the system has another problem: the independent front and rear drive systems must be controlled to ensure that the front and rear drive speeds are consistent. When the front and rear wheel speeds are inconsistent, it will affect the working efficiency of the backfill compactor's driving system and cause internal wear to the driving hydraulic system itself. Summary of the Invention

[0003] The purpose of this invention is to provide a dual-drive control method, system, and backfill compactor to solve the problems of hydraulic system internal friction and low working efficiency of operating machinery caused by inconsistent front and rear wheel speeds in existing independent front and rear drive systems.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0005] In the first aspect, a dual-drive control method is disclosed, applicable to operating machinery with independent front and rear drive systems, including:

[0006] Get front wheel pressure P front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear ;

[0007] Response to front wheel pressure P front With rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At this time, adjust the current value of the front wheel pump proportional valve or the front wheel motor proportional valve, or adjust the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve, until the front wheel speed V... front With rear wheel speed V rear synchronous.

[0008] Furthermore, the response to the front wheel pressure P front and rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set When adjusting the current value of the front wheel pump or front wheel motor, or the current value of the rear wheel pump or rear wheel motor, the following should be considered:

[0009] Current wheel pressure P front and rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At that time, determine the front wheel pressure P. front With rear wheel pressure P rear Relationship, front wheel speed V front and target speed V set The absolute value of the difference V fs With rear wheel speed V rear and target speed V set The absolute value of the difference V rs The relationship between the front wheel speed V and the front wheel speed V front Rear wheel speed V rear With the target velocity V set Relationship;

[0010] If P front <P rear V fs >V rs And V front <V set When this occurs, increase the current value of the front wheel pump proportional valve or the front wheel motor proportional valve; if P front <P rear V fs <V rs And V rear >V set When this happens, reduce the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve;

[0011] If P front >P rear V fs >V rs And V front >V set When this happens, reduce the current value of the front wheel pump proportional valve or the front wheel motor proportional valve. If P front >P rear V fs <V rs And V rear <V set At this time, increase the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve.

[0012] Furthermore, the target speed It is calculated based on the travel value of the electric control handle and the speed limit sensor. The calculation formula is as follows:

[0013] ;

[0014] in, To set the maximum driving speed, T is the travel value of the electric control handle, which ranges from 0 to 100%, and L is the calculated value of the speed limit sensor, which also ranges from 0 to 100%.

[0015] Furthermore, obtain the front wheel pressure P. front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear include:

[0016] The front and rear wheel speeds are collected in real time by a speed sensor. The collected values ​​of the speed sensor are calibrated according to the speed sensor calibration formula to obtain the front wheel speed V. front and rear wheel speed V rear The calibration formula for the speed sensor is:

[0017] ;

[0018] Where N is the value collected by the speed sensor, D is the wheel diameter, I is the wheel reduction ratio, and M is the number of wheel teeth;

[0019] The front and rear wheel pressures are collected in real time by pressure sensors. The output voltage is calibrated according to the calibration formula of the pressure sensors to obtain the front wheel pressure P. front and rear wheel pressure P rear The calibration formula for the pressure sensor is:

[0020] ;

[0021] Among them, the output voltage V out The value range is 0.5~4.5V. This is the minimum output voltage. This is the maximum output voltage. This represents the maximum pressure corresponding to the maximum output voltage.

[0022] Secondly, this application discloses a dual-drive control system applied to work machinery with independent front and rear drive systems, comprising:

[0023] The signal acquisition module is used to obtain the front wheel pressure P. front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear ;

[0024] The processing module responds to the front wheel pressure P. front With rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. setAt this time, adjust the current value of the front wheel pump proportional valve or the front wheel motor proportional valve, or adjust the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve, until the front wheel speed V... front With rear wheel speed V rear synchronous.

[0025] Furthermore, the processing module is used for the current wheel pressure P front and rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At that time, determine the front wheel pressure P. front With rear wheel pressure P rear Relationship, front wheel speed V front and target speed V set The absolute value of the difference V fs With rear wheel speed V rear and target speed V set The absolute value of the difference V rs The relationship between the front wheel speed V and the front wheel speed V front Rear wheel speed V rear With the target velocity V set Relationship;

[0026] If P front <P rear V fs >V rs And V front <V set When this occurs, increase the current value of the front wheel pump proportional valve or the front wheel motor proportional valve; if P front <P rear V fs <V rs And V rear >V set When this happens, reduce the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve;

[0027] If P front >P rear V fs >V rs And V front >V set When this happens, reduce the current value of the front wheel pump proportional valve or the front wheel motor proportional valve. If P front >P rear V fs <V rs And V rear <V set At this time, increase the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve.

[0028] Furthermore, the signal acquisition module includes a function for real-time acquisition of the front wheel speed V. frontFront wheel speed sensor, used to collect rear wheel speed V in real time rear The rear wheel speed sensor is used to collect the front wheel pressure P in real time. front Front wheel pressure sensor and for real-time acquisition of wheel pressure P rear The rear wheel pressure sensor.

[0029] Furthermore, the processing module is a main controller that is signal-connected to the signal acquisition module;

[0030] The main controller is connected to a display for data display and calibration, an electric control handle for controlling the movement of the operating machinery, and a speed limit sensor for limiting the speed of the operating machinery.

[0031] Thirdly, a backfill compactor is disclosed, including the dual-drive control system described in any of the second aspects.

[0032] Fourthly, a computer-readable storage medium is disclosed having a computer program stored thereon, which, when executed by a processor, implements the method described in any of the first aspects.

[0033] According to the above technical solution, the beneficial effects of the present invention are as follows:

[0034] The dual-drive control method of this application adjusts the current value of the front wheel pump proportional valve or the front wheel motor proportional valve or the rear wheel pump proportional valve or the rear wheel motor proportional valve when the absolute value of the difference between the front wheel pressure and the rear wheel pressure is higher than the set pressure difference value, until the front wheel speed and the rear wheel speed are synchronized. This effectively ensures the synchronization of the front and rear wheel speeds during operation, enabling the working machinery to move smoothly in harsh environments, reducing the internal consumption of the hydraulic system, and improving the working efficiency of the working machinery.

[0035] This application determines the front and rear wheel pressures and adjusts the proportional valve current accordingly to maintain consistent speeds between the front and rear hydraulic drive systems. This prevents the front drive system from being dragged by the rear drive system or vice versa, thus improving the working efficiency of the backfill compactor's travel system. Attached Figure Description

[0036] Figure 1 This is an overall flowchart of the control method in this invention;

[0037] Figure 2 This is a block diagram of the control system of the present invention. Detailed Implementation

[0038] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0039] For construction machinery, independent front and rear drive systems can effectively prevent slippage and improve traction. However, independent dual-pump driving systems make maintaining synchronization between the front and rear wheels a control challenge. This application ensures consistent speeds between the front and rear wheels through real-time adjustment, thereby guaranteeing the working efficiency of the construction system.

[0040] It should be noted that, in order to facilitate the understanding of the solutions described in the embodiments of the present invention, the terms mentioned thereafter will be explained first.

[0041] The work machinery is driven by independent front and rear drive systems. This hydraulic travel system mainly includes: a front wheel motor, a rear wheel motor, a front wheel drive pump, and a rear wheel drive pump. The front wheel drive pump controls the front wheel motor, which drives the front wheels of the work machinery. The rear wheel drive pump controls the rear wheel motor, which drives the rear wheels of the work machinery. The front wheel drive pump and the front wheel motor are independent of the rear wheel drive pump and the rear wheel motor.

[0042] Example 1

[0043] The dual-drive control method of this application is applied to operating machinery with independent front and rear drive systems, and includes the following steps: obtaining the front wheel pressure P. front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear ; Response to front wheel pressure P front With rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At this time, adjust the current value of the front wheel pump proportional valve or the front wheel motor proportional valve, or adjust the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve, until the front wheel speed V... front With rear wheel speed V rear synchronous.

[0044] The above settings effectively ensure the synchronization of the front and rear wheel speeds during operation, enabling the machinery to move smoothly in harsh environments, reducing internal losses in the hydraulic system, and improving the working efficiency of the machinery.

[0045] By adjusting the proportional valve current according to the pressure, the speed of the front and rear hydraulic drive systems can be kept consistent, thereby preventing the front drive system from being dragged by the rear drive system or vice versa, and improving the working efficiency of the backfill compactor's travel system.

[0046] This application monitors the pressure of the walking drive hydraulic system in real time, enabling rapid response to whether the front and rear drive hydraulic systems are unbalanced and avoiding parasitic power generation. Since the front and rear wheel speeds may differ due to variations in ground adhesion, this application does not use speed indicators for judgment; instead, it ensures the accuracy of the results through pressure monitoring.

[0047] The methods involved in this application are described below through specific embodiments.

[0048] A dual-drive control method includes the following steps:

[0049] Step 1: Read the set pressure difference value P stored in the main controller 1 after calibration. set The target speed V is calculated based on the travel value of the electric control handle 2 and the speed limit sensor 5. set .

[0050] In this step, depending on the tonnage and drive system of the backfill compactor, and to avoid control method lag, the control method is intervened through repeated testing and verification. The intervention is initiated only before any noticeable drag occurs between the front and rear wheels, thus obtaining the set pressure difference value P. set This value is set in this application and will not be described in detail.

[0051] In this step, the target speed It is calculated based on the travel value of the electric control handle and the speed limit sensor. The calculation formula is as follows:

[0052] ;

[0053] in, To set the maximum driving speed, T is the travel value of the electronic control lever, ranging from 0 to 100%, and L is the calculated value from the speed limit sensor, also ranging from 0 to 100%. (Unit: km / h).

[0054] Step 2: Real-time monitoring of the front wheel pressure sensor 8, rear wheel pressure sensor 9, front wheel speed sensor 6, and rear wheel speed sensor 7 driving the pump, and feeding the collected data back to the main controller 1. The main controller 1 determines the respective front wheel pressure P through calibration. front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear .

[0055] In this step, the front and rear wheel speeds are collected in real time using speed sensors. The collected values ​​of the speed sensors are calibrated according to the calibration formula to obtain the front wheel speed V. front and rear wheel speed V rear The calibration formula for the speed sensor is:

[0056] ;

[0057] Where N is the value collected by the speed sensor, D is the wheel diameter, I is the wheel reduction ratio, and M is the number of wheel teeth.

[0058] The front and rear wheel pressures are collected in real time by pressure sensors. The output voltage is calibrated according to the calibration formula of the pressure sensors to obtain the front wheel pressure P. front and rear wheel pressure P rear The calibration formula for the pressure sensor is:

[0059] ;

[0060] Among them, the output voltage V out The value range is 0.5~4.5V. This is the minimum output voltage. This is the maximum output voltage. The maximum pressure corresponds to the maximum output voltage. The P range is 0~500 bar. The maximum pressure corresponding to the maximum output voltage is 500 bar.

[0061] Step 3: Main controller 1 determines the front wheel pressure P. front and rear wheel pressure P rear The absolute value of the difference | P front –P rear Is it higher than P? set If not, proceed to Step 1; otherwise, proceed to Step 4.

[0062] Step 4: Main controller 1 determines the front wheel pressure P. front and rear wheel pressure P rear The size of P front <P rear When, proceed to Step 5, if P front >P rear Then proceed to Step 6.

[0063] Step 5, Front wheel speed V front With the target velocity V set The absolute value of the difference is V fs Rear wheel travel speed V rear With the target velocity V set The absolute value of the difference is V rs The main controller 1 determines the speed; if V... fs >V rs And V front <V set At that time, increase the current value of the front wheel pump or motor. If V fs <V rs And V rear >V set At that time, reduce the current value of the rear wheel pump or motor.

[0064] Step 6, Front wheel speed V front With the target velocity V set The absolute value of the difference is V fs Rear wheel travel speed V rear With the target velocity V set The absolute value of the difference is V rs The main controller 1 determines the speed; if V... fs >V rs And V front >V set Reduce the current value of the front wheel pump or motor if V fs <V rs And V rear <V set At that time, the current value of the rear wheel pump or motor is increased.

[0065] According to Step 3, the front wheel pressure P front and rear wheel pressure P rear The difference is greater than the set pressure difference value P set At the same time, adjust the front wheel drive pump and motor valve assembly and / or the rear wheel drive pump and motor valve assembly so that the front wheel pressure P front and rear wheel pressure P rear、 Front wheel travel speed V front With rear wheel travel speed V rear Maintain consistency.

[0066] Example 2

[0067] Based on the same inventive concept as Embodiment 1, this embodiment provides a dual-drive control system, which includes a signal acquisition module and a processing module. The signal acquisition module is used to obtain the front wheel pressure P. front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear The processing module responds to the front wheel pressure P. front With rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At this time, adjust the current value of the front wheel pump proportional valve or the front wheel motor proportional valve, or adjust the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve, until the front wheel speed V... front With rear wheel speed V rear synchronous.

[0068] The signal acquisition module includes a module for real-time acquisition of the front wheel speed V. front Front wheel speed sensor 6, used to collect rear wheel speed V in real time rear The rear wheel speed sensor 7 is used to collect the front wheel pressure P in real time. frontFront wheel pressure sensor 8 and for real-time acquisition of wheel pressure P rear The rear wheel pressure sensor 9.

[0069] The processing module is a main controller 1 connected to the signal acquisition module. The main controller 1 is connected to a display 3 for data display and calibration, an electric control handle 2 for controlling the operation of the machinery, and a speed limit sensor 5 for limiting the speed of the machinery. The main controller 1 is also connected to an engine controller for controlling the engine's operation.

[0070] Front wheel speed sensor 6, rear wheel speed sensor 7, front wheel pressure sensor 8, and rear wheel pressure sensor 9 are connected to the FI port of the main controller. The PWM output port of the main controller 1 is connected to the front wheel pump proportional valve 10, the front wheel motor proportional valve 11, the rear wheel pump proportional valve 12, and the rear wheel motor proportional valve 13.

[0071] The main controller 1 sends signals to the proportional valve to control the front wheel drive pump, front wheel motor, rear wheel drive pump, and rear wheel motor.

[0072] Furthermore, the main controller 1 receives commands from the control handle 2 and the speed limit sensor 5 to control the front wheel pump proportional valve 10, the front wheel motor proportional valve 11, the rear wheel pump proportional valve 12, and the rear wheel motor proportional valve 13 to adjust the speed of the front and rear wheels.

[0073] Furthermore, the main controller 1 receives instructions from the control handle 2 and, based on the engine-related parameter information calibrated by the display 2, sends it to the engine controller 4 via CAN to control the engine speed.

[0074] Furthermore, the main controller 1 collects and processes the signals from the speed sensor 6 and the pressure sensor 7, and calibrates the relevant parameters of the walking speed according to the display 2, which is used to control the opening of the walking electro-proportional hydraulic valve group to realize the closed loop of system pressure and speed.

[0075] Example 3

[0076] This embodiment also provides a backfill compactor, which adopts the dual-drive control method of Embodiment 1 or the dual-drive control system provided in Embodiment 2.

[0077] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0078] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0079] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0080] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0081] As is known from common technical knowledge, this invention can be implemented through other embodiments that do not depart from its spirit or essential characteristics. Therefore, the disclosed embodiments described above are merely illustrative in all respects and are not the only ones. All modifications within the scope of this invention or its equivalents are included in this invention.

Claims

1. A dual-drive control method, applied to machinery with independent front and rear drive systems, characterized in that, include: Get front wheel pressure P front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear ; Response to front wheel pressure P front With rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At this time, adjust the current value of the front wheel pump proportional valve or the front wheel motor proportional valve, or adjust the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve, until the front wheel speed V... front With rear wheel speed V rear synchronous; The response to the front wheel pressure P front and rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set When adjusting the current value of the front wheel pump or front wheel motor, or the current value of the rear wheel pump or rear wheel motor, the following should be considered: Current wheel pressure P front and rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At that time, determine the front wheel pressure P. front With rear wheel pressure P rear Relationship, front wheel speed V front and target speed V set The absolute value of the difference V fs With rear wheel speed V rear and target speed V set The absolute value of the difference V rs The relationship between the front wheel speed V and the front wheel speed V front Rear wheel speed V rear With the target velocity V set Relationship; If P front <P rear V fs >V rs And V front <V set When this occurs, increase the current value of the front wheel pump proportional valve or the front wheel motor proportional valve; if P front <P rear V fs <V rs And V rear >V set When this happens, reduce the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve; If P front >P rear V fs >V rs And V front >V set When this happens, reduce the current value of the front wheel pump proportional valve or the front wheel motor proportional valve. If P front >P rear V fs <V rs And V rear <V set At this time, increase the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve.

2. The dual-drive control method according to claim 1, characterized in that, The target speed It is calculated based on the travel value of the electric control handle and the speed limit sensor. The calculation formula is as follows: ; in, To set the maximum driving speed, T is the travel value of the electric control handle, which ranges from 0 to 100%, and L is the calculated value of the speed limit sensor, which also ranges from 0 to 100%.

3. The dual-drive control method according to claim 1, characterized in that, Get front wheel pressure P front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear include: The front and rear wheel speeds are collected in real time by a speed sensor. The collected values ​​of the speed sensor are calibrated according to the speed sensor calibration formula to obtain the front wheel speed V. front and rear wheel speed V rear The calibration formula for the speed sensor is: ; Where N is the value collected by the speed sensor, D is the wheel diameter, I is the wheel reduction ratio, and M is the number of wheel teeth; The front and rear wheel pressures are collected in real time by pressure sensors. The output voltage is calibrated according to the calibration formula of the pressure sensors to obtain the front wheel pressure P. front and rear wheel pressure P rear The calibration formula for the pressure sensor is: ; Among them, the output voltage V out The value range is 0.5~4.5V. This is the minimum output voltage. This is the maximum output voltage. This represents the maximum pressure corresponding to the maximum output voltage.

4. A dual-drive control system, applied to machinery with independent front and rear drive systems, characterized in that, Using claim 1 includes: The signal acquisition module is used to obtain the front wheel pressure P. front Rear wheel pressure P rear Front wheel speed V front and rear wheel speed V rear ; The processing module responds to the front wheel pressure P. front With rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At this time, adjust the current value of the front wheel pump proportional valve or the front wheel motor proportional valve, or adjust the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve, until the front wheel speed V... front With rear wheel speed V rear synchronous; The processing module is used for the current wheel pressure P. front and rear wheel pressure P rear The absolute value of the difference is higher than the set pressure difference value P. set At that time, determine the front wheel pressure P. front With rear wheel pressure P rear Relationship, front wheel speed V front and target speed V set The absolute value of the difference V fs With rear wheel speed V rear and target speed V set The absolute value of the difference V rs The relationship between the front wheel speed V and the front wheel speed V front Rear wheel speed V rear With the target velocity V set Relationship; If P front <P rear V fs >V rs And V front <V set When this occurs, increase the current value of the front wheel pump proportional valve or the front wheel motor proportional valve; if P front <P rear V fs <V rs And V rear >V set When this happens, reduce the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve; If P front >P rear V fs >V rs And V front >V set When this happens, reduce the current value of the front wheel pump proportional valve or the front wheel motor proportional valve. If P front >P rear V fs <V rs And V rear <V set At this time, increase the current value of the rear wheel pump proportional valve or the rear wheel motor proportional valve.

5. The dual-drive control system according to claim 4, characterized in that, The signal acquisition module includes a function for real-time acquisition of the front wheel speed V. front Front wheel speed sensor, used to collect rear wheel speed V in real time rear The rear wheel speed sensor is used to collect the front wheel pressure P in real time. front Front wheel pressure sensor and for real-time acquisition of wheel pressure P rear The rear wheel pressure sensor.

6. The dual-drive control system according to claim 4, characterized in that, The processing module is a main controller that is connected to the signal acquisition module via a signal connection. The main controller is connected to a display for data display and calibration, an electric control handle for controlling the movement of the operating machinery, and a speed limit sensor for limiting the speed of the operating machinery.

7. A backfill compactor, characterized in that, Includes the dual-drive control system as described in any one of claims 4-6.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-3.

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