Control method and control device for a walking device, walking device, and storage medium

Abstract

The embodiment of the application discloses a kind of control method of walking equipment, control device, walking equipment and storage medium, belong to equipment control field.Walking equipment includes hydraulic pump group and at least two power groups, hydraulic pump group includes at least two hydraulic pumps, each power group includes sequentially connected first proportional valve, high-speed switch valve and motor, each hydraulic pump is connected each first proportional valve, and the first proportional valve in each power group is also connected with corresponding motor, the control method of walking equipment includes: response receives speed mode instruction, the state of high-speed switch valve is switched;According to received walking instruction, the flow mode of hydraulic pump group is switched;Based on speed mode instruction and the flow mode of hydraulic pump group, determine current speed range;According to current speed range, determine the target speed corresponding to walking instruction;Based on target speed, adjust the opening area of first proportional valve, to control the rotating speed of motor.By switching the state of high-speed valve and hydraulic pump, the speed of walking equipment can be accurately controlled according to actual road conditions.

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