Remote driving new energy loader anti-slope control method and system

Abstract

The present disclosure provides a remote-driven new energy loader anti-slope control method and system, which relates to the field of electric vehicle automation control technology, including: obtaining the total weight of the vehicle by monitoring the vehicle's inclination angle, boom angle and hydraulic system pressure; using an inclination sensor to measure the slope in real time, and combining the total weight of the vehicle to determine the driving force of the motor as a feedforward control parameter. Determine whether to implement anti-slope control based on the state of the brake pedal and the accelerator pedal. When in the anti-slope control stage, first use the feedforward control parameter to perform automatic parking control on the slope. On this basis, feedback adjustment is performed in combination with the actual vehicle speed, and reliable anti-slope control of the remote-controlled loader on the slope is achieved through dual control. The method proposed by the present invention can effectively shorten the slope distance of the remote-driven loader on the slope and improve the safety of the vehicle during use.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle automation control, and in particular to a remote-controlled new energy loader anti-slope control method and system. Background Art

[0002] The statements in this section merely provide background information related to the present disclosure and do not necessarily constitute prior art.

[0003] When a vehicle is driving or parking on a slope, due to the continuous effect of gravity, the vehicle may have a tendency to slide downward, which is the so-called "slope sliding" phenomenon. This phenomenon not only threatens driving safety, but may also cause unforeseen damage to the vehicle itself and the surrounding environment. Therefore, anti-slope sliding control strategy is crucial for the safe operation of the vehicle.

[0004] At present, the mainstream anti-slip strategy for manned loaders mostly relies on the driver stepping on the brake pedal to generate braking force to prevent the vehicle from sliding down the slope. Although this method is direct and effective, it requires the driver to always maintain a high level of vigilance and have the ability to react quickly and accurately. In addition, long-term reliance on the brake pedal to prevent sliding down the slope may also cause additional burden on the brake system and affect its service life.

[0005] In addition, another anti-slip strategy for manned loaders is to monitor the slip distance of the vehicle and use a closed-loop feedback algorithm to accurately control the motor torque to achieve anti-slip. This strategy does not require additional operation by the driver and is more intelligent and automated. However, the closed-loop control strategy relies on the amount of slippage that has occurred in the vehicle to trigger the feedback mechanism. This means that in extreme or sudden situations, such as when the road surface suddenly becomes slippery or the slope suddenly increases, the vehicle may have already slipped significantly, and the closed-loop control will only begin to intervene at this time. This hysteresis may lead to unsatisfactory anti-slip effects, and even in some cases, it is impossible to effectively prevent slipping, thereby increasing safety risks.

[0006] However, for a remote-controlled loader, remote control refers to setting up a remote cockpit, in which the driver controls the vehicle operation, while there is no driver on the controlled vehicle. Therefore, in this remote control scenario, the driverless vehicle cannot intuitively perceive the state of the vehicle sliding down the slope, and thus cannot accurately perform anti-slope control, and cannot effectively achieve stable parking or starting of the vehicle on the slope. Summary of the invention

[0007] In order to solve the above problems, the present invention proposes a remote-driven new energy loader anti-slope control method and system for use in a driverless scenario, and a remote-driven new energy loader anti-slope control method and system. A remote-driven anti-slope control algorithm combining feedforward and feedback is proposed. On the basis of feedforward control, it is combined with feedback adjustment of the slope distance to achieve more accurate and efficient anti-slope control.

[0008] According to some embodiments, the present disclosure adopts the following technical solutions:

[0009] The anti-slope control method of the remote-driven new energy loader includes:

[0010] Obtain the loader vehicle tilt angle, boom cylinder oil pressure, and boom and boom hydraulic rod angle information to determine the vehicle posture and overall vehicle weight;

[0011] Determine whether the loader vehicle has entered the anti-slope mode. In the anti-slope mode, the vehicle first enters the feedforward control mode. If the vehicle still slides slightly under the feedforward control mode, it enters the closed-loop feedback control mode to achieve complete anti-slope control of the vehicle.

[0012] Among them, the feedforward control mode is: calculate the slope parameters according to the overall weight of the vehicle and the vehicle posture, obtain the motor torque feedforward control amount, adjust the vehicle's motion state in advance, and control the vehicle to stop on the slope. If the vehicle still slides down the slope in the feedforward control mode, enter the closed-loop feedback control mode, feedback adjust the motor torque of the loader, set the vehicle speed control target, and determine the motor torque control parameters through the feedback control algorithm according to the current actual vehicle speed to achieve the vehicle's anti-slope feedback control.

[0013] According to some embodiments, the present disclosure adopts the following technical solutions:

[0014] Remote driving new energy loader anti-slope control system, including:

[0015] The data acquisition module is used to obtain the tilt angle of the loader vehicle, the oil pressure of the boom cylinder, and the angle information between the boom and the boom hydraulic rod, so as to determine the vehicle posture and the overall weight of the vehicle;

[0016] The anti-slope control module is used to determine whether the loader vehicle enters the anti-slope mode. In the anti-slope mode, the vehicle first enters the feedforward control mode. If the vehicle still slides slightly under the feedforward control mode, it enters the closed-loop feedback control mode to achieve complete anti-slope control of the vehicle.

[0017] Among them, the feedforward control mode is: calculate the slope parameters according to the overall weight of the vehicle and the vehicle posture, obtain the motor torque feedforward control amount, adjust the vehicle's motion state in advance, and control the vehicle to stop on the slope. If the vehicle still slides down the slope in the feedforward control mode, enter the closed-loop feedback control mode, feedback adjust the motor torque of the loader, set the vehicle speed control target, and determine the motor torque control parameters through the feedback control algorithm according to the current actual vehicle speed to achieve the vehicle's anti-slope feedback control.

[0018] According to some embodiments, the present disclosure adopts the following technical solutions:

[0019] A non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the remote-driven new energy loader anti-slope control method is implemented.

[0020] According to some embodiments, the present disclosure adopts the following technical solutions:

[0021] An electronic device comprises: a processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the remote-driven new energy loader anti-slope control method.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The disclosed remote-controlled new energy loader anti-slope control method has an oil pressure sensor installed on the loader itself for detecting the vehicle status. In order to achieve precise control of the vehicle, the remote-controlled loader is equipped with the following sensors on the basis of the hardware system of a conventional manned new energy loader: an angle sensor and an IMU inclination sensor. In combination with the oil pressure sensor installed on the loader, the vehicle weight and slope parameters are estimated based on the sensors installed on the remote-controlled new energy loader, the feedforward control amount is calculated, and the vehicle's motion state is adjusted in advance, thereby achieving rapid parking on the slope, effectively improving the responsiveness of the anti-slope control, and effectively performing the anti-slope control of the remote-controlled loader.

[0024] The disclosed remote driving new energy loader anti-slope control method proposes an anti-slope control algorithm combining feedforward control and feedback control. Based on feedforward control, considering the uncertainty in actual situations, the closed-loop feedback control is combined to monitor the vehicle status in real time and perform anti-slope control. The reliability of anti-slope control is enhanced through the dual control mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings constituting a part of the present disclosure are used to provide a further understanding of the present disclosure. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure.

[0026] Figure 1 The anti-slope algorithm control process combining feedforward and feedback of the embodiment of the present disclosure;

[0027] Figure 2 A schematic diagram of a loader boom bucket model according to an embodiment of the present disclosure;

[0028] Figure 3 This is a force analysis diagram of the loader boom according to an embodiment of the present disclosure;

[0029] Figure 4 This is a force analysis diagram of a loader bucket according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0030] The present disclosure is further described below in conjunction with the accompanying drawings and embodiments.

[0031] It should be noted that the following detailed descriptions are all illustrative and are intended to provide further explanation of the present disclosure. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present disclosure belongs.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present disclosure. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] Example 1

[0034] In one embodiment of the present disclosure, a remote driving new energy loader anti-slope control method is provided. The method of the present disclosure is based on feedforward control and combines feedback adjustment of the slope distance to achieve more accurate and efficient anti-slope control. Combined with the parameters of vehicle weight and slope, a feedforward control amount is obtained. On this basis, closed-loop feedback is combined to achieve efficient anti-slope control, significantly improving the efficiency and safety of anti-slope control. The method includes:

[0035] Step 1: Obtain the tilt angle of the loader vehicle, the oil pressure of the boom cylinder, and the angle information between the boom and the boom hydraulic rod to determine the vehicle posture and the overall weight of the vehicle;

[0036] Step 2: Determine whether the loader vehicle has entered the anti-slope mode. In the anti-slope mode, the vehicle first enters the feedforward control mode. If the vehicle still slides slightly under the feedforward control mode, it enters the closed-loop feedback control mode to achieve complete anti-slope control of the vehicle.

[0037] Among them, the feedforward control mode is: calculate the slope parameters according to the overall weight of the vehicle and the vehicle posture, obtain the motor torque feedforward control amount, adjust the vehicle's motion state in advance, and control the vehicle to stop on the slope. If the vehicle still slides down the slope in the feedforward control mode, enter the closed-loop feedback control mode, feedback adjust the motor torque of the loader, set the vehicle speed control target, and determine the motor torque control parameters through the feedback control algorithm according to the current actual vehicle speed to achieve the vehicle's anti-slope feedback control.

[0038] As an embodiment, the control algorithm of the remote-driven new energy loader anti-slope control method disclosed in the present invention is divided into five parts: determination of vehicle weight, determination of vehicle posture, determination of vehicle driving state, feedforward control process and feedback control process. The vehicle posture is judged according to the vehicle inclination angle measured by the inclination sensor. When the vehicle is on a flat road, the gross vehicle weight is calculated according to the angle sensor measurement value and the boom hydraulic pressure; when the vehicle is driving on a slope, whether to enter or exit the anti-slope mode is determined according to the opening information of the brake pedal and the accelerator pedal; when the vehicle enters the anti-slope mode, the gravity component along the slope required for balancing is calculated, and feedforward control is performed. In the case of deviation in the feedforward control, the feedback control algorithm is used to further achieve control when sliding down the slope. The specific implementation process is:

[0039] Step 1: Determine the overall weight of the vehicle, wherein the overall weight of the vehicle includes the vehicle's own weight and the weight of the material in the bucket. The vehicle's own weight can be obtained based on the loader model; and the weight of the material in the bucket is calculated based on the loader's operating data on a flat road.

[0040] Among them, the method for calculating the weight of the material in the bucket is: the inclination angle of the vehicle is measured by the IMU vehicle inclination sensor. When the vehicle inclination angle is zero, the current loader is driving smoothly. The force analysis of the boom bucket is performed by obtaining the oil pressure of the boom cylinder and the angle information between the boom and the boom hydraulic rod, and the total weight of the bucket is calculated. The total weight of the bucket is subtracted from the bucket's own weight to obtain the weight of the material in the bucket.

[0041] Specifically, the vehicle tilt angle is first measured by the IMU vehicle tilt sensor. When the vehicle tilt angle is zero, it means that the loader is traveling on a flat road. Then, based on the force analysis of the boom bucket, the weight of the material in the bucket is calculated.

[0042] Furthermore, the structure of the loader boom bucket carrying the cargo is simplified and the force model is established, such as Figure 2As shown in the figure, the mechanical structure that has no great correlation with the bucket load capacity is omitted from the complex loader working device, and the loader boom bucket model is simplified to facilitate the subsequent force analysis of the bucket load capacity. The loader boom bucket model is further simplified, and the force model is subjected to force analysis, as shown in the figure. Figure 3 As shown, the force analysis of the loader's boom is carried out. By orthogonal decomposition in a rectangular coordinate system, the numerical relationship between the various force components acting on the boom is found, and the force exerted by the bucket on the boom is calculated. The force analysis is as follows:

[0043] 1) The relationship between the forces in the horizontal direction is as follows:

[0044] F 1 cosα=F 2 cosβ (1)

[0045] Among them, α is the tilt angle of the boom, and β is the tilt angle of the boom hydraulic rod, both of which can be measured by the angle sensor; F 1 is the reaction force of the bucket on the boom, F 2 It is the supporting force of the boom hydraulic rod on the boom.

[0046] Obtain the vehicle's boom cylinder oil pressure and the angle information between the boom and the boom hydraulic rod, F 2 The oil pressure of the boom cylinder measured by the oil pressure sensor is calculated as follows:

[0047] F 2 =p·S (2)

[0048] Among them, p is the oil pressure measured by the oil pressure sensor, and S is the cross-sectional area of ​​the boom hydraulic rod. This parameter is a design parameter and can be determined according to the machine model.

[0049] 2) The relationship between the forces in the vertical direction is as follows:

[0050] F 1 sinα+m 1 g=F 2 sinβ (3)

[0051] Among them, m 1 is the mass of the boom, and g is the acceleration due to gravity.

[0052] The reaction force of the bucket on the boom can be obtained from formula (1), that is, F 1 for:

[0053]

[0054] Perform force analysis on the bucket, such as Figure 4As shown in the figure, the force analysis of the bucket of the loader is carried out. The total weight of the bucket is equal to the vertical component of the force of the boom on the bucket. The force of the boom on the bucket is equal to the force calculated by the previous force analysis, but in the opposite direction. The total weight of the bucket is obtained by subtracting the weight of the bucket itself to obtain the weight of the material in the bucket. Adding the weight of the whole vehicle is the gross weight of the vehicle. The gravity of the bucket and the vertical component of the reaction force of the boom on the bucket are balanced with each other. Based on this, the total weight of the bucket (m 2 )for:

[0055] m 2 g=F 1 sinα=F 2 cosβtanα (5)

[0056] Among them, m 2 Includes the mass of the bucket and the material in the bucket.

[0057] The mass of the material in the bucket is obtained by subtracting the mass of the bucket itself from the total weight of the bucket. The mass of the material plus the weight of the vehicle body gives the total weight (m) of the vehicle.

[0058] Step 2: Determine the vehicle's posture

[0059] Specifically, according to the inclination angle θ of the loader vehicle obtained by the IMU vehicle inclination sensor, if θ is not zero, it can be determined that the loader is currently on a slope. In addition, it is also possible to determine whether it is uphill or downhill based on the positive or negative value of θ. If θ>0, the vehicle is in an uphill state; if θ<0, the vehicle is in a downhill state. When the vehicle is driving on a slope, the chassis is parallel to the ground, and the absolute value of the vehicle's inclination angle is the slope of the ramp it is driving on.

[0060] Step 3: Determine whether the loader vehicle has entered the anti-slope mode

[0061] Specifically: there is a driver's remote control in the remote cockpit to control the vehicle, including stepping on the brake pedal and the accelerator pedal to remotely control the vehicle, obtaining the output signals of the vehicle's brake pedal and accelerator pedal in the remote cockpit, connecting the output signals of the brake pedal and the accelerator pedal to the controller, and the controller calculates the pedal opening. It is determined whether to enter the anti-slope control based on the brake pedal opening value, and an opening threshold is determined by combining the characteristics of the braking system and road conditions. When the brake pedal opening reaches the threshold, the vehicle enters the anti-slope mode; in the anti-slope mode, the vehicle first enters the feedforward control mode. If the vehicle still slides slightly under the feedforward mode control, it enters the closed-loop feedback control mode. It is determined whether to exit the anti-slope control based on the accelerator pedal change rate. When the driver continues to step on the accelerator pedal, the vehicle exits the anti-slope mode.

[0062] Step 4: Feedforward Control Mode

[0063] According to the calculated overall weight of the loader and the vehicle inclination angle θ, the gravity component along the ramp direction is calculated. In order to keep the vehicle parked steadily on the ramp, it is necessary to control the output of a driving force that is the same as the gravity component along the ramp but in the opposite direction, that is:

[0064] F=mgsin|θ 1 | (6)

[0065] Where m is the total mass of the vehicle, θ 1 For the slope.

[0066] The balancing torque to be output by the travel motor is calculated based on the magnitude of the driving force and the current transmission ratio of the vehicle's transmission system. When the vehicle is in an uphill state, the travel motor outputs a positive balancing torque; and when the vehicle is downhill, the travel motor outputs a reverse balancing torque to achieve feedforward control to prevent slope slippage.

[0067] However, in actual applications, due to the complexity of the vehicle's operating state and road conditions, if the control amount in the feedforward control mode cannot stop the vehicle completely, a slight slope roll will occur. At this time, the feedback control mode is entered to implement further regulation, and then step 5 is entered.

[0068] Step 5: Feedback Control Mode

[0069] The vehicle speed is set to 0 as the control target, and the motor torque is adjusted according to the deviation between the current vehicle speed and the target vehicle speed, ultimately achieving a vehicle speed of 0.

[0070] During the feedback adjustment process, the current vehicle posture is determined to be uphill or downhill according to the IMU vehicle tilt sensor, and on this basis, the travel motor is controlled to output positive or reverse torque. The adjustment amount of the motor torque is determined according to formula (7). The final output torque of the travel motor consists of two parts: the previous motor torque and the current travel motor torque adjustment amount determined according to the vehicle speed deviation.

[0071] Δu n =K p (e n -e n-1 )+K i ·e n (7)

[0072] Among them, Δu n is the adjustment amount of the motor torque at the current moment, in N·m, K p , K i are the proportional term and integral term coefficients respectively, e n is the difference between the current speed and the target speed, that is, the current error, e n-1 is the error at the previous moment.

[0073] The above-mentioned whole process is utilized to realize the anti-slope control of the loader vehicle.

[0074] Example 2

[0075] In one embodiment of the present disclosure, a remote driving new energy loader anti-slope control system is provided, comprising:

[0076] The data acquisition module is used to obtain the tilt angle of the loader vehicle, the oil pressure of the boom cylinder, and the angle information between the boom and the boom hydraulic rod, so as to determine the vehicle posture and the overall weight of the vehicle;

[0077] The anti-slope control module is used to determine whether the loader vehicle enters the anti-slope mode. In the anti-slope mode, the vehicle first enters the feedforward control mode. If the vehicle still slides slightly under the feedforward control mode, it enters the closed-loop feedback control mode to achieve complete anti-slope control of the vehicle.

[0078] Among them, the feedforward control mode is: calculate the slope parameters according to the overall weight of the vehicle and the vehicle posture, obtain the motor torque feedforward control amount, adjust the vehicle's motion state in advance, and control the vehicle to stop on the slope. If the vehicle still slides down the slope in the feedforward control mode, enter the closed-loop feedback control mode, feedback adjust the motor torque of the loader, set the vehicle speed control target, and determine the motor torque control parameters through the feedback control algorithm according to the current actual vehicle speed to achieve the vehicle's anti-slope feedback control.

[0079] Among them, the data acquisition module includes a variety of sensors. The loader itself is equipped with an oil pressure sensor to detect the vehicle status. In order to achieve precise control of the vehicle, the remote-controlled loader is equipped with the following sensors on the basis of the hardware system of the conventional manned new energy loader: angle sensor and IMU inclination sensor. Combined with the oil pressure sensor installed on the loader, the remote-controlled loader can be remotely controlled to prevent slope slippage.

[0080] Furthermore, the oil pressure sensor is used to test the hydraulic oil pressure of the boom cylinder and is installed in the boom hydraulic rod. The sensor outputs a voltage signal, which is connected to the controller. According to the relationship between the output voltage signal and the oil pressure, the boom cylinder oil pressure is obtained.

[0081] The angle sensor is used to collect the angle between the boom and the boom hydraulic rod, and is installed on the side of the component being measured. When the boom moves, it drives the angle sensor, and the output of the sensor is a voltage signal, which is input to the controller and the angle signal is obtained through calculation and analysis.

[0082] The IMU inclination sensor is used to obtain the posture of the vehicle. The sensor is installed on the bottom plane of the cockpit seat and determines the driving status of the vehicle by measuring the vehicle's inclination angle. Without relying on external signal input, the sensor can automatically calculate the loader's azimuth, roll angle, pitch angle and other information through acceleration and angular velocity information. The CAN signal output by the inclination sensor is input into the controller, and the vehicle's posture information can be obtained by analyzing the CAN signal.

[0083] The controller consists of a single-chip microcomputer and a signal processing circuit. The single-chip microcomputer uses NXP's MPC5744P microprocessor. The chip uses a dual-core based on the PowerPC architecture, and has 3 CAN modules and 64-channel AD acquisition. The signal processing circuit includes CAN communication circuit and analog acquisition circuit. Various signals collected by the oil pressure sensor, angle sensor and inclination sensor are input into the controller, and the control parameters are obtained through calculation and processing, and the control signal is output to the travel motor. The travel motor can receive the CAN signal control command issued by the controller and output the corresponding torque to ensure the hill-holding control effect.

[0084] On the basis of the above hardware architecture, combined with feedforward control and feedback control modes, precise control of the remote-driven new energy loader to prevent slope slippage is achieved.

[0085] Example 3

[0086] In one embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided, wherein the non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by a processor, the remote-driven new energy loader anti-slope control method is implemented.

[0087] Example 4

[0088] In one embodiment of the present disclosure, an electronic device is provided, including: a processor, a memory, and a computer program; wherein the processor is connected to the memory, and the computer program is stored in the memory. When the electronic device is running, the processor executes the computer program stored in the memory, so that the electronic device executes the remote-driven new energy loader anti-slope control method.

[0089] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0091] Although the above describes the specific implementation methods of the present disclosure in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present disclosure. Technical personnel in the relevant field should understand that on the basis of the technical solution of the present disclosure, various modifications or variations that can be made by those skilled in the art without creative work are still within the scope of protection of the present disclosure.

Claims

1. A remote driving new energy loader anti-slope control method, characterized in that: include: Obtain the loader vehicle tilt angle, boom cylinder oil pressure, and boom and boom hydraulic rod angle information to determine the vehicle posture and overall vehicle weight; Determine whether the loader vehicle has entered the anti-slope mode. In the anti-slope mode, the vehicle first enters the feedforward control mode. If the vehicle still slides slightly under the feedforward control mode, it enters the closed-loop feedback control mode to achieve complete anti-slope control of the vehicle. The feedforward control mode is as follows: the slope parameters are calculated according to the overall weight of the vehicle and the vehicle posture, the motor torque feedforward control quantity is obtained, the vehicle's motion state is adjusted in advance, and the vehicle is controlled to stop on the slope. If the vehicle still slides down the slope under the feedforward control mode, the closed-loop feedback control mode is entered, the motor torque of the loader is feedback-adjusted, the vehicle speed control target is set, and the motor torque control parameters are determined by the feedback control algorithm according to the current actual vehicle speed to realize the vehicle's anti-slip feedback control; The closed-loop feedback control mode is: if the control amount of the feedforward control cannot stop the vehicle completely and a slight slope slip occurs, feedback control is used to implement further regulation, with the vehicle speed of 0 as the control target, and the travel motor torque is adjusted according to the deviation between the current vehicle speed and the target vehicle speed, and finally the vehicle speed is 0; in the feedback control process, according to the vehicle posture determined whether the vehicle is currently going uphill or downhill, the travel motor is controlled to output a positive or reverse torque, and the output torque of the travel motor finally includes: the last motor torque and the current motor torque adjustment amount determined according to the vehicle speed deviation. The specific formula is: in, The current motor torque adjustment value, in N m, , are the proportional term and integral term coefficients respectively, is the difference between the current speed and the target speed, that is, the current error, is the error at the previous moment.

2. The remote-controlled new energy loader anti-slope control method according to claim 1, characterized in that: The overall weight of the vehicle includes the vehicle's own weight and the weight of the material in the bucket. The weight of the material in the bucket is calculated as follows: the vehicle's inclination angle is measured by the IMU vehicle inclination sensor. When the vehicle's inclination angle is zero, the current loader is traveling smoothly. The force analysis of the boom bucket is performed by obtaining the boom cylinder oil pressure and the angle information between the boom and the boom hydraulic rod, and the total weight of the bucket is calculated. The weight of the material in the bucket is obtained by subtracting the bucket's own weight from the total weight of the bucket.

3. The remote-controlled new energy loader anti-slope control method according to claim 1, characterized in that: The vehicle tilt angle is measured by the IMU vehicle tilt sensor. When the vehicle tilt angle is not zero, the loader is currently driving on a slope. The positive or negative value of the vehicle tilt angle determines whether it is uphill or downhill, and the vehicle posture is obtained. When the vehicle is driving on a slope, the vehicle chassis is parallel to the ground, and the absolute value of the vehicle tilt angle is the slope of the driving slope.

4. The remote-controlled new energy loader anti-slope control method according to claim 1, characterized in that: Determining whether the loader vehicle has entered the anti-slope rolling mode includes: obtaining the output signals of the vehicle's brake pedal and accelerator pedal, calculating the opening values ​​of the two pedals, and determining whether to enter the anti-slope rolling control according to the brake pedal opening value. When the brake pedal opening reaches a set brake opening threshold, it is determined that the vehicle has entered the anti-slope rolling mode.

5. The remote-controlled new energy loader anti-slope control method according to claim 1, characterized in that: The method of feedforward control is as follows: the magnitude of the gravity component along the ramp direction is calculated based on the overall weight of the vehicle and the vehicle's inclination angle, the vehicle is kept steadily parked on the ramp, and a driving force that is the same as the gravity component along the ramp but in the opposite direction is controlled to be output; the balancing torque output by the travel motor is calculated based on the magnitude of the driving force and the current transmission ratio of the vehicle's transmission system; when the vehicle is in an uphill state, the travel motor outputs a positive balancing torque; when the vehicle is downhill, the travel motor outputs a reverse balancing torque, thereby realizing feedforward control to prevent slope slipping.

6. Remote driving new energy loader anti-slope control system, characterized by: include: The data acquisition module is used to obtain the tilt angle of the loader vehicle, the oil pressure of the boom cylinder, and the angle information between the boom and the boom hydraulic rod, so as to determine the vehicle posture and the overall weight of the vehicle; The anti-slope control module is used to determine whether the loader vehicle enters the anti-slope mode. In the anti-slope mode, the vehicle first enters the feedforward control mode. If the vehicle still slides slightly under the feedforward control mode, it enters the closed-loop feedback control mode to achieve complete anti-slope control of the vehicle. Among them, the feedforward control mode is: calculate the ramp parameters according to the overall weight of the vehicle and the vehicle posture, obtain the motor torque feedforward control amount, adjust the vehicle's motion state in advance, and control the vehicle to stop on the slope. If the vehicle still slides down the slope in the feedforward control mode, enter the closed-loop feedback control mode, feedback and adjust the motor torque of the loader, set the control target of the vehicle speed, and determine the motor torque control parameters through the feedback control algorithm according to the current actual vehicle speed to achieve the vehicle's anti-slip feedback control; the closed-loop feedback control mode is: if the control amount of the feedforward control cannot stop the vehicle completely and a slight slip occurs, feedback control is used to implement further regulation at this time, with the vehicle speed of 0 as the control target, and the travel motor torque is adjusted according to the deviation between the current vehicle speed and the target vehicle speed, and finally the vehicle speed is 0; in the feedback control process, according to the vehicle posture determined whether the vehicle is currently going uphill or downhill, the travel motor is controlled to output a positive or reverse torque, and the output torque of the final travel motor includes: the last motor torque and the current motor torque adjustment amount determined according to the vehicle speed deviation. The specific formula is: in, The current motor torque adjustment value, in N m, , are the proportional term and integral term coefficients respectively, is the difference between the current speed and the target speed, that is, the current error, is the error at the previous moment.

7. A non-transitory computer-readable storage medium, characterized in that: The non-transitory computer-readable storage medium is used to store computer instructions. When the computer instructions are executed by the processor, the remote-driven new energy loader anti-slope control method as described in any one of claims 1-5 is implemented.

8. An electronic device, characterized in that: include: A processor, a memory and a computer program; wherein the processor is connected to the memory, the computer program is stored in the memory, and when the electronic device is running, the processor executes the computer program stored in the memory so that the electronic device executes the remote-driven new energy loader anti-slope control method as described in any one of claims 1-5.

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