Control method and system of traction engineering vehicle, electronic equipment and storage medium

Abstract

The invention discloses a control method and system of a traction engineering vehicle, electronic equipment and a storage medium, and belongs to the technical field of hydraulic control technologies. The traction engineering vehicle comprises a closed hydrostatic driving loop and an open hydrostatic driving loop which are connected with an engine, and the control method of the traction engineering vehicle comprises the steps that a vehicle starting instruction is received, and the current running mode of the traction engineering vehicle is determined; if the vehicle is in the empty running mode, controlling an engine to drive a closed variable pump to rotate to generate hydraulic energy, so that the closed variable motor drives the traction engineering vehicle to move; if the driving mode is the traction driving mode, the open type variable displacement motor is controlled to drive the traction engineering vehicle to move through the hydraulic energy in the energy accumulator, and when the hydraulic energy in the energy accumulator is lower than a set value, the engine is controlled to drive the open type variable displacement pump to rotate to generate the hydraulic energy, so that the open type variable displacement motor drives the traction engineering vehicle to move. The traction driving capacity of the traction engineering vehicle can be improved on the premise that oil consumption is reduced.

Description

Technical Field

[0001] The present application relates to the field of hydraulic control technology, and in particular to a control method, system, electronic equipment and storage medium for a traction engineering vehicle. Background Art

[0002] When operators drive traction engineering vehicles to perform daily inspections or traction rescue operations, they often have difficulty starting on slopes. The high fuel consumption of traction engineering vehicles will lead to frequent refueling, increase the installed power of the engine, and is not conducive to achieving fuel economy of traction engineering vehicles.

[0003] The overall mass of the traction engineering vehicle is different when it is towing and rescuing electric buses under different loads. If the engine is selected under the required maximum traction condition, it will often cause power waste under normal conditions. In addition, the weight of a high-power engine is not conducive to the lightweight and spatial layout of the vehicle, and its loud noise will also cause trouble to residents along the line at night.

[0004] Therefore, how to improve the traction driving capability of the traction engineering vehicle while reducing fuel consumption is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0005] The purpose of the present application is to provide a control method, system, electronic equipment and storage medium for a traction engineering vehicle, which can improve the traction driving capability of the traction engineering vehicle while reducing fuel consumption.

[0006] In order to solve the above technical problems, the present application provides a control method for a traction engineering vehicle, wherein the traction engineering vehicle comprises a closed hydrostatic drive circuit and an open hydrostatic drive circuit respectively connected to an engine, wherein the closed hydrostatic drive circuit comprises a closed variable displacement pump and a closed variable displacement motor connected via a pipeline, and the open hydrostatic drive circuit comprises an open variable displacement pump, an open variable displacement motor and an accumulator connected via a pipeline, and the control method for the traction engineering vehicle comprises:

[0007] receiving a vehicle start command and determining a current driving mode of the traction engineering vehicle;

[0008] If the current driving mode is an empty vehicle driving mode, the engine is controlled to drive the closed variable displacement pump to rotate and generate hydraulic energy, so that the closed variable displacement motor drives the traction engineering vehicle to move using the hydraulic energy generated by the closed variable displacement pump;

[0009] If the current driving mode is the traction driving mode, the open variable motor is controlled to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move, and when the hydraulic energy in the accumulator is lower than a set value, the engine is controlled to drive the open variable pump to rotate and generate hydraulic energy, so that the open variable motor continues to drive the traction engineering vehicle to move using the hydraulic energy generated by the open variable pump.

[0010] Optionally, also include:

[0011] If a braking command is received and the current driving mode is an empty vehicle driving mode, the closed hydrostatic drive circuit is controlled to perform hydrostatic braking so as to output a braking torque.

[0012] Optionally, also include:

[0013] If a braking command is received and the current driving mode is the traction driving mode, the closed hydrostatic drive circuit is controlled to perform hydrostatic braking, and the open variable motor is controlled to switch to a pump operating state so as to output a braking torque and convert braking energy into hydraulic energy and store it in the accumulator.

[0014] Optionally, controlling the open variable motor to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move includes:

[0015] filling the accumulator with fluid through an oil charging circuit;

[0016] Determining whether the accumulator is fully filled;

[0017] If so, the open variable motor is controlled to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move.

[0018] Optionally, also include:

[0019] If the current driving mode is the empty vehicle driving mode, the open hydrostatic drive circuit is controlled to send the hydraulic oil in the oil tank into the cooler or radiator of the traction engineering vehicle, and the hydraulic oil passing through the cooler or the radiator is transmitted to the oil tank.

[0020] Optionally, controlling the engine to drive the open variable displacement pump to rotate and generate hydraulic energy includes:

[0021] Determining the target driving power currently required by the traction engineering vehicle;

[0022] Selecting a target preferred operating parameter that meets the target driving power from the preferred operating parameters of the engine; wherein the preferred operating parameter is an operating parameter when the fuel consumption of the engine is lower than a preset value;

[0023] The engine is controlled to operate according to the target preferred operating parameters so as to drive the open variable displacement pump to rotate and generate hydraulic energy.

[0024] Optionally, determining the current driving mode of the traction engineering vehicle includes:

[0025] Detecting the position of the operating lever of the traction engineering vehicle;

[0026] If the operating lever is in the idle gear position, determining that the current driving mode is the idle driving mode;

[0027] If the operating lever is in the traction gear position, it is determined that the current driving mode is the traction driving mode.

[0028] The present application also provides a control system for a traction engineering vehicle, the traction engineering vehicle comprising a closed hydrostatic drive circuit and an open hydrostatic drive circuit respectively connected to an engine, the closed hydrostatic drive circuit comprising a closed variable pump and a closed variable motor connected via a pipeline, the open hydrostatic drive circuit comprising an open variable pump, an open variable motor and an accumulator connected via a pipeline, the control system of the traction engineering vehicle comprising:

[0029] A mode determination module, used to receive a vehicle start instruction and determine the current driving mode of the traction engineering vehicle;

[0030] a first control module, configured to control the engine to drive the closed variable displacement pump to rotate and generate hydraulic energy if the current driving mode is an empty vehicle driving mode, so that the closed variable displacement motor drives the traction engineering vehicle to move by utilizing the hydraulic energy generated by the closed variable displacement pump;

[0031] The second control module is used to control the open variable motor to use the hydraulic energy in the accumulator to drive the traction engineering vehicle to move if the current driving mode is the traction driving mode, and when the hydraulic energy in the accumulator is lower than a set value, control the engine to drive the open variable pump to rotate and generate hydraulic energy, so that the open variable motor continues to drive the traction engineering vehicle to move using the hydraulic energy generated by the open variable pump.

[0032] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the control method for the traction engineering vehicle are implemented.

[0033] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps of the control method for the traction engineering vehicle are implemented.

[0034] The present application provides a control method for a traction engineering vehicle, and the traction engineering vehicle used in the method includes a closed hydrostatic drive circuit and an open hydrostatic drive circuit respectively connected to an engine. The closed hydrostatic drive circuit includes a closed variable pump and a closed variable motor, which can automatically adjust the flow and pressure of the hydraulic oil according to actual needs, thereby reducing energy waste. The open hydrostatic drive circuit includes an open variable pump, an open variable motor and an accumulator, which can provide additional power support when the traction engineering vehicle needs high power output. The accumulator can store excess hydraulic oil so that it can be quickly released when needed. The present application can respond to a vehicle start command according to the current driving mode of the traction engineering vehicle; specifically, if the current driving mode is an empty vehicle driving mode, the engine is controlled to drive the closed variable pump to rotate to generate hydraulic energy, so that the closed variable motor uses the hydraulic energy generated by the closed variable pump to drive the traction engineering vehicle to move; if the current driving mode is a traction driving mode, the hydraulic energy in the accumulator is first used to drive the traction engineering vehicle to move, and then the engine is controlled to drive the open variable pump to rotate to generate hydraulic energy, so that the closed variable motor uses the hydraulic energy generated by the open variable pump to continue to drive the traction engineering vehicle to move. The above scheme can improve the traction driving capability of the traction engineering vehicle while reducing fuel consumption by reasonably utilizing the closed hydrostatic drive circuit and the open hydrostatic drive circuit. The present application also provides a control system, a storage medium and an electronic device for a traction engineering vehicle, which have the above beneficial effects and are not described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0036] Figure 1 A flow chart of a control method for a traction engineering vehicle provided in an embodiment of the present application;

[0037] Figure 2 A hydraulic system control logic diagram provided in an embodiment of the present application;

[0038] Figure 3 A schematic diagram of a control system architecture provided by an embodiment of the present application;

[0039] Figure 4 A schematic diagram of the relationship between time, vehicle speed and power provided in an embodiment of the present application;

[0040] Figure 5 A workflow diagram of a traction engineering vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] See below Figure 1 , Figure 1 A flow chart of a control method for a traction engineering vehicle provided in an embodiment of the present application.

[0043] Specific steps may include:

[0044] S101: receiving a vehicle start instruction and determining a current driving mode of the traction engineering vehicle;

[0045] Among them, this embodiment can be applied to a processor of a traction engineering vehicle, which also includes an engine, a closed hydrostatic drive circuit, an open hydrostatic drive circuit, and a brake circuit. The processor can be connected to the engine through a controller, and the engine is respectively connected to the closed hydrostatic drive circuit, the open hydrostatic drive circuit, and the brake circuit. The above-mentioned traction engineering vehicle can be a straddle-type monorail traction engineering vehicle, a traction trailer, a mining vehicle, and other engineering vehicles.

[0046] The closed hydrostatic drive circuit includes a closed variable pump and a closed variable motor connected by pipelines, and the open hydrostatic drive circuit includes an open variable pump, an open variable motor and an accumulator connected by pipelines. One end of the open variable motor is connected to the open variable pump, and the other end of the open variable motor is connected to the accumulator. The accumulator is a hydraulic accumulator.

[0047] The vehicle start command may be a command input by a user or a command input by other devices. After receiving the vehicle start command, the present embodiment may determine the current driving mode of the traction engineering vehicle, and the driving mode of the traction engineering vehicle may include an empty vehicle driving mode and a traction driving mode.

[0048] As a feasible implementation, the present embodiment can determine the current driving mode of the traction engineering vehicle in the following manner: detecting the position of the operating lever of the traction engineering vehicle; if the operating lever is in the idle gear position, determining that the current driving mode is the idle driving mode; if the operating lever is in the traction gear position, determining that the current driving mode is the traction driving mode. The position of the operating lever is controlled by the user.

[0049] S102: If the current driving mode is the empty vehicle driving mode, controlling the engine to drive the closed variable displacement pump to rotate and generate hydraulic energy, so that the closed variable displacement motor drives the traction engineering vehicle to move using the hydraulic energy generated by the closed variable displacement pump;

[0050] This step is based on receiving a vehicle start command and the traction engineering vehicle is in an empty vehicle driving mode. At this time, a closed hydrostatic drive circuit can be used to drive the traction engineering vehicle to move.

[0051] Specifically, in this embodiment, the closed variable pump (also known as a bidirectional variable pump) can be driven to rotate by the engine. The closed variable pump can change its displacement as needed and circulate hydraulic oil in a closed hydraulic circuit. The hydraulic energy generated by the closed variable pump is transmitted to the closed variable motor, which converts the hydraulic energy into mechanical energy to drive the construction machinery vehicle.

[0052] S103: If the current driving mode is the traction driving mode, the open variable motor is controlled to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move, and when the hydraulic energy in the accumulator is lower than a set value, the engine is controlled to drive the open variable pump to rotate and generate hydraulic energy, so that the open variable motor continues to drive the traction engineering vehicle to move using the hydraulic energy generated by the open variable pump.

[0053] This step is based on receiving a vehicle start command and the traction engineering vehicle is in a traction driving mode. At this time, the traction engineering vehicle can be driven to move through an open hydrostatic drive circuit.

[0054] Specifically, before the system is operated, the accumulator has stored a certain amount of hydraulic energy. When it is necessary to drive the traction engineering vehicle to move, the valve leading to the open variable motor from the accumulator can be opened to allow the hydraulic energy in the accumulator to flow into the motor, driving the motor to rotate, and then driving the traction engineering vehicle to move. If the hydraulic energy in the accumulator is lower than the set value, that is, it is not enough to drive the motor to operate normally, the engine can be started. After the engine is started, the open variable pump can be driven to start working. The open variable pump can change its displacement as needed to generate hydraulic energy, so that the open variable motor uses the hydraulic energy generated by the open variable pump to continue to drive the traction engineering vehicle to move.

[0055] As a feasible implementation method, the implementation process of S103 is as follows:

[0056] Step A1: Determine whether the hydraulic energy in the accumulator is lower than a set value; if so, proceed to step A2; if not, proceed to step A3;

[0057] Step A2: controlling the engine to drive the open variable displacement pump to rotate and generate hydraulic energy, so that the open variable displacement motor utilizes the hydraulic energy generated by the open variable displacement pump to drive the traction engineering vehicle to move;

[0058] Step A3: Control the accumulator to transmit hydraulic energy to the open variable motor, so that the open variable motor uses the hydraulic energy in the accumulator to drive the traction engineering vehicle to move, and control the engine to drive the open variable pump to rotate and generate hydraulic energy when the hydraulic energy is lower than the set value, so that the open variable motor uses the hydraulic energy generated by the open variable pump to continue to drive the traction engineering vehicle to move.

[0059] The traction engineering vehicle used in this embodiment includes a closed hydrostatic drive circuit and an open hydrostatic drive circuit respectively connected to the engine. The closed hydrostatic drive circuit includes a closed variable pump and a closed variable motor, which can automatically adjust the flow and pressure of the hydraulic oil according to actual needs, thereby reducing energy waste. The open hydrostatic drive circuit includes an open variable pump, an open variable motor and an accumulator, which can provide additional power support when the traction engineering vehicle needs high power output. The accumulator can store excess hydraulic oil so that it can be quickly released when needed. This embodiment can respond to the vehicle start command according to the current driving mode of the traction engineering vehicle; specifically, if the current driving mode is an empty vehicle driving mode, the engine is controlled to drive the closed variable pump to rotate to generate hydraulic energy, so that the closed variable motor uses the hydraulic energy generated by the closed variable pump to drive the traction engineering vehicle to move; if the current driving mode is a traction driving mode, the hydraulic energy in the accumulator is first used to drive the traction engineering vehicle to move, and then the engine is controlled to drive the open variable pump to rotate to generate hydraulic energy, so that the closed variable motor uses the hydraulic energy generated by the open variable pump to continue to drive the traction engineering vehicle to move. The above scheme can improve the traction driving capability of the traction engineering vehicle while reducing fuel consumption by reasonably utilizing the closed hydrostatic drive circuit and the open hydrostatic drive circuit.

[0060] As for Figure 1 For further description of the corresponding embodiment, the above-mentioned traction engineering vehicle can also achieve braking in the following ways:

[0061] Step B1: receiving a braking instruction and determining the current driving mode of the traction engineering vehicle.

[0062] Step B2: If the current driving mode is the empty vehicle driving mode, the closed hydrostatic driving circuit is controlled to perform hydrostatic braking so as to output a braking torque.

[0063] Wherein, in the above step B2, when a braking command is received and the current driving mode is an empty vehicle driving mode, the closed hydrostatic driving circuit is controlled to perform hydrostatic braking so as to brake the towing engineering vehicle.

[0064] In this step, the closed hydrostatic drive circuit can be controlled to enter a braking mode. At this time, the hydraulic oil in the closed hydrostatic drive circuit is no longer used to drive the traction engineering vehicle, but is used to generate a braking torque to achieve the purpose of deceleration or parking.

[0065] Step B3: If the current driving mode is the traction driving mode, the closed hydrostatic drive circuit is controlled to perform hydrostatic braking, and the open variable motor is controlled to switch to a pump operating state so as to output a braking torque and convert braking energy into hydraulic energy and store it in the accumulator.

[0066] Among them, in the above step B3, when a braking command is received and the current driving mode is the traction driving mode, the closed hydrostatic driving circuit is controlled to perform hydrostatic braking to output a braking torque; this step also switches the open variable motor to a pump operating condition, in which the open variable motor obtains kinetic energy from the wheel axle of the traction engineering vehicle and converts it into hydraulic energy to store in the accumulator. The motor has a motor operating condition and a pump operating condition. During the driving process, the motor is in the motor operating condition, and during the braking process, the motor is in the pump operating condition.

[0067] As for Figure 1 Further introduction to the corresponding embodiment, when the traction engineering vehicle is in the traction driving mode, at the moment of vehicle starting, the open variable pump and the closed variable pump are in a large displacement state, and the pressure in the pipeline rises rapidly, which is easy to cause pressure cut-off protection. At the same time, the pressure fluctuation in this process is large, which directly leads to a large error in the driving torque value changed by changing the displacement of the variable motor. In this embodiment, the accumulator can be filled with liquid first through the filling circuit before starting, and the vehicle start command can be executed after the filling is completed. Therefore, in the process of using the hydraulic energy in the accumulator to drive the traction engineering vehicle to move, there are the following steps:

[0068] Step C1: filling the accumulator with liquid through the oil filling circuit;

[0069] Step C2: Determine whether the accumulator is fully charged; if so, proceed to step C3; if not, proceed to step C1;

[0070] Step C3: Control the open variable motor to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move.

[0071] As a feasible implementation, if the current driving mode is an empty vehicle driving mode, the open hydrostatic drive circuit is controlled to send the hydraulic oil in the oil tank to the cooler or radiator of the traction engineering vehicle, and the hydraulic oil passing through the cooler or radiator is transmitted to the oil tank. In the above manner, the open variable pump can completely act as a heat dissipation pump to achieve a large flow circulation of the oil and avoid excessive oil temperature.

[0072] As for Figure 1 According to the further description of the corresponding embodiment, the engine can be controlled to drive the open variable displacement pump to generate hydraulic energy in the following manner:

[0073] Step D1: determining the target driving power currently required by the traction engineering vehicle;

[0074] In this embodiment, steps D1 to D3 are executed when the hydraulic energy in the accumulator is lower than a set value, so the target driving power currently required by the traction engineering vehicle can be determined according to the current vehicle speed and the target vehicle speed of the traction engineering vehicle.

[0075] Step D2: selecting a target preferred operating parameter that meets the target driving power from the preferred operating parameters of the engine;

[0076] In this embodiment, a plurality of preferred operating parameters of the engine can be preset, and the preferred operating parameters are operating parameters when the fuel consumption of the engine is lower than a preset value. On the basis of the determined target driving power, the preferred operating parameters that can achieve the target driving power can be selected as the target preferred operating parameters.

[0077] Step D3: Controlling the engine to operate according to the target preferred operating parameters so as to drive the open variable displacement pump to rotate and generate hydraulic energy.

[0078] The process described in the above embodiment is explained below through an embodiment in actual application.

[0079] When the traction engineering vehicle needs a large torque when starting with a large load, the hydraulic system can be in four-wheel drive mode to make full use of the adhesion conditions of the track beam surface to meet the traction needs. The energy saving effect of the vehicle can also be improved through mode conversion. When the vehicle starts or accelerates, the energy stored in the accumulator can provide a certain peak power to the system. When the energy is released to the oil pressure in the accumulator to reach the system setting value, the engine starts to work, so that it can work directly near the economic area. On the one hand, this can realize the recovery of vehicle braking energy and enhance the driving ability of the system. On the other hand, it can improve the fuel economy of the engine and improve exhaust emissions.

[0080] If the travel drive circuit of the traction engineering vehicle adopts an open system, the amount of hydraulic oil used will be greater, which increases the required volume of the oil tank and the maintenance cost. At the same time, frequent vehicle reversing will generate impact force, which cannot ensure the smoothness of the system, has poor maneuverability and affects parking accuracy and operating efficiency. If a closed system is adopted, it will be unfavorable for the vehicle's braking energy recovery. Most importantly, under the premise of limited engine installed power, the slope driving requirements of special working conditions (multi-unit electric passenger cars in the AW3 state of traction and rescue) cannot be guaranteed. In order to combine the characteristics of the two to achieve the fuel economy and traction and rescue functions of the traction engineering vehicle, this embodiment provides a traction engineering vehicle hydraulic system based on energy recovery and fuel economy. Under the premise of limited power utilization and specific energy and relatively large traction weight, this embodiment combines open hydraulic technology with closed hydraulic technology, and can achieve superior fuel saving effect and low-speed high torque performance through a parallel hybrid system. This embodiment has a time-sharing all-wheel drive function, and the driver's operating intention and the working state of the whole vehicle can be accurately identified through the control algorithm in the controller. The AW3 state refers to the overload test state.

[0081] The hydraulic system of the traction engineering vehicle provided in this embodiment includes: a diesel engine, a closed variable pump, an open variable pump, a gear pump, an open variable motor, a closed variable motor, a reducer, an oil tank, a relief valve group, a charging valve, an accumulator, etc.

[0082] See also Figure 2 , Figure 2 A control logic diagram of a hydraulic system provided in an embodiment of the present application, the input signal first reaches the drive / brake controller, and then the signal is transmitted to the variable pump through the electro-hydraulic proportional variable mechanism. The output of the variable pump is then transmitted to the variable mechanism of the variable motor, and then reaches the variable motor. The output of the variable motor eventually flows to the load. In addition, there are pressure sensors and speed sensors responsible for monitoring the system status:

[0083] See also Figure 3 , Figure 3 A schematic diagram of a control system architecture provided by an embodiment of the present application, wherein the optimal economy line and the set speed are transmitted as input data to the RC (Remote Control) controller, and the RC controller generates control quantities based on these two inputs. These control quantities further act on the engine, affecting its performance. The engine's response is returned to the RC controller as a feedback signal to form a closed-loop control. The HST system (closed hydraulic system) is also affected by the RC controller.

[0084] As the power source of the hydraulic system, the diesel engine is mainly used to drive the closed variable pump, the open variable pump and the gear pump. As a feasible implementation method, the diesel engine can drive the gear pump, the closed variable pump and the open variable pump through a pulley. The closed variable pump is directly driven by the diesel engine and adjusts the system pressure and flow by changing the displacement of the pump. The closed variable pump is connected to the open variable motor to form a closed loop. The open variable pump is driven by the diesel engine and is mainly used to provide additional pressure and flow requirements. The open variable pump is connected to the open variable motor to form an open loop. The gear pump is driven by the diesel engine to provide basic pressure and flow for the entire system. The reducer is located after the closed variable motor to reduce the speed and increase the torque. The oil tank is used to store hydraulic oil and also plays the role of cooling and filtering. The overflow valve group is set in the system to prevent overpressure and protect the safety of the equipment. The filling valve is used to replenish the hydraulic oil to keep the system working normally.

[0085] The closed hydrostatic drive circuit includes a closed variable pump and two closed hydraulic motors. The closed variable pump transfers hydraulic energy to the closed hydraulic motor to rotate, thereby driving the reducer and the vehicle's running wheels. The traction characteristics of the closed hydrostatic drive circuit can meet the needs of single-vehicle driving and daily maintenance operations. The working condition of the closed hydrostatic drive circuit is defined as the BS (empty vehicle driving) working condition, and the corresponding driving mode is also called the BS (empty vehicle driving) mode. The closed hydrostatic drive circuit can also include some other auxiliary components, such as electromagnetic reversing valves, relief valves, one-way valves, pressure reducing valves, oil filters, oil tanks, etc. The engine drives the closed variable pump to operate, and the pump sucks hydraulic oil from the oil tank and transports it to the closed hydraulic motor through a pipeline. The closed hydraulic motor begins to rotate after being pressurized by the hydraulic oil, thereby driving the mechanical equipment to move. At the same time, the closed hydraulic motor also returns the hydraulic oil to the oil tank to complete a cycle. In this process, the direction, pressure and flow of the hydraulic oil can be adjusted through control components such as electromagnetic reversing valves and relief valves to meet the requirements of different working conditions.

[0086] The open hydrostatic drive circuit includes an open variable pump and two open hydraulic motors, which may also include a three-position six-way solenoid reversing valve, an accumulator, a two-way solenoid valve, and a hydraulically controlled one-way valve. When a single vehicle is driving on an extreme slope, when the pressure at the AB port of the closed hydrostatic drive circuit exceeds 35MPa, or when the vehicle is performing a rescue operation, the open variable pump drives the motor to increase the traction force. The working condition of the open hydrostatic drive circuit is defined as the KB (traction driving) condition, and the corresponding driving mode is also called the KB (traction driving) mode. The open variable pump is connected to the engine through a coupling or a pulley. One end of the open variable pump is connected to the oil tank, and the other end is connected to the three-position six-way solenoid reversing valve through a pipeline. The hydraulic motor receives the hydraulic oil from the three-position six-way solenoid reversing valve, converts it into mechanical energy, and drives the mechanical equipment to move. The return oil port of the hydraulic motor is connected to the oil tank to return the used hydraulic oil to the oil tank. The three-position six-way solenoid reversing valve connects the open variable pump, open hydraulic motor and oil tank. By changing the position of the valve, the flow direction of the hydraulic oil is controlled, thereby controlling the forward, reverse and stop of the hydraulic motor. The accumulator is connected to the oil return port of the hydraulic motor to absorb the hydraulic shock generated by the rapid braking of the hydraulic motor. The two-way solenoid valve is used to control the on and off of the hydraulic oil. The hydraulically controlled one-way valve is usually set on the oil return line to control the flow direction of the hydraulic oil.

[0087] The brake circuit includes a gear pump, a brake, a relief valve, an accumulator, a two-position four-way reversing valve, a filling valve, etc. The gear pump is an oil source that provides braking energy to meet the vehicle's normal braking and emergency braking needs. The gear pump is connected to the bottom of the oil tank and is used to pump out the hydraulic oil through a pipeline. The brake may be connected to the hydraulic system through a two-position four-way reversing valve. When the reversing valve is switched to the corresponding position, hydraulic oil will enter the brake to make it work. The relief valve is usually set on the high-pressure side of the hydraulic system to protect the system from damage caused by excessive pressure. The two-position four-way reversing valve is used to connect between the gear pump and the brake. The filling valve can be connected between the oil tank and the hydraulic system. The above-mentioned hydraulic system refers to an open hydrostatic drive circuit and a closed hydrostatic drive circuit.

[0088] If the traction engineering vehicle is in the traction driving mode. When the vehicle decelerates or brakes, the motor works in the state of a hydraulic pump, that is, the motor is the power source under the deceleration and braking conditions. This embodiment stores the vehicle's kinetic energy in the form of hydraulic energy by injecting hydraulic oil into the hydraulic accumulator, so that the oil pressure will no longer increase after reaching the set safety threshold. When the vehicle starts or accelerates, the energy stored in the accumulator can provide the system with a certain peak power. When the energy is released until the oil pressure in the accumulator reaches the system set value, the engine starts to work, so that it can work directly near the economic area (i.e., the low fuel consumption area).

[0089] If the traction engineering vehicle is in the empty vehicle driving mode. The vehicle's fuel economy control strategy is as follows: The diesel engine drives the closed variable pump to rotate, the pump input speed is the same as the engine speed, the external input control signal, the closed variable pump has oil output to the outside, due to the pressure difference, the variable motor will overcome the load force and rotate, and do work to the outside. The speed sensor measures the motor output speed signal and feeds it back to the input end to realize the speed control function. The pressure sensor measures the pressure of the A and B chambers of the variable pump to achieve overload protection.

[0090] The working condition of the engine depends on its output power P e and crankshaft speed n e Under different loads, its output power and speed will change accordingly to adapt to different working conditions. According to the universal characteristic curve of the engine, a model of engine power and fuel consumption rate can be established.

[0091] The engine torque T e Fitted to throttle opening θ e With crankshaft speed n e The function T e :

[0092] ;

[0093] The engine output power is P e :

[0094] ;

[0095] Fuel consumption rate e The relationship between the engine crankshaft speed and load is:

[0096] ;

[0097] The load torque balance equation of the engine can be expressed as follows:

[0098] ;

[0099] In the formula, J e is the equivalent moment of inertia of the engine; W e is the crankshaft angular velocity, in rad / s; T efz is the load torque of the engine, in Nm, and f() represents function.

[0100] The controller stores the external load characteristics and fuel consumption curve of the engine, and can calculate the target speed and torque of the engine. When the engine output power is low, the control system actively reduces the displacement of the pump so that the output power of the pump matches the power of the engine. When the output power of the hydraulic system exceeds the rated power of the engine, the control system actively reduces the displacement of the pump to avoid engine overload and flameout.

[0101] If the current output power of the hydraulic pump (closed variable pump and open variable pump) is less than the current required driving power of the running gear, the target speed is set to the speed point that is greater than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones. When the current output power of the hydraulic pump is greater than the current required driving power of the running gear, the target speed is set to the speed point that is less than and closest to the current speed of the engine among the speed points corresponding to different high-efficiency economic zones.

[0102] In BS mode, the open variable pump completely acts as a heat dissipation pump, which can realize large flow circulation of oil and ensure oil temperature. In KB mode, the open variable pump acts as a constant pressure pump (i.e., plays a constant pressure function) to establish working pressure for the open circuit.

[0103] ;

[0104] P KB Indicates the pressure value of the open hydrostatic drive circuit (MPa);

[0105] P BS Indicates the pressure value of the closed hydrostatic drive circuit (MPa);

[0106] f represents the total resistance of the vehicle;

[0107] V BS Indicates the displacement of a closed variable motor;

[0108] V KB Indicates the displacement of an open variable motor;

[0109] η KB Represents the overall efficiency of the open hydrostatic drive circuit;

[0110] η BS Represents the overall efficiency of a closed hydrostatic drive circuit;

[0111] i BS Indicates the reduction ratio of the reducer in the closed hydrostatic drive circuit;

[0112] i KB Indicates the speed reduction ratio of the reducer in the open hydrostatic drive circuit;

[0113] r represents the tire radius.

[0114] Controlled by RC controller, it has BS mode (empty vehicle driving mode) and KB mode (traction driving mode). When the empty vehicle is driving at high speed, the closed two-wheel drive mode under BS working condition is adopted, and the traction driving mode adopts the four-wheel drive mode under KB working condition.

[0115] In KB mode, the hydraulic accumulator should be able to recover 60% of the vehicle's kinetic energy at top speed.

[0116] ;

[0117] P1 represents the charging pressure value of the accumulator (MPa).

[0118] V1 represents the volume of gas in the accumulator under the charging pressure (L).

[0119] V stands for volume.

[0120] n represents the polytropic gas index, which is 1.4 for adiabatic process and 1 for isothermal process.

[0121] E represents kinetic energy (J).

[0122] v t Indicates the maximum speed of the vehicle (m / s).

[0123] v1 represents the initial velocity of the vehicle.

[0124] m represents the mass of the traction engineering vehicle (kg).

[0125] v represents the current vehicle speed (m / s).

[0126] P represents the gas pressure in the accumulator (Pa).

[0127] v avg Indicates the average vehicle speed (m / s).

[0128] There are two types of braking in the hydraulic system of the traction engineering vehicle: hydraulic regenerative braking and mechanical friction braking. In the BS mode, there are hydrostatic braking, parking braking and driving friction braking, and in the KB mode, there are hydrostatic braking, regenerative braking, parking braking and driving friction braking. In the KB mode, the energy of the traction engineering vehicle during braking is stored in the accumulator in the form of high-pressure hydraulic oil through the hydraulic regenerative braking circuit, and is used for the next vehicle start. When the vehicle brakes, the controller switches between the three modes of regenerative braking, driving friction braking or a combination of the two according to the braking intensity.

[0129] The specific control algorithm includes the following steps E1~E4:

[0130] Step E1: Determine the required braking torque T=mar according to the brake pedal force and the braking intensity.

[0131] In the above formula, m represents mass, a represents acceleration, and r represents tire radius.

[0132] Step E2: In BS mode, the braking intensity is relatively small, the mechanical friction brake does not work, the output braking torque is zero, and the closed-loop hydrostatic brake provides the required braking torque.

[0133] ;

[0134] T BS Indicates the braking torque in closed mode, V m Indicates the displacement of the hydraulic motor in closed mode.

[0135] Step E3: In KB mode, the braking intensity is relatively large, and hydraulic regenerative braking is used first, and the part exceeding the regenerative braking torque is provided by mechanical friction braking.

[0136] ;

[0137] J2 represents the moment of inertia of the rotating parts of the hydraulic pump / motor (kg·m2);

[0138] B2 represents the viscous damping coefficient of the hydraulic pump / motor (N / (m·s));

[0139] θ2 represents the angle (rad) through which the hydraulic pump / motor rotates.

[0140] T KB Indicates the braking torque in KB mode.

[0141] T KS Indicates the braking torque provided by the open circuit.

[0142] Indicates the output displacement of the hydraulic pump / motor.

[0143] Indicates the displacement of the hydraulic motor in open mode.

[0144] t represents time.

[0145] Step E4: Braking deceleration is a detectable quantity, and the braking intensity can be converted through the deceleration a. A linear relationship can be established between the brake pedal force and the deceleration. The braking torque in different modes can be adjusted according to the braking intensity requirements.

[0146] Z=a / g.

[0147] Z is the braking torque and g is the acceleration due to gravity.

[0148] The energy W1 consumed by the traction engineering vehicle during the startup acceleration phase is:

[0149] ;

[0150] f represents the total resistance of the vehicle, t represents the duration of acceleration, and u represents the vehicle speed.

[0151] In order to fully utilize the advantages of fast charging and discharging of the hydraulic accumulator, the present embodiment can reasonably switch between the BS driving working mode and the KB driving working mode.

[0152] See also Figure 4 , Figure 4 A schematic diagram of the relationship between time, vehicle speed and power provided in an embodiment of the present application, Figure 4 The coordinate points A, B, C, D, E, F, G, and H represent the speed of the traction engineering vehicle at different times. The horizontal axis is time t, and the vertical axis is the vehicle speed v and power P.

[0153] The AB section is the unloaded start-up acceleration stage of the traction engineering vehicle. The BS drive mode is adopted, and the output torque of the hydraulic motor drives two pairs of running wheels through the reducer. Among them, the hydraulic pump is from zero to maximum displacement, and the hydraulic motor is at maximum displacement. The hydraulic accumulator neither releases energy nor charges energy.

[0154] ;

[0155] ;

[0156] I B Indicates the displacement control signal of the variable pump;

[0157] I m Indicates the displacement control signal of the variable motor;

[0158] u represents vehicle speed;

[0159] i0 represents the gearbox transmission ratio driven by the diesel engine;

[0160] i1 represents the transmission ratio of the reducer;

[0161] V m Indicates the displacement of a closed motor;

[0162] Indicates the volumetric efficiency of the motor;

[0163] V Bmax Indicates the maximum displacement of the pump.

[0164] r represents the tire radius.

[0165] The BC section is the stage of the traction engineering vehicle traveling at a constant speed or accelerating. The BS driving mode is adopted, and the displacement of the hydraulic pump and hydraulic motor is reduced. The hydraulic accumulator neither releases nor charges energy. The functional relationship between the displacement control signal of the variable motor and the vehicle speed.

[0166] ;

[0167] ;

[0168] V B Indicates the displacement of the pump;

[0169] Indicates the volumetric efficiency of the pump;

[0170] Indicates the maximum displacement of the enclosed motor;

[0171] n B Indicates the speed of the pump.

[0172] The CD section is the braking stage of the traction engineering vehicle. It adopts hydrostatic braking under BS mode. The hydraulic motor is in pump working condition to output braking torque and converts braking energy into hydraulic energy and stores it in the hydraulic accumulator. If the braking torque does not meet the braking requirements, mechanical friction braking intervenes to assist braking.

[0173] The traction engineering vehicle in the DE section slowed down until it stopped and connected the coupler with the electric passenger car to be rescued.

[0174] The EF section is the starting and accelerating stage when the traction engineering vehicle tows the electric passenger car, and the KB driving mode is adopted.

[0175] The FG section is the stage where the traction engineering vehicle pulls the electric passenger car at a constant speed or accelerates, and the KB driving mode is adopted.

[0176] The GH section is the parking stage of the traction process of the traction engineering vehicle. The closed circuit adopts hydrostatic braking, and the open circuit adopts regenerative braking to recover energy.

[0177] The controller model is mainly composed of an energy controller, a brake controller and a drive controller. The distribution and transmission of the traction vehicle power between the engine, hydraulic accumulator, hydraulic pump, hydraulic motor and friction brake are determined according to the driving conditions, vehicle status and driver requirements. This embodiment recovers and reuses energy and may reduce the installed power of the engine, thereby reducing fuel consumption and reducing harmful gas emissions.

[0178] See also Figure 5 , Figure 5A workflow diagram of a traction engineering vehicle provided in an embodiment of the present application. First, the vehicle speed requirement, acceleration / deceleration, working mode and torque requirement are obtained. After these data are processed by the energy controller, the engine output torque and the accumulator output torque are obtained. Next, the accumulator performs energy storage control according to the output torque. At the same time, the drive / brake controller combines the vehicle speed requirement and the torque requirement to achieve the acceleration / deceleration target by adjusting the engine output torque. Subsequently, the system calculates the required driving torque and the required braking torque. This embodiment improves the hydraulic hybrid technology of the vehicle to meet the traction and braking functions of the vehicle, and recovers the braking kinetic energy and potential energy of the vehicle based on the method of energy recovery and reuse for fuel economy, thereby improving the fuel economy of the vehicle.

[0179] Determine whether the driving torque meets the driving requirements. If so, select the BS mode; if not, select the KB mode. Determine whether the required braking torque and the hydraulic motor flow meet the braking requirements. If so, select the hydraulic energy storage braking torque for braking; if not, select the friction braking torque and the hydraulic energy storage braking torque for braking. This embodiment can also determine the pressure P1, the open pump flow, the pressure P2, the accumulator flow, the pressure P3 and the brake pump flow.

[0180] According to the actual working conditions of the traction engineering vehicle, the hydraulic power system of this embodiment adopts a composite braking strategy with regenerative braking as the main and friction braking as the auxiliary, and uses the recovered energy to increase the traction force to meet the high-load working conditions of the traction electric passenger car, effectively solving the contradiction of "high power, high energy consumption, and low matching of low-load working conditions; low power, low energy consumption, and inability to meet high-load working conditions".

[0181] A control system for a traction engineering vehicle provided in an embodiment of the present application, the traction engineering vehicle comprises a closed hydrostatic drive circuit and an open hydrostatic drive circuit respectively connected to an engine, the closed hydrostatic drive circuit comprises a closed variable pump and a closed variable motor connected by pipelines, the open hydrostatic drive circuit comprises an open variable pump, an open variable motor and an accumulator connected by pipelines, and the control system of the traction engineering vehicle comprises:

[0182] A mode determination module, used to receive a vehicle start instruction and determine the current driving mode of the traction engineering vehicle;

[0183] a first control module, configured to control the engine to drive the closed variable displacement pump to rotate and generate hydraulic energy if the current driving mode is an empty vehicle driving mode, so that the closed variable displacement motor drives the traction engineering vehicle to move by utilizing the hydraulic energy generated by the closed variable displacement pump;

[0184] The second control module is used to control the open variable motor to use the hydraulic energy in the accumulator to drive the traction engineering vehicle to move if the current driving mode is the traction driving mode, and when the hydraulic energy in the accumulator is lower than a set value, control the engine to drive the open variable pump to rotate and generate hydraulic energy, so that the open variable motor continues to drive the traction engineering vehicle to move using the hydraulic energy generated by the open variable pump.

[0185] The traction engineering vehicle used in this embodiment includes a closed hydrostatic drive circuit and an open hydrostatic drive circuit respectively connected to the engine. The closed hydrostatic drive circuit includes a closed variable pump and a closed variable motor, which can automatically adjust the flow and pressure of the hydraulic oil according to actual needs, thereby reducing energy waste. The open hydrostatic drive circuit includes an open variable pump, an open variable motor and an accumulator, which can provide additional power support when the traction engineering vehicle needs high power output. The accumulator can store excess hydraulic oil so that it can be quickly released when needed. This embodiment can respond to the vehicle start command according to the current driving mode of the traction engineering vehicle; specifically, if the current driving mode is an empty vehicle driving mode, the engine is controlled to drive the closed variable pump to rotate to generate hydraulic energy, so that the closed variable motor uses the hydraulic energy generated by the closed variable pump to drive the traction engineering vehicle to move; if the current driving mode is a traction driving mode, the hydraulic energy in the accumulator is first used to drive the traction engineering vehicle to move, and then the engine is controlled to drive the open variable pump to rotate to generate hydraulic energy, so that the closed variable motor uses the hydraulic energy generated by the open variable pump to continue to drive the traction engineering vehicle to move. The above scheme can improve the traction driving capability of the traction engineering vehicle while reducing fuel consumption by reasonably utilizing the closed hydrostatic drive circuit and the open hydrostatic drive circuit.

[0186] Furthermore, it also includes:

[0187] The first braking module is used to control the closed hydrostatic drive circuit to perform hydrostatic braking so as to output a braking torque if a braking command is received and the current driving mode is an empty vehicle driving mode.

[0188] Furthermore, it also includes:

[0189] The second braking module is used to control the closed hydrostatic drive circuit to perform hydrostatic braking if a braking command is received and the current driving mode is a traction driving mode, and control the open variable motor to switch to a pump operating state so as to output a braking torque and convert braking energy into hydraulic energy and store it in the accumulator.

[0190] Furthermore, the process in which the second control module controls the open variable motor to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move includes: filling the accumulator with fluid through an oil filling circuit; determining whether the accumulator has been fully filled; and if so, controlling the open variable motor to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move.

[0191] Furthermore, it also includes:

[0192] The heat dissipation control module is used to control the open hydrostatic drive circuit to send the hydraulic oil in the oil tank into the cooler or radiator of the traction engineering vehicle if the current driving mode is the empty vehicle driving mode, and transmit the hydraulic oil passing through the cooler or the radiator to the oil tank.

[0193] Furthermore, the process in which the second control module controls the engine to drive the open variable displacement pump to rotate and generate hydraulic energy includes:

[0194] Determining the target driving power currently required by the traction engineering vehicle;

[0195] Selecting a target preferred operating parameter that meets the target driving power from the preferred operating parameters of the engine; wherein the preferred operating parameter is an operating parameter when the fuel consumption of the engine is lower than a preset value;

[0196] The engine is controlled to operate according to the target preferred operating parameters so as to drive the open variable displacement pump to rotate and generate hydraulic energy.

[0197] Furthermore, the process of the mode determination module determining the current driving mode of the traction engineering vehicle includes: detecting the position of the operating lever of the traction engineering vehicle; if the operating lever is in the idle gear position, determining that the current driving mode is the idle driving mode; if the operating lever is in the traction gear position, determining that the current driving mode is the traction driving mode.

[0198] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, which will not be repeated here.

[0199] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0200] The present application also provides an electronic device, which may include a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps provided in the above embodiment may be implemented. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0201] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of this application.

[0202] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A control method for a traction engineering vehicle, characterized in that: The traction engineering vehicle comprises a closed hydrostatic drive circuit and an open hydrostatic drive circuit respectively connected to an engine, the closed hydrostatic drive circuit comprises a closed variable pump and a closed variable motor connected via a pipeline, the open hydrostatic drive circuit comprises an open variable pump, an open variable motor and an accumulator connected via a pipeline, and the control method of the traction engineering vehicle comprises: receiving a vehicle start command and determining a current driving mode of the traction engineering vehicle; If the current driving mode is an empty vehicle driving mode, the engine is controlled to drive the closed variable displacement pump to rotate and generate hydraulic energy, so that the closed variable displacement motor drives the traction engineering vehicle to move using the hydraulic energy generated by the closed variable displacement pump; If the current driving mode is the traction driving mode, the open variable motor is controlled to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move, and when the hydraulic energy in the accumulator is lower than a set value, the engine is controlled to drive the open variable pump to rotate and generate hydraulic energy, so that the open variable motor continues to drive the traction engineering vehicle to move using the hydraulic energy generated by the open variable pump.

2. The control method of the traction engineering vehicle according to claim 1, characterized in that: Also includes: If a braking command is received and the current driving mode is an empty vehicle driving mode, the closed hydrostatic drive circuit is controlled to perform hydrostatic braking so as to output a braking torque.

3. The control method of the traction engineering vehicle according to claim 1, characterized in that: Also includes: If a braking command is received and the current driving mode is the traction driving mode, the closed hydrostatic drive circuit is controlled to perform hydrostatic braking, and the open variable motor is controlled to switch to a pump operating state so as to output a braking torque and convert braking energy into hydraulic energy and store it in the accumulator.

4. The control method of the traction engineering vehicle according to claim 1, characterized in that: Controlling the open variable motor to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move, comprising: filling the accumulator with fluid through an oil charging circuit; Determining whether the accumulator is fully filled; If so, the open variable motor is controlled to utilize the hydraulic energy in the accumulator to drive the traction engineering vehicle to move.

5. The control method of the traction engineering vehicle according to claim 1, characterized in that: Also includes: If the current driving mode is the empty vehicle driving mode, the open hydrostatic drive circuit is controlled to send the hydraulic oil in the oil tank into the cooler or radiator of the traction engineering vehicle, and the hydraulic oil passing through the cooler or the radiator is transmitted to the oil tank.

6. The control method of the traction engineering vehicle according to claim 1, characterized in that: Controlling the engine to drive the open variable displacement pump to rotate and generate hydraulic energy comprises: Determining the target driving power currently required by the traction engineering vehicle; Selecting a target preferred operating parameter that meets the target driving power from the preferred operating parameters of the engine; wherein the preferred operating parameter is an operating parameter when the fuel consumption of the engine is lower than a preset value; The engine is controlled to operate according to the target preferred operating parameters so as to drive the open variable displacement pump to rotate and generate hydraulic energy.

7. The control method of a traction engineering vehicle according to claim 1, characterized in that: Determining the current driving mode of the traction engineering vehicle includes: Detecting the position of the operating lever of the traction engineering vehicle; If the operating lever is in the idle gear position, determining that the current driving mode is the idle driving mode; If the operating lever is in the traction gear position, it is determined that the current driving mode is the traction driving mode.

8. A control system for a traction engineering vehicle, characterized in that: The traction engineering vehicle comprises a closed hydrostatic drive circuit and an open hydrostatic drive circuit respectively connected to the engine, the closed hydrostatic drive circuit comprises a closed variable pump and a closed variable motor connected by pipelines, the open hydrostatic drive circuit comprises an open variable pump, an open variable motor and an accumulator connected by pipelines, and the control system of the traction engineering vehicle comprises: A mode determination module, used to receive a vehicle start instruction and determine the current driving mode of the traction engineering vehicle; a first control module, configured to control the engine to drive the closed variable displacement pump to rotate and generate hydraulic energy if the current driving mode is an empty vehicle driving mode, so that the closed variable displacement motor drives the traction engineering vehicle to move by utilizing the hydraulic energy generated by the closed variable displacement pump; The second control module is used to control the open variable motor to use the hydraulic energy in the accumulator to drive the traction engineering vehicle to move if the current driving mode is the traction driving mode, and when the hydraulic energy in the accumulator is lower than a set value, control the engine to drive the open variable pump to rotate and generate hydraulic energy, so that the open variable motor continues to drive the traction engineering vehicle to move using the hydraulic energy generated by the open variable pump.

9. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the control method of the traction engineering vehicle as claimed in any one of claims 1 to 7 when calling the computer program in the memory.

10. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the control method of the traction engineering vehicle according to any one of claims 1 to 7 are implemented.

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