Method, device and medium for regulating acceleration performance of hydrostatic loader

Abstract

The present application discloses a method, device, and medium for controlling the acceleration performance of a hydraulic loader, belonging to the field of vehicle control technology, and solving the problem of discontinuous acceleration of a hydrostatic loader. The method comprises the following steps: when detecting that the hydraulic pump of the hydrostatic loader has increased displacement, comparing the transmission ratio corresponding to the hydrostatic loader with a preset transmission ratio threshold; performing linear interpolation processing on a first required transmission ratio that meets the comparison criteria to obtain a first hydraulic motor displacement; determining the hydraulic pump displacement based on the first hydraulic motor displacement and a preset flow conservation function; determining a second required transmission ratio when the hydrostatic loader is in a continuous acceleration state; and determining a second hydraulic motor displacement based on the second required transmission ratio and the hydraulic pump displacement, thereby controlling the acceleration performance of the hydrostatic loader based on the hydraulic pump displacement and the second hydraulic motor displacement.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a method, device, and medium for regulating acceleration performance of a hydrostatic loader. Background Art

[0002] A typical hydrostatic loader's work cycle involves a series of V-shaped operations, including accelerating forward to shovel, reversing to complete the work, decelerating, and then accelerating again to unload. Throughout this sequence, the loader frequently faces the challenge of accelerating from a stationary position while carrying a load. This requires both smooth acceleration and sufficient traction during the acceleration process.

[0003] During normal acceleration, the pump displacement is typically adjusted first, while the motor displacement is maintained at maximum to quickly respond to acceleration demands. Once the pump displacement has been adjusted to a certain level, the motor displacement is then adjusted to further optimize acceleration performance. However, during this process, the pump displacement adjustment rate slows significantly. To maintain good acceleration characteristics, the motor displacement must also be reduced sharply. This delay in the motor's response when adjusting from full displacement, combined with the sudden slowdown in the pump displacement adjustment rate, can lead to choppy acceleration during the loader's acceleration. Summary of the Invention

[0004] The embodiments of the present application provide a method, device and medium for regulating the acceleration performance of a hydrostatic loader, which are used to solve the following technical problems: during the acceleration process of the loader, there is a certain response delay when the motor starts to adjust from the full displacement state, and the pump displacement adjustment rate suddenly slows down, which makes the loader prone to discontinuity during the acceleration process.

[0005] The embodiments of this application adopt the following technical solutions:

[0006] An embodiment of the present application provides a method for controlling the acceleration performance of a hydrostatic loader. The method comprises: comparing a transmission ratio corresponding to the hydrostatic loader obtained with a preset transmission ratio threshold when detecting an increase in displacement of a hydraulic pump of the hydrostatic loader; performing linear interpolation processing on a first required transmission ratio that meets the comparison criteria to obtain a first hydraulic motor displacement; determining the hydraulic pump displacement based on the first hydraulic motor displacement and a preset flow conservation function; determining a second required transmission ratio when the hydrostatic loader is in a continuous acceleration state; and determining a second hydraulic motor displacement based on the second required transmission ratio and the hydraulic pump displacement, thereby controlling the acceleration performance of the hydrostatic loader based on the hydraulic pump displacement and the second hydraulic motor displacement.

[0007] The embodiment of the present application presets a transmission ratio threshold to ensure that the motor displacement is not too small, thereby maintaining a high traction force. Secondly, the displacement of the first hydraulic motor is obtained through linear interpolation, and the displacement of the hydraulic pump is determined by a preset flow conservation function. After this stage of adjustment, the pump displacement reaches its maximum value, and during this process, the pump displacement adjustment changes in the form of an arc. After this stage of adjustment, the motor has responded for a period of time, thereby improving the response to the acceleration requirements of the entire vehicle. By adjusting the shift line, the loader's acceleration is eliminated, making the acceleration process more stable.

[0008] In one implementation of the present application, the transmission ratio corresponding to the obtained hydrostatic loader is compared with a preset transmission ratio threshold, specifically including: obtaining the preset transmission ratio threshold based on the operating data of the hydrostatic loader; obtaining the corresponding reference transmission ratio in real time when the hydrostatic loader is in an acceleration state; comparing the reference transmission ratio with the preset transmission ratio threshold, so as to start the first hydraulic motor displacement determination stage when the reference transmission ratio is greater than the preset transmission ratio threshold.

[0009] In one implementation of the present application, before comparing the acquired transmission ratio corresponding to the hydrostatic loader with a preset transmission ratio threshold, the method further includes: determining a first acceleration corresponding to the hydrostatic loader based on the first operating condition data, and determining a first engine speed; determining a first transmission ratio change rate corresponding to the hydrostatic loader based on a preset transmission ratio change rate function, the first acceleration and the first engine speed; and integrating the first transmission ratio change rate based on the preset transmission ratio function to obtain a first required transmission ratio.

[0010] In one implementation of the present application, a first required transmission ratio that meets the comparison conditions is linearly interpolated to obtain a first hydraulic motor displacement, specifically including: linearly interpolating the first required transmission ratio and a preset target displacement to obtain the first hydraulic motor displacement.

[0011] In one implementation of the present application, a first required transmission ratio and a preset target displacement are linearly interpolated to obtain a first hydraulic motor displacement, specifically comprising: determining, in a preset target displacement table, two points closest to the first required transmission ratio as target interpolation point data; wherein the preset target displacement table includes a plurality of interpolation point data, each interpolation point data containing a transmission ratio and a corresponding hydraulic motor displacement value; and performing difference processing based on a preset linear interpolation formula and the target interpolation point data to obtain the first hydraulic motor displacement.

[0012] In one implementation of the present application, the hydraulic pump displacement is determined based on the first hydraulic motor displacement and a preset flow conservation function, specifically including: obtaining the engine speed and hydraulic motor speed corresponding to the hydrostatic loader; and obtaining the hydraulic pump displacement based on the preset flow conservation function, the engine speed, and the hydraulic motor speed; wherein the preset flow conservation function is:

[0013] Qp×Ne=Qm×Nm;

[0014] Among them, Qp is the hydraulic pump displacement; Ne is the engine speed; Qm is the hydraulic motor displacement; Nm is the hydraulic motor speed.

[0015] In one implementation of the present application, when the hydrostatic loader is in a continuous acceleration state, a second required transmission ratio is determined, specifically including: determining second operating condition data corresponding to the hydrostatic loader during the continuous acceleration of the hydrostatic loader; wherein the second operating condition data includes a second acceleration and a second engine speed corresponding to the hydrostatic loader; determining a second transmission ratio change rate corresponding to the hydrostatic loader based on a preset transmission ratio change rate function, the second acceleration and the second engine speed; and integrating the second transmission ratio change rate based on the preset transmission ratio function to obtain a second required transmission ratio.

[0016] In one implementation of the present application, determining the second hydraulic motor displacement based on the second required transmission ratio and the hydraulic pump displacement specifically includes: determining the second hydraulic motor displacement based on a preset hydraulic motor displacement calculation function, the second required transmission ratio, and the hydraulic pump displacement; wherein the preset hydraulic motor displacement calculation function is:

[0017] Qm'=Qp / giTot;

[0018] Wherein, Qm' is the displacement of the second hydraulic motor; Qp is the displacement of the hydraulic pump; and giTot is the second required transmission ratio.

[0019] An embodiment of the present application provides an acceleration performance control device for a hydrostatic loader, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so as to enable the at least one processor to: compare the transmission ratio corresponding to the hydrostatic loader obtained with a preset transmission ratio threshold value when detecting that the hydraulic pump of the hydrostatic loader increases its displacement; perform linear interpolation processing on a first required transmission ratio that meets the comparison conditions to obtain a first hydraulic motor displacement; determine the hydraulic pump displacement based on the first hydraulic motor displacement and a preset flow conservation function; determine a second required transmission ratio when the hydrostatic loader is in a continuous acceleration state; determine the second hydraulic motor displacement based on the second required transmission ratio and the hydraulic pump displacement, so as to control the acceleration performance of the hydrostatic loader based on the hydraulic pump displacement and the second hydraulic motor displacement.

[0020] A non-volatile computer storage medium provided in an embodiment of the present application stores computer-executable instructions, wherein the computer-executable instructions are configured to: when detecting that the hydraulic pump of a hydrostatic loader increases its displacement, compare the obtained transmission ratio corresponding to the hydrostatic loader with a preset transmission ratio threshold; perform linear interpolation processing on a first required transmission ratio that meets the comparison conditions to obtain a first hydraulic motor displacement; determine the hydraulic pump displacement based on the first hydraulic motor displacement and a preset flow conservation function; determine a second required transmission ratio when the hydrostatic loader is in a continuous acceleration state; determine the second hydraulic motor displacement based on the second required transmission ratio and the hydraulic pump displacement, so as to regulate the acceleration performance of the hydrostatic loader based on the hydraulic pump displacement and the second hydraulic motor displacement.

[0021] At least one of the above technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects: The embodiments of the present application ensure that the motor displacement is not too small by presetting the transmission ratio threshold, so as to maintain a large traction force. Secondly, the displacement of the first hydraulic motor is obtained by linear interpolation, and the displacement of the hydraulic pump is determined by presetting the flow conservation function. After the adjustment of this stage, the displacement of the pump will reach the maximum value, and the displacement adjustment of the pump changes in the form of an arc during this process. After this stage of adjustment, the motor has responded for a period of time, thereby improving the response to the acceleration requirements of the entire vehicle. By adjusting the shift line, the phenomenon of inconsistent acceleration of the loader is eliminated, making the acceleration process more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments described in the present application. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. In the drawings:

[0023] Figure 1 A flow chart of a method for controlling acceleration performance of a hydrostatic loader provided in an embodiment of the present application;

[0024] Figure 2 A schematic structural diagram of an acceleration performance control device for a hydrostatic loader provided in an embodiment of the present application. DETAILED DESCRIPTION

[0025] Embodiments of the present application provide a method, device, and medium for regulating acceleration performance of a hydrostatic loader.

[0026] In order to enable those skilled in the art to better understand the technical solutions in this application, the following will clearly and completely describe the technical solutions in the embodiments of this application in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0027] High-horsepower hydrostatic loaders require simultaneous adjustment of the hydraulic pump and hydraulic motor during continuous acceleration. In general, to maintain the vehicle's traction at low speeds, the hydraulic motor's large displacement is required. Adjustment of the hydraulic motor begins only after the hydraulic pump has been adjusted to a certain level. However, adjusting the hydraulic motor at this point can cause hysteresis in the valve and motor's response, leading to discontinuous acceleration.

[0028] In order to solve this problem of discontinuous acceleration, the embodiment of the present application controls the pump displacement and the adjustment speed of the motor displacement to maintain the consistency of flow control, eliminates the response delay problem caused by the difference in the degree of intervention of the pump and motor, and solves the problem of discontinuous acceleration caused by motor intervention.

[0029] The technical solutions proposed in the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0030] Figure 1 A flow chart of a method for controlling acceleration performance of a hydrostatic loader provided in an embodiment of the present application is shown as follows: Figure 1 As shown, the method for regulating the acceleration performance of a hydrostatic loader includes the following steps:

[0031] S101 : When it is detected that the hydraulic pump of the hydrostatic loader increases its displacement, the obtained transmission ratio corresponding to the hydrostatic loader is compared with a preset transmission ratio threshold.

[0032] In one embodiment of the present application, a preset transmission ratio threshold is obtained based on operating data of a hydrostatic loader. When the hydrostatic loader is in an accelerating state, a corresponding reference transmission ratio is obtained in real time. The reference transmission ratio is compared with the preset transmission ratio threshold, and if the reference transmission ratio is greater than the preset transmission ratio threshold, a first hydraulic motor displacement determination phase is initiated.

[0033] Specifically, the embodiment of the present application divides low-speed shifting into three stages. In the first stage, the pump begins to increase the displacement. In the second stage, the threshold value of the motor adjustment is set. This threshold value sets the motor displacement not to be too small to maintain a larger traction force.

[0034] Specifically, a hydrostatic loader generates a large amount of data during operation, reflecting its performance and status under various operating conditions. Analysis of this data allows the establishment of one or more preset transmission ratio thresholds, which are subsequently used to determine whether the loader is in a state requiring transmission ratio adjustment. When the hydrostatic loader is accelerating, the control system needs to obtain the current transmission ratio, or reference transmission ratio, in real time. This reference transmission ratio is used to determine the power transmission status of the loader during the current acceleration process.

[0035] Furthermore, the reference transmission ratio acquired in real time is compared with a preset transmission ratio threshold to determine whether the current transmission ratio exceeds the threshold. If the reference transmission ratio is greater than the preset transmission ratio threshold, it indicates that the loader is currently maintaining a high tractive force, and the first hydraulic motor displacement determination phase can be initiated. By comparing the acquired reference transmission ratio with the preset transmission ratio threshold, the embodiment of the present application ensures that the hydraulic motor displacement can meet the current acceleration requirements while maintaining the stability and efficiency of the hydraulic system.

[0036] In one embodiment of the present application, before comparing the acquired transmission ratio corresponding to the hydrostatic loader with a preset transmission ratio threshold, the method further includes: determining a first acceleration corresponding to the hydrostatic loader based on the first operating condition data, and determining a first engine speed. Determining a first transmission ratio change rate corresponding to the hydrostatic loader based on a preset transmission ratio change rate function, the first acceleration, and the first engine speed. Integrating the first transmission ratio change rate based on the preset transmission ratio function to obtain a first required transmission ratio.

[0037] Specifically, the preset transmission ratio change rate function in the embodiment of the present application is:

[0038] dgiTot[1 / s]=Acc[m / s 2] / n[rpm]*(3.6*k);

[0039] The preset transmission ratio function is:

[0040] giTot=∫dgiTot*dt;

[0041] Where, dgiTot[1 / s] is the transmission ratio change rate; Acc[m / s 2 ] is the acceleration; n[rpm] is the engine speed; g[Tot] is the required transmission ratio.

[0042] Furthermore, based on the loader's first operating condition data, a first acceleration and a first engine speed of the loader under that operating condition can be measured. Substituting the first acceleration and the first engine speed into a preset transmission ratio change rate function, the first transmission ratio change rate can be calculated. By integrating the first transmission ratio change rate, the transmission ratio at any moment can be calculated based on the change in the transmission ratio change rate over time.

[0043] S102: Performing linear interpolation processing on the first required transmission ratio that meets the comparison condition to obtain a first hydraulic motor displacement.

[0044] In one embodiment of the present application, a linear interpolation process is performed between the first required transmission ratio and the preset target displacement to obtain the first hydraulic motor displacement.

[0045] Furthermore, two points closest to the first required transmission ratio are determined in a preset target displacement table as target interpolation point data. The preset target displacement table includes multiple interpolation point data, each of which contains a transmission ratio and a corresponding hydraulic motor displacement value. A difference is then processed based on a preset linear interpolation formula and the target interpolation point data to obtain the first hydraulic motor displacement.

[0046] Specifically, the preset target displacement table in this embodiment contains multiple interpolation point data, each of which contains a transmission ratio and a corresponding hydraulic motor displacement value. To perform linear interpolation, it is necessary to first find the two interpolation points that are closest to the required transmission ratio. These two points will serve as the target interpolation point data.

[0047] For example, assuming that in the preset target displacement table, the two closest interpolation points are determined to be points with transmission ratios of 2.0 and 2.5, and their corresponding hydraulic motor displacement values ​​are 0.15m3 / min and 0.2m3 / min, respectively. The linear interpolation formula in the embodiment of the present application is:

[0048] y=y1+(x-x1)*((y2-y1) / (x2-x1));

[0049] Where (x1, y1) and (x2, y2) are the target interpolation points, (x, y) are the unknown data points to be determined, x represents the transmission ratio, and y represents the displacement of the hydraulic motor. Substituting the target interpolation point data and the required transmission ratio into the linear interpolation formula, the displacement of the hydraulic motor can be obtained.

[0050] S103 : Determine the displacement of the hydraulic pump based on the displacement of the first hydraulic motor and a preset flow conservation function.

[0051] In one embodiment of the present application, the engine speed and hydraulic motor speed corresponding to the hydrostatic loader are obtained. Based on the preset flow conservation function, the engine speed and the hydraulic motor speed, the hydraulic pump displacement is obtained. The preset flow conservation function is:

[0052] Qp×Ne=Qm×Nm;

[0053] Among them, Qp is the hydraulic pump displacement; Ne is the engine speed; Qm is the hydraulic motor displacement; Nm is the hydraulic motor speed.

[0054] Specifically, the engine speed is directly read from the loader's engine meter or obtained by connecting an engine speed sensor. The hydraulic motor speed is obtained by using the loader's hydraulic motor speed sensor or other means. The obtained engine speed, hydraulic motor displacement, and hydraulic motor speed are input into the preset flow conservation function to obtain the hydraulic pump displacement.

[0055] This embodiment of the present application utilizes a linear interpolation formula based on a preset target displacement table and the required transmission ratio to obtain a more accurate hydraulic motor displacement value, and uses the flow conservation formula to determine the hydraulic pump displacement. After this stage of adjustment, the hydraulic pump displacement reaches its maximum value. During this process, the hydraulic pump displacement adjustment no longer follows a two-segment, high-rate-of-change broken line, but rather an arc-like curve. After this stage of adjustment, the hydraulic motor has responded for a period of time, allowing it to quickly respond to the vehicle's acceleration requirements during the next shift phase.

[0056] S104: When the hydrostatic loader is in a continuous acceleration state, determine a second required transmission ratio.

[0057] In one embodiment of the present application, during continuous acceleration of a hydrostatic loader, second operating condition data corresponding to the hydrostatic loader is determined; the second operating condition data includes a second acceleration and a second engine speed corresponding to the hydrostatic loader. A second transmission ratio change rate corresponding to the hydrostatic loader is determined based on a preset transmission ratio change rate function, the second acceleration, and the second engine speed. The second transmission ratio change rate is integrated based on the preset transmission ratio function to obtain a second required transmission ratio.

[0058] Specifically, during the continuous acceleration of the hydrostatic loader, the second operating condition data corresponding to the hydraulic loader is determined. The second operating condition data is substituted into the preset transmission ratio change rate function and the preset transmission ratio function in the embodiment of the present application. Based on the second operating condition data of the loader, the second acceleration and second engine speed of the loader under this operating condition can be measured. The second acceleration and second engine speed are substituted into the preset transmission ratio change rate function to calculate the second transmission ratio change rate. The second transmission ratio change rate is integrated, that is, based on the change of the transmission ratio change rate over time, the second required transmission ratio can be calculated.

[0059] S105 : Determine the displacement of the second hydraulic motor based on the second required transmission ratio and the displacement of the hydraulic pump, so as to regulate the acceleration performance of the hydrostatic loader based on the displacement of the hydraulic pump and the displacement of the second hydraulic motor.

[0060] In one embodiment of the present application, the second hydraulic motor displacement is determined based on a preset hydraulic motor displacement calculation function, the second required transmission ratio, and the hydraulic pump displacement; wherein the preset hydraulic motor displacement calculation function is:

[0061] Qm'=Qp / giTot;

[0062] Wherein, Qm' is the displacement of the second hydraulic motor; Qp is the displacement of the hydraulic pump; and giTot is the second required transmission ratio.

[0063] Specifically, the acquired hydraulic pump displacement and the second required transmission ratio are input into the preset hydraulic motor displacement calculation function to obtain the corresponding second hydraulic motor displacement. By properly matching the displacements of the hydraulic pump and the second hydraulic motor, the efficiency and response speed of the transmission system can be optimized, thereby improving the loader's acceleration performance.

[0064] A high-horsepower hydrostatic loader needs to adjust the hydraulic pump and hydraulic motor simultaneously during continuous acceleration. In a normal scenario, in order to maintain the traction of the entire vehicle at low speed, it is necessary to maintain a large displacement of the hydraulic motor in this state. The hydraulic pump is adjusted to a certain degree before the hydraulic motor is adjusted. However, when adjusting the hydraulic motor at this time, there will be a hysteresis in the response of the valve and the motor itself, resulting in discontinuous acceleration. In order to solve the problem of discontinuous acceleration of the hydrostatic loader, the embodiment of the present application presets the transmission ratio threshold to ensure that the motor displacement is not too small to maintain a larger traction force. Secondly, the displacement of the first hydraulic motor is obtained by linear interpolation, and the displacement of the hydraulic pump is determined by the preset flow conservation function. After the adjustment of this stage is completed, the displacement of the pump will reach the maximum value, and the displacement adjustment of the pump in this process changes in the form of an arc. After this stage of adjustment, the motor has responded for a period of time, thereby improving the response to the acceleration requirements of the entire vehicle. By adjusting the shift line, the phenomenon of discontinuous acceleration of the loader is eliminated, making the acceleration process more stable.

[0065] Figure 2 A schematic diagram of the structure of a hydrostatic loader acceleration performance control device provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the acceleration performance control device of a hydrostatic loader includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can: when detecting that the hydraulic pump of the hydrostatic loader increases its displacement, compare the transmission ratio corresponding to the acquired hydrostatic loader with a preset transmission ratio threshold; perform linear interpolation processing on the first required transmission ratio that meets the comparison conditions to obtain the first hydraulic motor displacement; determine the hydraulic pump displacement based on the first hydraulic motor displacement and the preset flow conservation function; determine the second required transmission ratio when the hydrostatic loader is in a continuous acceleration state; determine the second hydraulic motor displacement based on the second required transmission ratio and the hydraulic pump displacement, so as to control the acceleration performance of the hydrostatic loader based on the hydraulic pump displacement and the second hydraulic motor displacement.

[0066] A non-volatile computer storage medium provided in an embodiment of the present application stores computer-executable instructions, wherein the computer-executable instructions are configured to: when detecting that the hydraulic pump of a hydrostatic loader increases its displacement, compare the obtained transmission ratio corresponding to the hydrostatic loader with a preset transmission ratio threshold; perform linear interpolation processing on a first required transmission ratio that meets the comparison conditions to obtain a first hydraulic motor displacement; determine the hydraulic pump displacement based on the first hydraulic motor displacement and a preset flow conservation function; determine a second required transmission ratio when the hydrostatic loader is in a continuous acceleration state; determine the second hydraulic motor displacement based on the second required transmission ratio and the hydraulic pump displacement, so as to regulate the acceleration performance of the hydrostatic loader based on the hydraulic pump displacement and the second hydraulic motor displacement.

[0067] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the embodiments of this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0068] This specification 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 this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of 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 produce 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.

[0069] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0070] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0071] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0072] Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0073] Computer-readable media includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0074] The various embodiments in this application are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the device, apparatus, and non-volatile computer storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0075] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. It will be apparent to those skilled in the art that various modifications and variations may be made to the embodiments of the present application. However, such modifications or substitutions do not deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

1. A method for controlling acceleration performance of a hydrostatic loader, characterized in that: The method comprises: When it is detected that the hydraulic pump of the hydrostatic loader increases its displacement, the obtained transmission ratio corresponding to the hydrostatic loader is compared with a preset transmission ratio threshold; Performing linear interpolation processing on the first required transmission ratio that meets the comparison conditions to obtain the first hydraulic motor displacement; determining a hydraulic pump displacement based on the first hydraulic motor displacement and a preset flow conservation function; determining a second required transmission ratio when the hydrostatic loader is in a continuous acceleration state; determining a second hydraulic motor displacement based on the second required transmission ratio and the hydraulic pump displacement, so as to regulate acceleration performance of the hydrostatic loader based on the hydraulic pump displacement and the second hydraulic motor displacement; The step of comparing the acquired transmission ratio corresponding to the hydrostatic loader with a preset transmission ratio threshold specifically includes: acquiring the preset transmission ratio threshold based on the operating data of the hydrostatic loader; When the hydrostatic loader is in an accelerating state, obtaining a corresponding reference transmission ratio in real time; comparing the reference transmission ratio with the preset transmission ratio threshold to initiate a first hydraulic motor displacement determination phase if the reference transmission ratio is greater than the preset transmission ratio threshold; The determining of the hydraulic pump displacement based on the first hydraulic motor displacement and a preset flow conservation function specifically includes: Obtaining the engine speed and hydraulic motor speed corresponding to the hydrostatic loader; Obtaining the hydraulic pump displacement based on a preset flow conservation function, the engine speed, and the hydraulic motor speed; Wherein, the preset flow conservation function is: Qp×Ne=Qm×Nm; Wherein, Qp is the displacement of the hydraulic pump; Ne is the engine speed; Qm is the displacement of the hydraulic motor; Nm is the speed of the hydraulic motor; The determining the second hydraulic motor displacement based on the second required transmission ratio and the hydraulic pump displacement specifically includes: determining the second hydraulic motor displacement based on a preset hydraulic motor displacement calculation function, the second required transmission ratio, and the hydraulic pump displacement; Wherein, the preset hydraulic motor displacement calculation function is: Qm'=Qp / giTot; Wherein, Qm' is the displacement of the second hydraulic motor; Qp is the displacement of the hydraulic pump; and giTot is the second required transmission ratio.

2. The method for controlling acceleration performance of a hydrostatic loader according to claim 1, wherein: Before comparing the acquired transmission ratio corresponding to the hydrostatic loader with a preset transmission ratio threshold, the method further includes: determining a first acceleration corresponding to the hydrostatic loader based on the first operating condition data, and determining a first engine speed; determining a first transmission ratio change rate corresponding to the hydrostatic loader based on a preset transmission ratio change rate function, the first acceleration, and the first engine speed; The first transmission ratio change rate is integrated based on a preset transmission ratio function to obtain the first required transmission ratio.

3. The method for controlling acceleration performance of a hydrostatic loader according to claim 1, wherein: The linear interpolation processing of the first required transmission ratio meeting the comparison condition to obtain the first hydraulic motor displacement specifically includes: The first required transmission ratio and the preset target displacement are linearly interpolated to obtain the first hydraulic motor displacement.

4. A method for controlling acceleration performance of a hydrostatic loader according to claim 3, characterized in that: The linear interpolation processing of the first required transmission ratio and the preset target displacement to obtain the first hydraulic motor displacement specifically includes: In a preset target displacement table, two points closest to the first required transmission ratio are determined as target interpolation point data; wherein the preset target displacement table includes a plurality of interpolation point data, each of the interpolation point data contains a transmission ratio and a corresponding hydraulic motor displacement value; Based on a preset linear interpolation formula and the target interpolation point data, difference processing is performed to obtain the first hydraulic motor displacement.

5. The method for controlling acceleration performance of a hydrostatic loader according to claim 1, wherein: When the hydrostatic loader is in a continuous acceleration state, determining the second required transmission ratio specifically includes: During the continuous acceleration of the hydrostatic loader, determining second operating condition data corresponding to the hydrostatic loader; wherein the second operating condition data includes a second acceleration and a second engine speed corresponding to the hydrostatic loader; determining a second transmission ratio change rate corresponding to the hydrostatic loader based on a preset transmission ratio change rate function, the second acceleration, and the second engine speed; The second transmission ratio change rate is integrated based on a preset transmission ratio function to obtain the second required transmission ratio.

6. A device for controlling acceleration performance of a hydrostatic loader, characterized in that: The device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the device is triggered to execute the method according to any one of claims 1 to 5.

7. A non-volatile computer storage medium storing computer-executable instructions, characterized in that: The computer executable instructions can execute the method according to any one of claims 1 to 5.

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