Multi-axle cooperative control system of main trailer of a trailer-mounted loading platform

Abstract

The present application relates to the mechanical technical field, specifically, a kind of main trailer of towed transport platform multi-axis collaborative control system.The main trailer of towed transport platform multi-axis collaborative control system is used to regulate and control main trailer, and main trailer includes controller, front car, goods platform and rear car;The power mechanism of front car and rear car at least has full-displacement mode and half-displacement mode;When being in boost gear one mode, all drive wheel groups are kept half-displacement mode output power;When being in boost gear two mode, controller regulates and controls the part of drive wheel groups of front car and keeps half-displacement mode output power, and the rest keeps full-displacement mode output power;When being in boost gear three mode, all drive wheel groups are kept full-displacement mode output power.Thereby, more power combination can be provided according to road conditions to improve the problem of insufficient adhesion of wheel group in prior art.

Description

Technical Field

[0001] This invention relates to the field of mechanical technology, and more specifically, to a multi-axle coordinated control system for a trailer-mounted transport platform. Background Technology

[0002] Currently available trailers and semi-trailers are designed for use on good roads and generally lack the ability to travel on steep slopes (gradients exceeding 25%) or transport heavy equipment in muddy terrain. Furthermore, existing trailers typically suffer from low climbing ability and an inability to adapt to complex terrain, as detailed below:

[0003] (1) When towing heavy equipment through a road with a large slope, the traction of the towing vehicle may be insufficient.

[0004] (2) When the front and rear vehicles are driving themselves to transport heavy equipment through muddy roads, some wheel sets will have insufficient traction. Summary of the Invention

[0005] The present invention includes, for example, providing a multi-axle cooperative control system for a trailer-mounted transport platform that can provide more power combinations according to road conditions to improve the problem of insufficient wheel traction in the prior art.

[0006] The embodiments of the present invention can be implemented as follows:

[0007] In a first aspect, the present invention provides a multi-axle collaborative control system for a trailer-mounted transport platform for controlling the trailer. The trailer includes a controller, a front vehicle, a cargo platform, and a rear vehicle. The front vehicle and the rear vehicle are respectively located at both ends of the cargo platform along its length, and the front vehicle and the rear vehicle are rotatably connected to the cargo platform in a horizontal direction.

[0008] Both the front vehicle and the rear vehicle include multiple drive wheel sets, and each drive wheel set is correspondingly provided with a power mechanism. The power mechanism has at least a full displacement mode and a half displacement mode.

[0009] The controller is electrically connected to the drive wheel set of the front vehicle and the drive wheel set of the rear vehicle respectively; the main trailer includes at least a first-gear boost mode, a second-gear boost mode and a third-gear boost mode;

[0010] When in the boost mode, the controller regulates the drive wheel set of the front vehicle and the drive wheel set of the rear vehicle to maintain half-displacement mode power output.

[0011] When in the boost second gear mode, the controller adjusts the drive wheel set of the front vehicle and a part of the drive wheel set of the rear vehicle to maintain half displacement mode to output power, while the remaining part of the drive wheel set maintains full displacement mode to output power.

[0012] When in the boost mode, the controller regulates the drive wheel sets of the front vehicle and the drive wheel sets of the rear vehicle to maintain full displacement mode power output.

[0013] In an optional implementation, when climbing a slope of less than 15%, the third-gear boost mode is selected, and the speed of the main trailer is controlled to be maintained at 2.5km / h to 4km / h.

[0014] When climbing slopes with a gradient of 15%-30%, select the second-gear boost mode, and control the speed of the main trailer to maintain between 1.3km / h and 2.5km / h.

[0015] When climbing slopes with a gradient of 30%-50%, select the first-gear boost mode, and control the speed of the main trailer to maintain between 0.8km / h and 1.3km / h.

[0016] In an optional embodiment, both the front vehicle and the rear vehicle include a frame, a slewing mechanism, a suspension, a single-axle steering mechanism, a power mechanism, and a drive wheel set;

[0017] The power mechanism is connected to the drive wheel assembly, the drive wheel assembly is rotatably mounted on the frame via a single-axis steering mechanism, and the suspension is located between the drive wheel assembly and the frame; the frame is rotatably connected to the cargo platform via the slewing mechanism.

[0018] In an optional implementation, the single-axle steering mechanism is electrically connected to the controller via a single-axle steering proportional valve;

[0019] The power mechanism is electrically connected to the controller via a drive proportional valve;

[0020] The suspension is electrically connected to the controller via a lifting ratio solenoid valve;

[0021] The rotary mechanism is electrically connected to the controller via forward and reverse solenoid valves.

[0022] In an optional embodiment, the main trailer further includes an angle sensor assembly electrically connected to the controller; the angle sensor assembly includes an axle steering angle sensor, a platform and main trailer tilt angle sensor, and a tractor and main trailer tilt angle sensor.

[0023] The shaft steering angle sensor is configured to monitor the steering angle of the single-axis steering mechanism;

[0024] The tilt angle sensor between the cargo platform and the main trailer is configured to monitor the tilt angle of the slewing mechanism;

[0025] The tractor unit and trailer tilt angle sensor is configured to monitor the tilt angle between the tractor unit and the trailer.

[0026] In an optional implementation, the main trailer further includes a height sensor assembly electrically connected to the controller;

[0027] The height sensor assembly includes a left front suspension height sensor, a right front suspension height sensor, a left rear suspension height sensor, and a right rear suspension height sensor arranged around the periphery of the vehicle frame.

[0028] In an optional embodiment, the main trailer further includes a pressure sensor assembly electrically connected to the controller;

[0029] The pressure sensor assembly includes a suspension pressure sensor, a drive pressure sensor, a steering pressure sensor, a parking pressure sensor, and a driving pressure sensor.

[0030] The suspension pressure sensors include a left front suspension pressure sensor, a right front suspension pressure sensor, a left rear suspension pressure sensor, and a right rear suspension pressure sensor arranged around the periphery of the vehicle frame.

[0031] In an optional embodiment, the power mechanism includes a drive motor and a variable displacement pump connected to each other, the variable displacement pump being able to adjust the speed of the drive motor; the variable displacement pump has at least the full displacement mode and the half displacement mode;

[0032] The controller is configured to adjust the working displacement of the variable pump according to the pressure of the drive motor.

[0033] In an optional implementation, the main trailer has a parallel operation mode to enable the front vehicle and the rear vehicle to work together.

[0034] In the parallel operation mode, the leading vehicle is first set as the master vehicle and the trailing vehicle as the slave vehicle; the controller of the leading vehicle is set as the master controller of the whole vehicle, and the running speed control of the master trailer is based on the leading vehicle.

[0035] The main controller sends commands to the controllers of the front vehicle and the rear vehicle, and the two controllers output completely identical commands to ensure that the drive wheel sets of the front vehicle and the rear vehicle work synchronously, thereby making the driving coordination and controllability possible.

[0036] In an optional implementation, the main trailer further includes a remote controller connected to the main controller; the remote controller is configured to adjust the motion mode of the main trailer.

[0037] The beneficial effects of the embodiments of the present invention include, for example:

[0038] This solution features a multi-axle coordinated control system for the main trailer of a trailer-mounted transport platform. The main trailer has two independently arranged front and rear sections on both sides of the cargo platform. Each front and rear section includes multiple drive wheel sets, each capable of independent driving. The controller selects an assist gear on the tractor's control box based on the gradient. The drive wheel sets of the front and rear sections switch to half-displacement and full-displacement states accordingly, and the controller monitors the working pressure of the drive wheel set's power mechanism, implementing pressure-following control on the power mechanism's displacement. This achieves speed matching between each drive wheel set and the road environment, adjusting the speed of the front and rear drive wheel sets, and changing the displacement of the drive wheel sets to adapt to the speeds of the vehicles, thus balancing the drive wheel set's traction and operating speed. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the main trailer in an embodiment of the present invention;

[0041] Figure 2 This is a schematic diagram of the structure of the front vehicle according to an embodiment of the present invention;

[0042] Figure 3 This is a flowchart illustrating the multi-axle collaborative control system of the main trailer and trailer of the towing and transporting platform according to an embodiment of the present invention.

[0043] Figure 4 This is a schematic diagram of the composition of the angle sensor assembly of the trailer transport platform according to an embodiment of the present invention;

[0044] Figure 5 This is a schematic diagram of the composition of the height sensor assembly of the trailer transport platform according to an embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the composition of the pressure sensor assembly of the trailer transport platform according to an embodiment of the present invention.

[0046] Icons: 11-Main trailer; 12-Front vehicle; 13-Cargo platform; 14-Rear vehicle; 15-Connecting platform; 110-Chassis; 120-Slewing mechanism; 130-Single axle steering mechanism; 140-Power mechanism; 150-Drive wheel set; 210-Main controller; 220-Remote controller; 310-Single axle steering proportional valve; 320-Drive proportional valve; 330-Lifting proportional solenoid valve; 340-Forward and reverse solenoid valve; 410-Axle steering angle sensor; 420-Cargo platform and main trailer tilt angle sensor; 430-Tractor head and main trailer tilt angle sensor; 5 00-Height sensor assembly; 510-Left front suspension height sensor; 520-Right front suspension height sensor; 530-Left rear suspension height sensor; 540-Right rear suspension height sensor; 600-Pressure sensor assembly; 610-Suspension pressure sensor; 611-Left front suspension pressure sensor; 612-Right front suspension pressure sensor; 613-Left rear suspension pressure sensor; 614-Right rear suspension pressure sensor; 620-Drive pressure sensor; 630-Steering pressure sensor; 640-Parking pressure sensor; 650-Driving pressure sensor. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0048] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0049] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0050] In the description of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed, they are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0051] Furthermore, the terms "first" and "second" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0052] It should be noted that, where there is no conflict, the features in the embodiments of the present invention can be combined with each other.

[0053] Please refer to Figure 1 This embodiment provides a multi-axle collaborative control system for the main trailer 11 of a towing and transporting platform, used to control the main trailer 11. The main trailer 11 includes a controller, a front vehicle 12, a cargo platform 13, and a rear vehicle 14. The front vehicle 12 and the rear vehicle 14 are respectively located at both ends of the cargo platform 13 in the length direction, and the front vehicle 12 and the rear vehicle 14 are respectively rotatably connected to the cargo platform 13 in a horizontal direction.

[0054] Both the front vehicle 12 and the rear vehicle 14 include multiple drive wheel sets 150, and each drive wheel set 150 is correspondingly provided with a power mechanism 140. The power mechanism 140 has at least a full displacement mode and a half displacement mode.

[0055] The controller is electrically connected to the drive wheel set 150 of the front vehicle 12 and the drive wheel set 150 of the rear vehicle 14 respectively; the main trailer 11 includes at least the first-gear boost mode, the second-gear boost mode and the third-gear boost mode.

[0056] When in boost mode, the controller controls the drive wheel set 150 of the front vehicle 12 and the drive wheel set 150 of the rear vehicle 14 to maintain half-displacement mode power output.

[0057] When in boost mode 2, the controller controls a portion of the drive wheel set 150 of the front vehicle 12 and the drive wheel set 150 of the rear vehicle 14 to maintain half-displacement mode output power, while the remaining drive wheel set 150 maintains full-displacement mode output power.

[0058] When in boost mode 3, the controller controls the drive wheel set 150 of the front vehicle 12 and the drive wheel set 150 of the rear vehicle 14 to maintain full displacement mode power output.

[0059] When the front and rear vehicles 14 are transporting heavy equipment on muddy roads, and some wheel sets lack traction, this control system activates the power mechanisms 140 of both vehicles 14 to drive them in tandem. The main trailer 11 can be used for towing, can be used as a standalone vehicle, or can be used in conjunction with other vehicles. When operating in conjunction, it is mechanically connected to the front and rear vehicles 14 via a cargo platform, and each vehicle (front 12 and rear 14) is equipped with a power mechanism 140 that drives its corresponding drive wheel set 150.

[0060] from Figure 1 and Figure 2As can be seen, a connecting platform 15 is provided at the front of the front vehicle 12, and the front vehicle 12 can be horizontally rotated and connected to the tractor through the connecting platform 15. Figure 1 The multiple drive wheel sets 150 of the front vehicle 12 shown in the figure remain tilted and rotating, while the multiple drive wheel sets 150 of the rear vehicle 14 remain stationary.

[0061] Please see Figure 3 As can be seen from the figure, in the optional implementation, when climbing a slope of less than 15%, the third-gear boost mode is selected, and the speed of the main trailer 11 is controlled to be maintained at 2.5km / h to 4km / h.

[0062] When climbing slopes with a gradient of 15%-30%, select the second-gear boost mode, and control the speed of the main trailer 11 to maintain 1.3km / h-2.5km / h.

[0063] When climbing slopes with a gradient of 30%-50%, select the first-gear boost mode, which controls the speed of the main trailer 11 to maintain between 0.8 km / h and 1.3 km / h. This arrangement better adapts to different slopes and ensures that the main trailer 11 has a preset transport speed.

[0064] In an optional embodiment, both the front vehicle 12 and the rear vehicle 14 include a frame 110, a slewing mechanism 120, a suspension, a single-axle steering mechanism 130, a power mechanism 140, and a drive wheel set 150. The power mechanism 140 is connected to the drive wheel set 150 via a transmission. The drive wheel set 150 is rotatably mounted on the frame 110 via the single-axle steering mechanism 130. The suspension is located between the drive wheel set 150 and the frame 110. The frame 110 is rotatably connected to the cargo platform 13 via the slewing mechanism 120.

[0065] It should be noted that, in this embodiment, the drive wheel sets 150 of the front vehicle 12 and the drive wheel sets 150 of the rear vehicle 14 are both independent steering wheel sets with three axles, and each drive wheel set 150 is configured to achieve driving, steering, and lifting actions. Specifically, the frame 110 includes three sets of drive assemblies arranged along the length of the frame 110, each drive assembly including two drive wheel sets 150 located in the same straight line direction; and the two drive wheel sets 150 of each drive assembly are symmetrically arranged on both sides of the width of the frame 110. Specifically, the three drive assemblies of the front vehicle 12 / rear vehicle 14 are named the 1st axle drive assembly, the 2nd axle drive assembly, and the 3rd axle drive assembly, respectively.

[0066] Furthermore, in an optional embodiment, the single-axle steering mechanism 130 is electrically connected to the controller via a single-axle steering proportion valve 310; the power mechanism 140 is electrically connected to the controller via a drive proportion valve 320; the suspension is electrically connected to the controller via a lift proportion solenoid valve 330; and the slewing mechanism 120 is electrically connected to the controller via a forward and reverse solenoid valve 340.

[0067] Optionally, the drive proportional valve 320 includes a 1-axis drive proportional valve 320, a 2-axis drive proportional valve 320, and a 3-axis drive proportional valve 320 respectively connected to the 1-axis drive assembly, the 2-axis drive assembly, and the 3-axis drive assembly. The above three drive proportional valves 320 can be collectively referred to as 1-axis / 2-axis / 3-axis drive proportional valves 320.

[0068] Optionally, the steering proportional valve includes a 1-axis steering proportional valve, a 2-axis steering proportional valve, and a 3-axis steering proportional valve that are respectively connected to the 1-axis steering assembly, the 2-axis steering assembly, and the 3-axis steering assembly. The above three steering proportional valves can be collectively referred to as the 1-axis / 2-axis / 3-axis steering proportional valve.

[0069] The height adjustment solenoid valve 330 includes a left front suspension height adjustment solenoid valve 330, a right front suspension height adjustment solenoid valve 330, a left rear suspension height adjustment solenoid valve 330, and a right rear suspension height adjustment solenoid valve 330 arranged around the perimeter of the vehicle frame 110. The left front suspension height adjustment solenoid valve 330, right front suspension height adjustment solenoid valve 330, left rear suspension height adjustment solenoid valve 330, and right rear suspension height adjustment solenoid valve 330 can be collectively referred to as the left front / right front / left rear / right rear suspension height adjustment solenoid valve 330.

[0070] The main trailer 11 also includes loading cylinder solenoid valves for sliding and swinging.

[0071] like Figure 4 As shown, in an optional embodiment, the main trailer 11 further includes an angle sensor assembly electrically connected to the controller; the angle sensor assembly includes an axle steering angle sensor 410, a platform-to-trailer tilt angle sensor 420, and a tractor-to-trailer tilt angle sensor 430; the axle steering angle sensor 410 is configured to monitor the steering angle of the single-axle steering mechanism 130; the platform-to-trailer tilt angle sensor 420 is configured to monitor the tilt angle of the slewing mechanism 120; and the tractor-to-trailer tilt angle sensor 430 is configured to monitor the tilt angle between the tractor-to-trailer and the main trailer 11. The angle sensor assembly enables the controller to monitor and adjust the operating angle of the main trailer 11 in a timely manner.

[0072] The axis steering angle sensor 410 includes a 1-axis steering angle sensor 410 connected to a 1-axis drive assembly, a 2-axis steering angle sensor 410 connected to a 2-axis drive assembly, and a 3-axis steering angle sensor 410 connected to a 3-axis drive assembly.

[0073] like Figure 5As shown, in an optional embodiment, the main trailer 11 further includes a height sensor assembly 500 electrically connected to the controller; the height sensor assembly 500 includes a left front suspension height sensor 510, a right front suspension height sensor 520, a left rear suspension height sensor 530, and a right rear suspension height sensor 540 arranged around the perimeter of the frame 110. The height sensor assembly 500 enables the controller to monitor and adjust the operating height of the main trailer 11 in a timely manner.

[0074] like Figure 6 As shown, in an optional embodiment, the main trailer 11 further includes a pressure sensor assembly 600 electrically connected to the controller; the pressure sensor assembly 600 includes a suspension pressure sensor 610, a drive pressure sensor 620, a steering pressure sensor 630, a parking pressure sensor 640, and a driving pressure sensor 650; the suspension pressure sensor 610 includes a left front suspension pressure sensor 611, a right front suspension pressure sensor 612, a left rear suspension pressure sensor 613, and a right rear suspension pressure sensor 614 arranged around the perimeter of the frame 110. The pressure sensor assembly 600 enables the controller to monitor and adjust the operating pressure of the main trailer 11 in a timely manner, thereby ensuring the smooth operation of the main trailer 11, and also enables pressure-following control of the variable pump displacement.

[0075] In an optional embodiment, the power unit 140 includes a drive motor and a variable pump connected to each other, the variable pump being able to adjust the speed of the drive motor; the variable pump has at least a full displacement mode and a half displacement mode; the controller is configured to adjust the working displacement of the variable pump according to the pressure of the drive motor.

[0076] In an optional implementation, the main trailer 11 also includes a remote controller 220 connected to the main controller 210; the remote controller 220 is configured to adjust the motion mode of the main trailer 11.

[0077] In an optional implementation, the main trailer 11 has a parallel operation mode to enable the front trailer 12 and the rear trailer 14 to work together. In the parallel operation mode, the front trailer 12 is first set as the main trailer and the rear trailer 14 as the slave trailer. The controller of the front trailer 12 is set as the main controller 210 of the whole vehicle, and the running speed control of the main trailer 11 is mainly controlled by the front trailer 12. The main controller 210 sends instructions to the controllers of the front trailer 12 and the rear trailer 14. The two controllers output completely consistent instructions to ensure the synchronous operation of the drive wheel sets 150 of the front trailer 12 and the rear trailer 14, so that the driving drive is coordinated and controllable.

[0078] Specifically, during parallel operation, the front vehicle 12 is first designated as the master vehicle and the rear vehicle 14 as the slave vehicle. This parallel operation is accomplished via a switch on the power unit. The master controller 210 of the front vehicle 12 is then designated as the master controller 210 for the entire vehicle, with the front vehicle 12 controlling the running speed. Based on the instructions from the remote controller 220, the master controller 210 calculates and sends commands to the controllers of the front vehicle 12 and the rear platform. Both controllers output identical steering, drive, and braking commands to the respective actuators, executing the corresponding functions. By real-time monitoring of the wheel speeds and drive motor pressures, the synchronous operation of the drive motors of the front and rear vehicles 14 is ensured, resulting in similar driving forces and coordinated, controllable driving.

[0079] In summary, the embodiments of the present invention provide a multi-axle collaborative control system for the main trailer 11 of a towing and transporting platform, which has the following advantages:

[0080] (1) When towing heavy equipment through a road with a large slope, start the power stations of the front and rear vehicles 14 and implement pressure follow control of the displacement of the variable pump;

[0081] (2) When the front and rear vehicles 14 are driving the heavy equipment through muddy roads, start the power stations of the front and rear vehicles 14, and achieve coordinated driving by master-slave control of the front and rear vehicles 14 and real-time monitoring of the speed of each wheel set and the pressure of the drive motor.

[0082] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-axle cooperative control system of a tractor of a trailer-mounted platform for regulating the tractor, characterized in that: the tractor comprises a controller, a front vehicle, a cargo platform and a rear vehicle; the front vehicle and the rear vehicle are respectively arranged at two ends of the cargo platform in the length direction of the cargo platform, and the front vehicle and the rear vehicle are respectively horizontally rotatably connected with the cargo platform; the front vehicle and the rear vehicle each comprise a plurality of drive wheel sets, and each drive wheel set is correspondingly provided with a power mechanism; the controller is electrically connected with the drive wheel sets of the front vehicle and the rear vehicle respectively; the tractor comprises at least a boost gear one mode, a boost gear two mode and a boost gear three mode; when in the boost gear one mode, the controller regulates the drive wheel sets of the front vehicle and the rear vehicle to keep half-displacement mode output power; when in the boost gear two mode, the controller regulates a part of the drive wheel sets of the front vehicle and the rear vehicle to keep half-displacement mode output power, and the remaining drive wheel sets keep full-displacement mode output power; when in the boost gear three mode, the controller regulates the drive wheel sets of the front vehicle and the rear vehicle to keep full-displacement mode output power; when climbing a slope below 15%, the boost gear three mode is selected, and the speed of the tractor is controlled to keep 2.5-4 km / h; when climbing a slope of 15%-30%, the boost gear two mode is selected, and the speed of the tractor is controlled to keep 1.3-2.5 km / h; when climbing a slope of 30%-50%, the boost gear one mode is selected, and the speed of the tractor is controlled to keep 0.8-1.3 km / h; the front vehicle and the rear vehicle each comprise a frame, a rotating mechanism, a suspension and a single-axle steering mechanism; the power mechanism is drivingly connected with the drive wheel set, the drive wheel set is rotatably arranged on the frame through the single-axle steering mechanism, the suspension is arranged between the drive wheel set and the frame, and the frame is rotatably connected with the cargo platform through the rotating mechanism; the power mechanism comprises a driving motor and a variable pump connected with each other, the variable pump can adjust the rotating speed of the driving motor, and the variable pump has at least the full-displacement mode and the half-displacement mode, so that the power mechanism has the full-displacement mode and the half-displacement mode; the controller is configured to adjust the working displacement of the variable pump according to the pressure of the driving motor. 2.The multi-axle cooperative control system of the tractor of the trailer-mounted platform according to claim 1, characterized in that: the single-axle steering mechanism is electrically connected with the controller through a single-axle steering proportional valve; the power mechanism is electrically connected with the controller through a driving proportional valve; the suspension is electrically connected with the controller through a lifting proportional electromagnetic valve; and the rotating mechanism is electrically connected with the controller through a forward-reverse electromagnetic valve. 3.The multi-axle cooperative control system of the tractor of the trailer-mounted platform according to claim 1, characterized in that: ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The main trailer further comprises an angle sensor assembly electrically connected with the controller; the angle sensor assembly comprises an axle steering angle sensor, a cargo bed and main trailer tilt angle sensor, and a tractor head and main trailer tilt angle sensor; The axle steering angle sensor is configured to monitor the steering angle of the single axle steering mechanism; The cargo bed and main trailer tilt angle sensor is configured to monitor the tilt angle of the swing mechanism; The tractor head and main trailer tilt angle sensor is configured to monitor the tilt angle between the tractor head and the main trailer.

4. The multi-axle cooperative control system of the main trailer of the trailer platform according to claim 1, characterized in that: The main trailer further comprises a height sensor assembly electrically connected with the controller; The height sensor assembly comprises a left front suspension height sensor, a right front suspension height sensor, a left rear suspension height sensor and a right rear suspension height sensor arranged on the side of the frame.

5. The multi-axle cooperative control system of the main trailer of the trailer platform according to claim 1, characterized in that: The main trailer further comprises a pressure sensor assembly electrically connected with the controller; The pressure sensor assembly comprises a suspension pressure sensor, a drive pressure sensor, a steering pressure sensor, a parking pressure sensor and a running pressure sensor; The suspension pressure sensor comprises a left front suspension pressure sensor, a right front suspension pressure sensor, a left rear suspension pressure sensor and a right rear suspension pressure sensor arranged on the side of the frame.

6. The multi-axle cooperative control system of the main trailer of the trailer platform according to claim 1, characterized in that: The main trailer has a parallel working mode to make the front vehicle and the rear vehicle work cooperatively; In the parallel working mode, the front vehicle is first set as the master vehicle and the rear vehicle is set as the slave vehicle; The controller of the front vehicle is set as the master controller of the whole vehicle, and the running speed control of the main trailer is based on the front vehicle; The master controller sends instructions to the controllers of the front vehicle and the rear vehicle, and the two controllers output completely consistent instructions to ensure the synchronous work of the drive wheel groups of the front vehicle and the rear vehicle, so as to realize the controllable driving coordination.

7. The multi-axle cooperative control system of the main trailer of the trailer platform according to claim 6, characterized in that: The main trailer further comprises a remote controller connected with the master controller; the remote controller is configured to be able to adjust the motion mode of the main trailer.

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