System and method for synchronously controlling running of bridge transporting vehicle

Abstract

The invention discloses a synchronous control system and method for running of a bridge transporting vehicle, and relates to the technical field of synchronous control of the bridge transporting vehicle, the synchronous control system comprises a hydraulic motor control valve, a hydraulic motor and a controller which are arranged on each module vehicle group, and the hydraulic motor is provided with a speed sensor and a pressure sensor; the controller is connected with the hydraulic motor control valve, the speed sensor and the pressure sensor, and is configured to determine the target walking speed of the hydraulic motor according to the actual driving pressure and the preset driving pressure of the hydraulic motor; and the opening degree of the hydraulic motor control valve is controlled according to the target walking speed and the actual walking speed of the hydraulic motor, so that the actual walking speed of the hydraulic motor reaches the target walking speed. According to the walking synchronization control system of the bridge transporting vehicle, the four module vehicle sets are all controlled in a pressure and speed parallel closed-loop mode, walking synchronization of the four module vehicle sets (the bridge transporting vehicle) is achieved, and the control precision and efficiency are effectively improved.

Description

Technical Field

[0001] The present invention relates to the technical field of bridge transport vehicle synchronization control, and in particular to a bridge transport vehicle running synchronization control system and method. Background Art

[0002] With the development of infrastructure construction, especially the increase in large bridges, highways, railways and other projects, the demand for large-scale engineering machinery and equipment is growing. Among them, bridge transporters, as a special heavy equipment used for cross-sea highway bridge construction, play a vital role. The 1800t bridge transporter is used for the transportation and erection of 50m-1800t prefabricated box beams. It can easily and quickly transport the box beams from the prefabrication site to the beam erection station to complete the corresponding beam erection operations. The 1800t bridge transporter adopts a grouped modular design, and the whole vehicle adopts a rectangular distribution structure of four module vehicles. During heavy-load transportation, bridge transporters are required to be able to travel smoothly and safely, especially under complex road conditions (with longitudinal or transverse slopes). The running synchronization performance of each module vehicle group directly affects the construction quality and safety of the bridge.

[0003] Since each modular vehicle set is a completely independent hydraulically driven running mechanism, it is necessary to ensure that the running speeds of each modular vehicle set are always synchronized under various road conditions. The traditional method is for the staff in the modular vehicle set to manually operate the running handles to perform synchronous running control, and the staff observes the running speed and driving pressure with their eyes. This method has technical problems such as low control accuracy and low efficiency. Summary of the invention

[0004] The embodiment of the present invention provides a bridge transport vehicle running synchronization control system and method to solve the technical problem in the related art that the existing bridge transport vehicle relies on the staff in the module vehicle group to manually operate the running handle to perform running synchronization control, and the control accuracy is not high and the efficiency is low.

[0005] In a first aspect, a bridge transport vehicle travel synchronization control system is provided, comprising:

[0006] A hydraulic motor control valve, a hydraulic motor and a controller are provided on each module train set, wherein the hydraulic motor is provided with a speed sensor and a pressure sensor;

[0007] The controller is connected to the hydraulic motor control valve, the speed sensor and the pressure sensor, and is configured as follows:

[0008] Determine the target travel speed of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure;

[0009] The opening of the hydraulic motor control valve is controlled according to the target running speed and the actual running speed of the hydraulic motor, so that the actual running speed of the hydraulic motor reaches the target running speed.

[0010] In some embodiments, determining the target travel speed of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure includes:

[0011] Determine the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure;

[0012] The target travel speed of the hydraulic motor is determined according to the preset travel speed of the hydraulic motor and the travel speed adjustment value.

[0013] In some embodiments, determining the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure includes:

[0014] Determine the actual pressure difference according to the actual driving pressure of the hydraulic motor and the preset driving pressure;

[0015] Determine whether the actual pressure difference is less than a preset difference threshold;

[0016] If so, determine that the travel speed adjustment value of the hydraulic motor is zero; if not, calculate the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and a preset PID control algorithm.

[0017] In some embodiments, determining the target running speed of the hydraulic motor according to the preset running speed and the running speed adjustment value of the hydraulic motor includes:

[0018] The target travel speed of the hydraulic motor is obtained by summing the preset travel speed of the hydraulic motor and the travel speed adjustment value.

[0019] In some embodiments, the bridge transport vehicle travel synchronization control system further includes:

[0020] A transverse slope inclination sensor, which is disposed at the middle of the bottom end of the load-bearing beam of the bridge transport vehicle and is connected to the controller;

[0021] Each of the modular vehicles further comprises a plurality of balancing cylinders and balancing cylinder control valves corresponding to the plurality of balancing cylinders, wherein the plurality of balancing cylinders are arranged on one side of the load-bearing beam of the bridge transport vehicle, and the plurality of balancing cylinder control valves are connected to the controller;

[0022] When the bridge transport vehicle is on a transverse slope, the controller is used to control the opening of the plurality of balancing cylinder control valves, drive the plurality of balancing cylinders to operate, and make the inclination value fed back by the transverse slope inclination sensor within a preset range.

[0023] In some embodiments, the controller is a programmable logic controller (PLC), and the hydraulic motor control valve is a PWM proportional control valve.

[0024] In a second aspect, a method for synchronously controlling the movement of a bridge transport vehicle is provided, comprising the following steps:

[0025] Determine the target travel speed of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure;

[0026] The opening of the hydraulic motor control valve is controlled according to the target running speed and the actual running speed of the hydraulic motor, so that the actual running speed of the hydraulic motor reaches the target running speed.

[0027] In some embodiments, the step of determining the target travel speed of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure includes:

[0028] Determine the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure;

[0029] The target travel speed of the hydraulic motor is determined according to the preset travel speed of the hydraulic motor and the travel speed adjustment value.

[0030] In some embodiments, the step of determining the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure includes:

[0031] Determine the actual pressure difference according to the actual driving pressure of the hydraulic motor and the preset driving pressure;

[0032] Determine whether the actual pressure difference is less than a preset difference threshold;

[0033] If so, determine that the travel speed adjustment value of the hydraulic motor is zero; if not, calculate the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and a preset PID control algorithm.

[0034] In some embodiments, the step of determining the target running speed of the hydraulic motor according to the preset running speed of the hydraulic motor and the running speed adjustment value includes:

[0035] The target travel speed of the hydraulic motor is obtained by summing the preset travel speed of the hydraulic motor and the travel speed adjustment value.

[0036] The beneficial effects brought about by the technical solution provided by the present invention include:

[0037] The embodiment of the present invention provides a bridge transport vehicle running synchronous control system and method, wherein the bridge transport vehicle running synchronous control system is provided with a hydraulic motor control valve, a hydraulic motor and a controller provided on each modular vehicle set, and the hydraulic motor is provided with a speed sensor and a pressure sensor; the controller is connected to the hydraulic motor control valve, the speed sensor and the pressure sensor, and is configured to: determine the target running speed of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure. The opening of the hydraulic motor control valve is controlled according to the target running speed and the actual running speed of the hydraulic motor, so that the actual running speed of the hydraulic motor reaches the target running speed. In the bridge transport vehicle running synchronous control system of the embodiment of the present invention, the four modular vehicle sets all adopt pressure and speed parallel closed-loop control to achieve the running synchronization of the four modular vehicle sets (bridge transport vehicles), and the control accuracy and efficiency are effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0039] Figure 1 A schematic diagram of a four-module vehicle set of a bridge transport vehicle provided in an embodiment of the present invention;

[0040] Figure 2 A principle block diagram of a bridge transport vehicle travel synchronization control system provided by an embodiment of the present invention;

[0041] Figure 3 A cross-sectional schematic diagram of a bridge transport vehicle provided by an embodiment of the present invention;

[0042] Figure 4 Another principle block diagram of a bridge transport vehicle travel synchronization control system provided by an embodiment of the present invention;

[0043] Reference numerals:

[0044] 1. Modular vehicle group; 11. Hydraulic motor control valve; 12. Hydraulic motor; 13. Controller; 14. Speed ​​sensor; 15. Pressure sensor; 16. Balance cylinder; 17. Balance cylinder control valve;

[0045] 2. Slope angle sensor;

[0046] 3. Load-bearing beam. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] The embodiment of the present invention provides a bridge transport vehicle running synchronous control system, which can solve the technical problems that the existing bridge transport vehicle relies on the staff in the module vehicle group to manually operate the running handle to perform running synchronous control, and the control accuracy is not high and the efficiency is low.

[0049] See also Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a bridge transport vehicle travel synchronization control system, including: a hydraulic motor control valve 11, a hydraulic motor 12 and a controller 13 arranged on each module vehicle group 1, and the hydraulic motor 12 is provided with a speed sensor 14 and a pressure sensor 15.

[0050] The controller 13 is connected to the hydraulic motor control valve 11, the speed sensor 14 and the pressure sensor 15, and is configured as follows:

[0051] Determine the target travel speed of the hydraulic motor 12 according to the actual drive pressure of the hydraulic motor 12 and the preset drive pressure;

[0052] The opening of the hydraulic motor control valve 11 is controlled according to the target running speed and the actual running speed of the hydraulic motor 12 so that the actual running speed of the hydraulic motor 12 reaches the target running speed.

[0053] Specifically, see Figure 1As shown, the bridge transport vehicle includes a rectangular distribution structure formed by four module vehicle sets 1. Module vehicle sets 1 of No. ① and No. ④ are connected by the front load-bearing crossbeam, and No. ② and No. ③ are connected by the rear load-bearing crossbeam. The front load-bearing crossbeam and the rear load-bearing crossbeam are the main components for bearing and transmitting loads. The front and rear load-bearing crossbeams are connected to the left and right independent module vehicle sets at one end by a fixed ball joint, and the other end by a slider plus a ball joint, which can be rotated and dynamically adjusted in the horizontal direction. The pressure sensor 15 of each module vehicle set 1 can feed back the actual driving pressure of the hydraulic motor 12 to the controller 13 in real time, and the speed sensor 14 can feed back the actual speed of the hydraulic motor 12 to the controller 13 in real time. The actual running speed of the hydraulic motor 12 can be obtained by conversion. Each modular vehicle group 1 is provided with a hydraulic pump station, which forms a hydraulic control circuit with the hydraulic motor control valve 11 and the hydraulic motor 12. The controller 13 determines the target running speed of the hydraulic motor 12 based on the actual driving pressure of the hydraulic motor 12 fed back by the pressure sensor 15 and the preset driving pressure stored inside the controller 13. The controller 13 then controls the opening of the hydraulic motor control valve 11 based on the target running speed of the hydraulic motor 12 and the feedback from the speed sensor 14 and converts the actual running speed of the hydraulic motor 12, so that the actual running speed of the hydraulic motor 12 reaches the target running speed.

[0054] In the bridge transport vehicle running synchronization control system of the embodiment of the present invention, the four module vehicle groups all adopt pressure and speed parallel closed-loop control to achieve the running synchronization of the four module vehicle groups (bridge transport vehicles), and the control accuracy and efficiency are effectively improved.

[0055] As an optional implementation, in an embodiment of the invention, determining the target travel speed of the hydraulic motor 12 according to the actual driving pressure of the hydraulic motor 12 and the preset driving pressure includes:

[0056] The travel speed adjustment value of the hydraulic motor 12 is determined according to the actual driving pressure of the hydraulic motor 12 and the preset driving pressure.

[0057] The target traveling speed of the hydraulic motor 12 is determined according to the preset traveling speed of the hydraulic motor 12 and the traveling speed adjustment value.

[0058] Specifically, determining the travel speed adjustment value of the hydraulic motor 12 according to the actual driving pressure of the hydraulic motor 12 and the preset driving pressure includes:

[0059] Determine the actual pressure difference according to the actual driving pressure of the hydraulic motor 12 and the preset driving pressure;

[0060] Determine whether the actual pressure difference is less than a preset difference threshold;

[0061] If so, determine that the travel speed adjustment value of the hydraulic motor 12 is zero; if not, calculate the travel speed adjustment value of the hydraulic motor 12 according to the actual driving pressure of the hydraulic motor 12 and a preset PID control algorithm.

[0062] For example, assume that A is the preset driving pressure of the hydraulic motor 12, B is the actual driving pressure of the hydraulic motor 12, C is the actual pressure difference, and the preset difference threshold is N; wherein, C is the average value of C1, C2, and C3, and C1, C2, and C3 are the differences between the three continuously collected actual driving pressures B1, B2, and B3 of the hydraulic motor 12 and the preset driving pressure A of the hydraulic motor 12.

[0063] Determine whether the actual pressure difference C is less than the preset difference threshold N: if so, determine that the travel speed adjustment value E of the hydraulic motor 12 is zero; if not, calculate the travel speed adjustment value of the hydraulic motor 12 according to the actual driving pressure of the hydraulic motor 12 and the preset PID control algorithm. Specifically, the travel speed adjustment value E = C3*P + (C3-C2)*I + (C3-2*(C2-C1))*D, where P, I, and D are the proportional coefficient, integral coefficient, and differential coefficient of the preset PID control algorithm.

[0064] Further, determining the target running speed of the hydraulic motor 12 according to the preset running speed and the running speed adjustment value of the hydraulic motor 12 includes:

[0065] The target traveling speed of the hydraulic motor 12 is obtained by summing the preset traveling speed of the hydraulic motor 12 and the traveling speed adjustment value.

[0066] Assume that the preset running speed of the hydraulic motor 12 is G, and the target running speed of the hydraulic motor 12 is H. When the actual pressure difference C is less than the preset difference threshold N, H=G; when the actual pressure difference C is not less than the preset difference threshold N, H=E+G.

[0067] The controllers of the four modular trains of the embodiment of the present invention can accurately determine the target running speed of the hydraulic motor through pressure closed-loop calculation control. Finally, the target running speed of the hydraulic motor and the actual running speed of the hydraulic motor are controlled by closed-loop calculation control to obtain the control parameters for controlling the opening of the hydraulic motor control valve and perform corresponding control, so that the actual running speed of the hydraulic motor reaches the target running speed, and the running synchronization of the four modular trains (bridge transport vehicles) is achieved.

[0068] As an optional implementation, in an embodiment of the invention, see Figure 3 and Figure 4 As shown, the bridge transport vehicle travel synchronization control system also includes: a transverse slope inclination sensor 2, which is arranged at the middle of the bottom end of the load-bearing beam 3 of the bridge transport vehicle and is connected to the controller 13.

[0069] Each modular vehicle group 1 also includes multiple balancing cylinders 16 and balancing cylinder control valves 17 corresponding to the multiple balancing cylinders. The multiple balancing cylinders 16 are arranged on one side of the load-bearing beam 3 of the bridge transport vehicle, and the multiple balancing cylinder control valves 17 are connected to the controller 13.

[0070] When the bridge transport vehicle is on a transverse slope, the controller 13 is used to control the opening of multiple balancing cylinder control valves 17 to drive multiple balancing cylinders 16 to operate so that the inclination value fed back by the transverse slope inclination sensor 2 is within a preset range.

[0071] Through the above control, the prefabricated box beam body on the load-bearing cross beam 3 of the bridge transport vehicle can be prevented from tilting, and the horizontal ramp adaptability of the bridge transport vehicle can be increased. In addition, a longitudinal slope inclination sensor can also be provided to increase the longitudinal ramp adaptability of the bridge transport vehicle.

[0072] As an optional implementation, in one embodiment of the invention, the controller 13 is a programmable logic controller PLC, and the hydraulic motor control valve 11 is a PWM proportional control valve. PLC usually adopts industrial-grade design and manufacturing standards, has high reliability and stability, and can operate for a long time in harsh industrial environments. PWM proportional control valves have the advantages of precise control, fast dynamic response, high efficiency and energy saving, low loss, easy implementation and expansion, and high integration.

[0073] The embodiment of the present invention provides a method for synchronously controlling the movement of a bridge transport vehicle, comprising the following steps:

[0074] Determine the target travel speed of the hydraulic motor 12 according to the actual drive pressure of the hydraulic motor 12 and the preset drive pressure;

[0075] The control valve of the hydraulic motor 12 is controlled according to the target running speed and the actual running speed of the hydraulic motor 12 so that the actual running speed of the hydraulic motor 12 reaches the target running speed.

[0076] In the bridge transport vehicle running synchronization control method of the embodiment of the present invention, four module vehicle groups all adopt pressure and speed parallel closed-loop control to achieve the running synchronization of the four module vehicle groups (bridge transport vehicles), and the control accuracy and efficiency are effectively improved.

[0077] As an optional implementation, in one embodiment of the invention, the step of determining the target travel speed of the hydraulic motor 12 according to the actual drive pressure of the hydraulic motor 12 and the preset drive pressure includes:

[0078] Determine the travel speed adjustment value of the hydraulic motor 12 according to the actual driving pressure of the hydraulic motor 12 and the preset driving pressure;

[0079] The target travel speed of the hydraulic motor 12 is determined according to the preset travel speed of the hydraulic motor 12 and the travel speed adjustment value.

[0080] As an optional implementation, in an embodiment of the invention, the step of determining the travel speed adjustment value of the hydraulic motor 12 according to the actual driving pressure of the hydraulic motor 12 and the preset driving pressure includes:

[0081] Determine the actual pressure difference according to the actual driving pressure of the hydraulic motor 12 and the preset driving pressure;

[0082] Determine whether the actual pressure difference is less than a preset difference threshold;

[0083] If so, determine that the travel speed adjustment value of the hydraulic motor 12 is zero; if not, calculate the travel speed adjustment value of the hydraulic motor 12 according to the actual driving pressure of the hydraulic motor 12 and a preset PID control algorithm.

[0084] As an optional implementation, in one embodiment of the invention, the step of determining the target running speed of the hydraulic motor 12 according to the preset running speed and the running speed adjustment value of the hydraulic motor 12 includes:

[0085] The target traveling speed of the hydraulic motor 12 is obtained by summing the preset traveling speed of the hydraulic motor 12 and the traveling speed adjustment value.

[0086] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0087] It should be noted that, in the present invention, relational terms such as "first" and "second" 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 "include", "comprise" 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, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0088] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features of the present invention.

Claims

1. A bridge transport vehicle travel synchronization control system, characterized in that: include: A hydraulic motor control valve, a hydraulic motor and a controller are provided on each module train set, wherein the hydraulic motor is provided with a speed sensor and a pressure sensor; The controller is connected to the hydraulic motor control valve, the speed sensor and the pressure sensor, and is configured as follows: Determining a target travel speed of the hydraulic motor according to an actual drive pressure of the hydraulic motor and a preset drive pressure; The opening of the hydraulic motor control valve is controlled according to the target running speed and the actual running speed of the hydraulic motor, so that the actual running speed of the hydraulic motor reaches the target running speed.

2. The bridge transport vehicle travel synchronization control system according to claim 1 is characterized in that: Determining the target travel speed of the hydraulic motor according to the actual drive pressure of the hydraulic motor and the preset drive pressure includes: Determining a travel speed adjustment value of the hydraulic motor according to an actual driving pressure of the hydraulic motor and a preset driving pressure; The target traveling speed of the hydraulic motor is determined according to the preset traveling speed of the hydraulic motor and the traveling speed adjustment value.

3. The bridge transport vehicle travel synchronization control system according to claim 2 is characterized in that: The step of determining the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure includes: Determining an actual pressure difference according to an actual driving pressure of the hydraulic motor and a preset driving pressure; Determine whether the actual pressure difference is less than a preset difference threshold; If so, determine that the travel speed adjustment value of the hydraulic motor is zero; if not, calculate the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and a preset PID control algorithm.

4. The bridge transport vehicle travel synchronization control system according to claim 2 is characterized in that: Determining the target running speed of the hydraulic motor according to the preset running speed and the running speed adjustment value of the hydraulic motor includes: The preset running speed of the hydraulic motor and the running speed adjustment value are summed to obtain the target running speed of the hydraulic motor.

5. The bridge transport vehicle travel synchronization control system according to claim 1 is characterized in that: Also includes: A transverse slope inclination sensor, which is disposed at the middle of the bottom end of the load-bearing beam of the bridge transport vehicle and is connected to the controller; Each of the modular vehicles further comprises a plurality of balancing cylinders and balancing cylinder control valves corresponding to the plurality of balancing cylinders, wherein the plurality of balancing cylinders are arranged on one side of the load-bearing beam of the bridge transport vehicle, and the plurality of balancing cylinder control valves are connected to the controller; When the bridge transport vehicle is on a transverse slope, the controller is used to control the opening of the plurality of balancing cylinder control valves, drive the plurality of balancing cylinders to operate, and make the inclination value fed back by the transverse slope inclination sensor within a preset range.

6. The bridge transport vehicle travel synchronization control system according to claim 1, characterized in that: The controller is a programmable logic controller (PLC), and the hydraulic motor control valve is a PWM proportional control valve.

7. A bridge transport vehicle running synchronous control method, using the bridge transport vehicle running synchronous control system according to claim 1, characterized in that: The following steps are involved: Determine the target travel speed of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure; The opening of the hydraulic motor control valve is controlled according to the target running speed and actual running speed of the hydraulic motor, so that the actual running speed of the hydraulic motor reaches the target running speed.

8. The method for synchronous control of bridge transport vehicle movement according to claim 7 is characterized in that: The step of determining the target travel speed of the hydraulic motor according to the actual drive pressure of the hydraulic motor and the preset drive pressure comprises: Determine the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure; The target travel speed of the hydraulic motor is determined according to the preset travel speed of the hydraulic motor and the travel speed adjustment value.

9. The method for synchronous control of bridge transport vehicle movement according to claim 8 is characterized in that: The step of determining the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and the preset driving pressure comprises: Determine the actual pressure difference according to the actual driving pressure of the hydraulic motor and the preset driving pressure; Determine whether the actual pressure difference is less than a preset difference threshold; If so, determine that the travel speed adjustment value of the hydraulic motor is zero; if not, calculate the travel speed adjustment value of the hydraulic motor according to the actual driving pressure of the hydraulic motor and a preset PID control algorithm.

10. The method for synchronous control of bridge transport vehicle movement according to claim 8, characterized in that: The step of determining the target running speed of the hydraulic motor according to the preset running speed of the hydraulic motor and the running speed adjustment value comprises: The target travel speed of the hydraulic motor is obtained by summing the preset travel speed of the hydraulic motor and the travel speed adjustment value.

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