Travel control method and device of engineering machinery, computer device and storage medium

Abstract

The application relates to a walking control method and device of an engineering machine, computer equipment, a computer readable storage medium and a computer program product. The method comprises the following steps: in response to a driving control request of the engineering machine, determining a whole machine driving speed of the engineering machine according to current driving parameters of the engineering machine; determining average rotating speeds of driving motors corresponding to each track chassis included in the engineering machine according to the whole machine driving speed and a desired driving speed of the engineering machine; and determining target rotating speeds of each driving motor corresponding to each track chassis according to the average rotating speeds, loads of each track chassis and deflection angles of each track chassis. The method can improve the accuracy of walking control of the engineering machine in a complex driving environment.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, and in particular to a walking control method and device of engineering machinery, computer equipment, computer readable storage medium and computer program product. BACKGROUND

[0002] With the progress of engineering machinery electric technology and the increase of automation demand, electric drive multi-track engineering machinery and its control method are becoming one of the important technologies in the field of engineering machinery. With the support of electric drive system, electric drive multi-track engineering machinery has more precise power output and control ability, and needs to develop efficient and flexible new walking control method to further enhance the advantages of multi-track.

[0003] However, in the process of walking control of electric drive multi-track engineering machinery in the traditional technology, when facing complex driving environment, there is a problem of low accuracy of walking control. SUMMARY

[0004] Therefore, it is necessary to provide a walking control method, device, computer equipment, computer readable storage medium and computer program product of engineering machinery, which can improve the accuracy of walking control of engineering machinery in complex driving environment.

[0005] In a first aspect, the present application provides a walking control method of engineering machinery. The method comprises:

[0006] In response to a driving control request for the engineering machinery, determining the whole machine driving speed of the engineering machinery according to the current driving parameters of the engineering machinery;

[0007] According to the whole machine driving speed and the expected driving speed of the engineering machinery, determining the average speed of the driving motor corresponding to each track chassis included in the engineering machinery;

[0008] According to each average speed, the load of each track chassis and the deflection angle of each track chassis, determining the target speed of each driving motor corresponding to each track chassis.

[0009] In one embodiment, each track chassis includes a first track and a second track, and the target speed of each driving motor corresponding to each track chassis is determined according to each average speed, the load of each track chassis and the deflection angle of each track chassis, comprising:

[0010] For each track chassis, if the deflection angle is not 0, the expected deflection angle is taken as the control target, and the speed difference between the first track and the second track is determined according to the feedback control algorithm and the load.

[0011] determining the target rotating speed according to the rotating speed difference and the average rotating speed.

[0012] In one of the embodiments, the track chassis corresponds to a first driving motor and a second driving motor, and the determining the target rotating speed according to the rotating speed difference and the average rotating speed comprises:

[0013] calculating a ratio of the rotating speed difference and a number of tracks in the track chassis;

[0014] determining a sum of the ratio and the average rotating speed as a first rotating speed of the first driving motor, and determining a difference of the ratio and the average rotating speed as a second rotating speed of the second driving motor.

[0015] In one of the embodiments, the travel parameter comprises a rolling radius of any track in the engineering machine to a center of a driving motor corresponding to the track in the engineering machine, and the determining the average rotating speed of the driving motor corresponding to each track chassis included in the engineering machine according to the whole machine travel speed and the expected travel speed of the engineering machine comprises:

[0016] calculating a second difference between the expected travel speed and the whole machine travel speed;

[0017] obtaining a first correction value according to the second difference and a feedback control algorithm;

[0018] determining an initial average rotating speed according to the expected travel speed, the first correction value and the rolling radius;

[0019] determining the average rotating speed according to the initial average rotating speed, a slip ratio estimation value of each track in the engineering machine and a preset target slip ratio estimation value.

[0020] In one of the embodiments, the determining the average rotating speed according to the initial average rotating speed, the slip ratio estimation value of each track and the preset target slip ratio estimation value comprises:

[0021] calculating a third difference between each slip ratio estimation value and the preset target slip ratio estimation value;

[0022] determining a second correction value according to the third difference and the feedback control algorithm;

[0023] determining the average rotating speed as a sum of the second correction value and the initial average rotating speed.

[0024] In one of the embodiments, the determining the initial average rotating speed according to the expected travel speed, the first correction value and the rolling radius comprises:

[0025] Calculate the ratio between the desired travel speed and the rolling radius;

[0026] The sum of the ratio and the first correction value is determined as the initial average rotational speed.

[0027] Secondly, this application also provides a walking control device for engineering machinery. The device includes:

[0028] The first determining module is used to respond to a driving control request for the construction machinery and determine the overall driving speed of the construction machinery based on the current driving parameters of the construction machinery.

[0029] The second determining module is used to determine the average speed of the drive motors corresponding to each tracked chassis of the engineering machinery based on the overall machine travel speed and the expected travel speed of the engineering machinery.

[0030] The third determining module is used to determine the target rotational speed of each drive motor corresponding to each tracked chassis based on the average rotational speed, the load of each tracked chassis, and the deflection angle of each tracked chassis. In a third aspect, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method described in the first aspect.

[0031] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the steps of the method described in the first aspect.

[0032] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the method described in the first aspect.

[0033] The aforementioned method, device, computer equipment, computer-readable storage medium, and computer program product for controlling the movement of construction machinery, wherein the controller in the construction machinery first responds to the movement control request for the construction machinery, determines the overall movement speed of the construction machinery based on the current movement parameters of the construction machinery, and improves the real-time performance and accuracy of the determined overall movement speed of the construction machinery by determining the overall movement speed based on the current movement parameters; then, based on the overall movement speed and the desired movement speed of the construction machinery, the average speed of the drive motors corresponding to each tracked chassis included in the construction machinery is determined, thereby improving the accuracy of the determination. The accuracy of the average speed of the drive motor corresponding to each tracked chassis is determined. Then, based on the average speed, the load of each tracked chassis, and the deflection angle of each tracked chassis, the target speed of each drive motor corresponding to each tracked chassis is determined. Since the speed of the drive motor corresponding to each tracked chassis can be adjusted based on the average speed, the load of each tracked chassis, and the angle of each tracked chassis during the determination of the target speed, the effect of automatic correction of the deviated track can be achieved, thereby improving the precise control of each track during the movement of the construction machinery, and thus improving the accuracy of the movement control of the construction machinery. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0035] Figure 1 This is an application environment diagram of the walking control method for construction machinery in one embodiment;

[0036] Figure 2 This is a flowchart illustrating the walking control method for construction machinery in one embodiment;

[0037] Figure 3 This is a schematic diagram of an electric four-chassis multi-track engineering machinery walking system in one embodiment;

[0038] Figure 4 This is a flowchart illustrating step 203 in one embodiment;

[0039] Figure 5 This is a flowchart illustrating step 402 in one embodiment;

[0040] Figure 6 This is a flowchart illustrating step 202 in one embodiment;

[0041] Figure 7This is a flowchart illustrating step 603 in one embodiment;

[0042] Figure 8 This is a flowchart illustrating step 604 in one embodiment;

[0043] Figure 9 This is a structural block diagram of the walking control device for engineering machinery in one embodiment;

[0044] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0046] Tracked construction machinery is commonly used in various heavy-duty applications such as construction, mining, and forestry. Compared to traditional internal combustion engine systems, electric drive systems offer higher energy efficiency, lower noise, and lower emissions, making the development of electric-drive construction machinery align with the strategic direction of sustainable development. Multi-track systems provide excellent ground contact and stability, effectively distributing the weight of the machinery and reducing ground pressure, making them suitable for complex terrain and harsh environments, and significantly improving the mobility and operational capabilities of construction machinery. With advancements in electrification technology and increasing automation demands in construction machinery, electric-drive multi-track construction machinery and its control methods are becoming crucial technologies in the field. Supported by electric drive systems, electric-drive multi-track construction machinery possesses more precise power output and control capabilities, necessitating the development of efficient and flexible new walking control methods to further enhance the advantages of multi-track systems.

[0047] Most existing linear motion control methods for tracked construction machinery focus on traditional single-track chassis, failing to fully utilize the advantages of multi-track systems. This results in insufficient stability and traction when traveling on complex terrain or uneven ground, and their performance in heavy-load or extreme environments has not been fully validated, limiting their applicability in mining and heavy construction. Alternatively, existing control methods fail to adequately consider the impact of environmental factors and load variations. Insufficient adaptive control leads to poor performance in dynamic adjustments and complex task execution. Although existing technologies involve power output adjustment, system integration for high-precision motor control remains inadequate. Traditional electro-hydraulic control struggles to achieve more refined power distribution and response, thus affecting travel accuracy and flexibility. Therefore, existing technologies suffer from low accuracy in controlling the movement of electrically driven multi-tracked construction machinery in complex driving environments. This application proposes a travel control method for construction machinery to improve the accuracy of travel control in complex driving environments.

[0048] The walking control method for engineering machinery provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the controller 102 integrated in the construction machinery communicates with the server 104 via a network. A data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be located in the cloud or on other network servers. Responding to the server 104's driving control request for the construction machinery, the controller 102 determines the overall driving speed of the construction machinery based on its current driving parameters. Then, based on the overall driving speed and the desired driving speed of the construction machinery, the controller 102 determines the average speed of the drive motors corresponding to each tracked chassis. Finally, based on the average speed, the load on each tracked chassis, and the deflection angle of each tracked chassis, the controller 102 determines the target speed of each drive motor corresponding to each tracked chassis. The controller can be, but is not limited to, a Vehicle Control Unit (VCU), an Engine Control Unit (ECU), or a Microcontroller Unit (MCU). The server 104 can be implemented using a standalone server or a server cluster consisting of multiple servers.

[0049] In one exemplary embodiment, such as Figure 2 As shown, a method for controlling the movement of engineering machinery is provided, which is applied to... Figure 1 Taking controller 102 as an example, the following steps are included:

[0050] Step 201: In response to the driving control request for the construction machinery, determine the overall driving speed of the construction machinery based on the current driving parameters of the construction machinery.

[0051] It should be noted that a construction machinery may include a single multi-track chassis or multiple multi-track chassis. This application uses an electric four-wheel drive multi-track construction machinery as an example to describe the control method of the construction machinery. The walking system of the electric four-wheel drive multi-track construction machinery is as follows: Figure 3 As shown, Figure 3 The system comprises four tracked chassis, each with two tracks. Each track is equipped with two sets of drive motors and their reduction gear systems, one at the front and one at the rear, for a total of 16 drive gear systems. This multi-tracked chassis structure enables the construction machinery's walking system to handle extremely heavy loads. Each tracked chassis is connected to a ball joint-seat structure and fitted with an angle encoder, allowing each tracked chassis to rotate 360° relative to the main body of the construction machinery, facilitating automatic correction detection and control during movement.

[0052] To improve the precision of movement control for construction machinery, a controller can be integrated into the machinery to receive movement control commands sent by the user through a server and to control the speed of the drive motors of each track, thereby precisely controlling the overall movement speed of the machinery. Optionally, a single controller can be integrated to control the drive motors in each track, or multiple controllers can be integrated. These controllers can employ a hierarchical structure, including a top-level controller, multiple chassis controllers, and multiple bottom-level controllers. The top-level controller receives movement control commands, plans the movement speed of each track chassis based on these commands, and sends the planned movement speed to each chassis controller. The chassis controllers, based on the received movement speed plans, control the movement speed of each track, thereby determining the speed of the drive motor for each track, and send the determined drive motor speed to the corresponding bottom-level controller. The bottom-level controllers control the front and rear drive motors of each track. It is understandable that within the same walking control system, the walking speeds of different tracked chassis may differ, the speeds of different tracks belonging to the same tracked chassis may also differ, and the drive motors belonging to the same track may have the same rotational speed.

[0053] Among them, the travel control request is a command sent by the user to the controller of the construction machinery, instructing the controller to control the actual travel speed of the construction machinery according to the desired travel speed. The current form parameters of the construction machinery refer to the real-time travel parameters of the construction machinery during the travel process. For example, travel parameters may include the actual speed of each drive motor in the construction machinery, the inertial navigation signal of the construction machinery as a whole, torque, load of each track chassis, and force signal received by each track chassis hinge, etc.

[0054] In this embodiment, the controller in the construction machinery can receive driving control requests via a network, then acquire current driving parameters through various sensors integrated within the machinery, and finally, in response to the driving control request, calculate the overall driving speed of the construction machinery based on the current driving parameters. The calculation process for the overall driving speed can be expressed as follows:

[0055]

[0056] in, This refers to the overall travel speed of the construction machinery. Let be the actual rotational speed of the drive motor of the i-th track at time n. Taking a chassis with four tracks, each with two tracks, as an example, the value of i ranges from 1 to 8. The rolling radius of the track to the center of the drive motor corresponding to that track. Let be the longitudinal acceleration of the entire construction machinery at time n. The signal sampling interval, The estimation weights for the overall machine acceleration estimation. The weights for estimating the motor speed are , where and It can be determined based on the reliability of the controller.

[0057] Step 202: Determine the average speed of the drive motors corresponding to each tracked chassis of the construction machinery based on the overall machine travel speed and the expected travel speed of the construction machinery.

[0058] The desired travel speed is the walking speed sent by the user to the controller through the server. The average speed of the drive motor corresponding to each tracked chassis refers to the average speed of all drive motors in each tracked chassis. For example, if each tracked chassis includes 4 drive motors, the average speed refers to the average of the sum of the speeds of the 4 drive motors.

[0059] In this embodiment, the controller can determine the correction value for the overall machine speed based on the difference between the desired travel speed and the overall machine travel speed. Then, the actual speed of the drive motor corresponding to each track chassis is corrected using the correction value to obtain the corrected speed. The average speed of the drive motor corresponding to each track chassis is then obtained based on the corrected speed.

[0060] Step 203: Determine the target speed of each drive motor corresponding to each tracked chassis based on the average speed, the load of each tracked chassis, and the deflection angle of each tracked chassis.

[0061] The load capacity of each tracked chassis refers to the maximum weight that each tracked chassis can bear under working conditions. The load-bearing capacity of a tracked chassis is related to the specific vehicle model, chassis structure, and design quality. The deflection angle of each tracked chassis refers to the angular change caused by the different speeds of the left and right tracks when the tracked chassis turns. In tracked differential chassis, steering can be achieved by changing the speed difference between the left and right tracks. The target speed refers to the speed of the drive motor after adjusting for the desired travel speed of the construction machinery during actual movement.

[0062] In this embodiment, the controller can determine the correction value for the rotational speed of each drive motor based on the deflection angle and load of each track chassis. Then, the corrected rotational speed of each track is determined using the correction value and the average rotational speed, thereby determining the corrected rotational speed as the target rotational speed of each drive motor.

[0063] In the aforementioned method for controlling the movement of construction machinery, the controller in the construction machinery first responds to the movement control request and determines the overall movement speed of the construction machinery based on the current movement parameters. Since the overall movement speed is determined based on the current movement parameters, the real-time performance and accuracy of the determined overall movement speed of the construction machinery can be improved. Next, based on the overall movement speed and the desired movement speed of the construction machinery, the average speed of the drive motors corresponding to each tracked chassis is determined, which improves the accuracy of the determined average speed of the drive motors corresponding to each tracked chassis. Then, based on the average speed, the load of each tracked chassis, and the deflection angle of each tracked chassis, the target speed of each drive motor corresponding to each tracked chassis is determined. Since the speed of the drive motors corresponding to each tracked chassis can be adjusted based on the average speed, the load of each tracked chassis, and the angle of each tracked chassis during the determination of the target speed, the effect of automatic correction of the deviated track can be achieved, thereby improving the precise control of each track during the movement of the construction machinery, and thus improving the accuracy of the movement control of the construction machinery.

[0064] In one exemplary embodiment, each tracked chassis includes a first track and a second track, such as... Figure 4 As shown, this embodiment relates to the process by which the controller determines the target speed of each drive motor corresponding to each tracked chassis based on the average rotational speed, the load of each tracked chassis, and the deflection angle of each tracked chassis. Step 203 includes:

[0065] Step 401: For each tracked chassis, when the deflection angle is not 0, take the desired deflection angle as the control target, and determine the speed difference between the first track and the second track according to the feedback control algorithm and the load.

[0066] It should be noted that in this embodiment, the construction machinery is a multi-tracked construction machinery, and the process of walking control of the construction machinery is described using the example of each tracked chassis having two tracks. The two tracks of each tracked chassis are referred to as the first track and the second track, respectively. The process of determining the target speed of each drive motor corresponding to each tracked chassis is described in detail below.

[0067] The deflection angle refers to the angle of deviation of the track in the tracked chassis relative to a reference direction during movement, such as a direction parallel to the curb. It is understandable that if the track slips, it may cause the entire machine to veer off course, or the deflection angle of the track may deviate from the expected deflection angle. This results in different walking speeds for the two tracks in the same tracked chassis, ultimately affecting the overall walking speed of the construction machinery. Therefore, the speed of the drive motor of the track can be adjusted to ensure that the walking speeds of the two tracks are consistent. For example, if the angle deflection device on the tracked chassis detects that the deflection angle is not zero during straight-line movement of the construction machinery, the speed of the drive motor of that tracked chassis can be adjusted.

[0068] The desired deflection angle refers to the deflection angle that corresponds to the actual walking state of the construction machinery. For example, if the construction machinery is traveling in a straight line, the desired deflection angle is 0; if the construction machinery is turning, the desired deflection angle can be the turning angle. Feedback control algorithm is a control method that measures the output signal, compares it with the desired signal to generate an error signal, and then adjusts the input based on the error signal to achieve the control objective. Optionally, the feedback control algorithm can be a PID control algorithm, sliding mode control algorithm, fuzzy control algorithm, etc., and this embodiment does not limit this. The speed difference between the first track and the second track refers to the speed difference between the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track.

[0069] In this embodiment, the controller can obtain the deflection angle from the angle deflection of each track chassis. If the detected deflection angle is not 0, the controller can use the deflection angle of 0 as the control target, use the feedback control algorithm to calculate and determine the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track, and determine the difference between the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track as the speed difference.

[0070] Having obtained the rotational speeds of the drive motors corresponding to the first track and the second track, the control rules governing the relationship between the control parameters of the feedback control algorithm and the load can be determined based on the track chassis simulation model. Taking the PID control algorithm as an example, these control rules can be expressed as follows:

[0071]

[0072]

[0073] in, This represents the load on the i-th chassis. , and These represent the PID adaptive control parameters for chassis correction. , and This represents the adaptive control parameters for sliding mode control of chassis correction.

[0074] The speed difference between the first track and the second track can be expressed as:

[0075]

[0076] in, Let be the speed difference between the first and second tracks in the i-th tracked chassis. This represents the rotational speed of the drive motor corresponding to the first track. This represents the rotational speed of the drive motor corresponding to the second track.

[0077] Step 402: Determine the target speed based on the speed difference and average speed.

[0078] Understandably, after obtaining the speed difference between the two tracks in the same tracked chassis, the target speed of each drive motor in the tracked chassis can be determined based on the different relationships between the two tracks and the center of the tracked chassis. The two drive motors corresponding to the first track can be designated as the first drive motors, and the two drive motors corresponding to the second track as the second drive motors, thereby calculating the first speed corresponding to the first drive motors and the second speed corresponding to the second drive motors.

[0079] In one possible implementation, such as Figure 5 As shown, this embodiment relates to the process by which the controller determines the target speed based on the speed difference and the average speed. Step 402 above may include:

[0080] Step 501: Calculate the ratio of the rotational speed difference to the number of tracks in the tracked chassis.

[0081] In this embodiment, the number of tracks in the tracked chassis is 2, so the ratio between the speed difference and 2 can be calculated, and this ratio can be expressed as: .

[0082] Step 502: The sum of the ratio and the average speed is determined as the first speed of the first drive motor, and the difference between the ratio and the average speed is determined as the second speed of the second drive motor.

[0083]

[0084] in, The first speed of the first drive motor. This is the second speed of the second drive motor. Let be the average speed of the drive motor corresponding to the i-th tracked chassis.

[0085] In this embodiment, for each tracked chassis, when the deflection angle is not zero, the controller uses the desired deflection angle as the control target. Based on the feedback control algorithm and the load, it determines the speed difference between the first and second tracks. Then, based on the speed difference and the average speed, it determines the target speed. Since the speed difference between the first and second tracks is adaptively corrected using the control rules of the relationship between the feedback control algorithm and the load, the corrected speed difference is obtained. Then, the target speed is determined using the speed difference and the average speed, that is, the first speed of the first drive motor and the second speed of the second drive motor are determined. This allows the construction machinery to correct the slipping tracks in a timely manner based on the first speed of the first drive motor and the second speed of the second drive motor. In this way, the correction control of each track achieves the correction control of the entire construction machinery.

[0086] In one exemplary embodiment, the driving parameters include the rolling radius from any track in the construction machinery to the center of the drive motor corresponding to that track, such as... Figure 6 As shown, this embodiment relates to the process by which the controller determines the average rotational speed of the drive motors corresponding to each tracked chassis of the construction machinery based on the overall machine speed and the expected speed of the construction machinery. Step 202 includes:

[0087] Step 601: Calculate the second difference between the desired driving speed and the overall driving speed.

[0088] In this embodiment, the controller can obtain the desired driving speed from the driving control request, and then calculate a second difference between the desired driving speed and the overall driving speed. This second difference can be expressed as:

[0089]

[0090] in, The second difference, The desired driving speed.

[0091] Step 602: Obtain the first correction value based on the second difference and the feedback control algorithm.

[0092] The first correction value refers to the correction value used to adjust the actual speed of the drive motor.

[0093] In this embodiment, the first correction value can be determined using the control parameters and the second difference in the feedback control algorithm. This first correction value can be expressed as:

[0094]

[0095] in, The first correction value, , and These are the PID control parameters for walking speed.

[0096] Step 603: Determine the initial average rotational speed based on the desired driving speed, the first correction value, and the rolling radius.

[0097] The initial average speed refers to the average speed of the drive motor corresponding to each track chassis without considering track slippage.

[0098] As one possible implementation method, such as Figure 7 As shown, step 603 above may include:

[0099] Step 701: Calculate the ratio between the desired driving speed and the rolling radius.

[0100] This ratio can be expressed as: .

[0101] Step 702: The sum of the ratio and the first correction value is determined as the initial average rotational speed.

[0102] The initial average rotational speed can be expressed as:

[0103]

[0104] in, This represents the initial average rotational speed.

[0105] Step 604: Determine the average rotational speed based on the initial average rotational speed, the estimated slip ratio of each track in the engineering machinery, and the preset target slip ratio.

[0106] It should be noted that during the movement, the tracks may slip, which may cause the machine to deviate and the chassis to travel slowly. Therefore, the initial average speed can be corrected by using a sliding mode controller and a PID controller when the tracks slip. The initial average speed after slip correction can be used as the average speed, which effectively reduces the instability and deviation caused by track slippage, thus ensuring the stability of the construction machinery during movement.

[0107] When track slippage is detected in the i-th chassis, as one possible implementation method, such as Figure 8 As shown, step 604 above may include:

[0108] Step 801: Calculate the third difference between each slip ratio estimate and the preset target slip ratio estimate.

[0109] This third difference can be expressed as:

[0110]

[0111] in, The third difference, The target slip ratio estimate for maintaining stable movement of the entire machine. This is an estimate of the slip ratio.

[0112] Step 802: Determine the second correction value based on the third difference and the feedback control algorithm.

[0113] This second correction value can be expressed as:

[0114]

[0115] in, This is the second correction value. , and These are the slip ratio PID control parameters.

[0116] Step 803: The sum of the second correction value and the initial average speed is determined as the average speed.

[0117] This average rotational speed can be expressed as:

[0118]

[0119] in, The average rotational speed, The initial average rotational speed, This is the second correction value.

[0120] In this embodiment, the controller first calculates a second difference between the desired travel speed and the overall machine travel speed. Then, based on the second difference and the feedback control algorithm, a first correction value for the rotational speed of the tracked chassis is obtained. Next, based on the desired travel speed, the first correction value, and the rolling radius, the initial average rotational speed is determined. The average rotational speed is then determined based on the initial average rotational speed, the estimated slip ratio of each track in the construction machinery, and a preset target slip ratio estimate. During the determination of the average rotational speed, the feedback control algorithm is used to correct the rotational speed of the tracked chassis to obtain the initial average rotational speed. This improves the determination of the average rotational speed from the initial average rotational speed and the slip ratio estimate, thereby avoiding instability and deviation caused by track slippage and enhancing the adaptability and stability of the construction machinery in complex terrain.

[0121] To facilitate understanding by those skilled in the art, the following provides a detailed description of the walking control method for engineering machinery provided in this application. This method may include:

[0122] S1, in response to a driving control request for the construction machinery, determines the overall driving speed of the construction machinery based on the current driving parameters of the construction machinery.

[0123] S2, calculate the second difference between the desired driving speed and the overall driving speed.

[0124] S3, based on the second difference and the feedback control algorithm, obtain the first correction value.

[0125] S4, calculate the ratio between the desired driving speed and the rolling radius.

[0126] S5, the sum of the ratio and the first correction value is determined as the initial average rotational speed.

[0127] S6, calculate the third difference between each slip ratio estimate and the preset target slip ratio estimate.

[0128] S7. Determine the second correction value based on the third difference and the feedback control algorithm.

[0129] S8, the sum of the second correction value and the initial average speed is determined as the average speed.

[0130] S9, for each tracked chassis, when the deflection angle is not 0, takes the desired deflection angle as the control target, and determines the speed difference between the first track and the second track based on the feedback control algorithm and the load.

[0131] S10, calculate the ratio of the rotational speed difference to the number of tracks in the tracked chassis.

[0132] S11, the sum of the ratio and the average speed is determined as the first speed of the first drive motor, and the difference between the ratio and the average speed is determined as the second speed of the second drive motor.

[0133] It should be noted that the descriptions in S1-S11 above can be found in the relevant descriptions in the above embodiments, and their effects are similar, so they will not be repeated here.

[0134] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0135] Based on the same inventive concept, this application also provides a walking control device for engineering machinery to implement the walking control method for engineering machinery described above. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the walking control device for engineering machinery provided below can be found in the limitations of the walking control method for engineering machinery described above, and will not be repeated here.

[0136] In one embodiment, such as Figure 9 As shown, a walking control device for engineering machinery is provided, comprising: a first determining module 901, a second determining module 902, and a third determining module 903, wherein:

[0137] The first determining module 901 is used to respond to a driving control request for the construction machinery and determine the overall driving speed of the construction machinery based on the current driving parameters of the construction machinery.

[0138] The second determining module 902 is used to determine the average speed of the drive motors corresponding to each tracked chassis of the construction machinery based on the overall machine travel speed and the expected travel speed of the construction machinery.

[0139] The third determining module 903 is used to determine the target speed of each drive motor corresponding to each tracked chassis based on the average speed, the load of each tracked chassis, and the deflection angle of each tracked chassis.

[0140] The walking control device for engineering machinery provided in this embodiment can execute the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0141] In one embodiment, each tracked chassis includes a first track and a second track, and the aforementioned third determining module 903 includes:

[0142] The first determining unit is used to determine the speed difference between the first track and the second track for each tracked chassis, with the desired deflection angle as the control target, based on the feedback control algorithm and the load, when the deflection angle is not 0.

[0143] The second determining unit is used to determine the target speed based on the speed difference and the average speed.

[0144] The walking control device for engineering machinery provided in this embodiment can execute the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0145] In one embodiment, the second determining unit is specifically used for:

[0146] Calculate the ratio of the rotational speed difference to the number of tracks in the tracked chassis;

[0147] The sum of the ratio and the average speed is determined as the first speed of the first drive motor, and the difference between the ratio and the average speed is determined as the second speed of the second drive motor.

[0148] The walking control device for engineering machinery provided in this embodiment can execute the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0149] In one embodiment, the aforementioned driving parameters include the rolling radius from any track in the construction machinery to the center of the drive motor corresponding to the track in the construction machinery, and the aforementioned second determining module 902 includes:

[0150] The calculation unit is used to calculate the second difference between the desired travel speed and the overall travel speed.

[0151] The acquisition unit is used to obtain the first correction value based on the second difference and the feedback control algorithm;

[0152] The third determining unit is used to determine the initial average rotational speed based on the desired driving speed, the first correction value, and the rolling radius;

[0153] The fourth determining unit is used to determine the average rotational speed based on the initial average rotational speed, the estimated slip ratio of each track in the engineering machinery, and the preset target slip ratio.

[0154] The walking control device for engineering machinery provided in this embodiment can execute the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0155] In one embodiment, the fourth determining unit is specifically used for:

[0156] Calculate the third difference between each slip ratio estimate and the preset target slip ratio estimate;

[0157] The second correction value is determined based on the third difference and the feedback control algorithm;

[0158] The sum of the second correction value and the initial average speed is determined as the average speed.

[0159] The walking control device for engineering machinery provided in this embodiment can execute the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0160] In one embodiment, the third determining unit is specifically used for:

[0161] Calculate the ratio of the desired travel speed to the rolling radius;

[0162] The sum of the ratio and the first correction value is determined as the initial average rotational speed.

[0163] The walking control device for engineering machinery provided in this embodiment can execute the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described again here.

[0164] The various modules in the aforementioned engineering machinery's travel control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0165] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 10As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores the travel control data of the construction machinery. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a travel control method for construction machinery.

[0166] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0167] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0168] In response to a driving control request for the construction machinery, the overall driving speed of the construction machinery is determined based on the current driving parameters of the construction machinery.

[0169] Based on the overall machine travel speed and the expected travel speed of the construction machinery, determine the average speed of the drive motors corresponding to each tracked chassis included in the construction machinery.

[0170] Based on the average speed, the load on each tracked chassis, and the deflection angle of each tracked chassis, the target speed of each drive motor corresponding to each tracked chassis is determined.

[0171] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0172] For each tracked chassis, when the deflection angle is not zero, the desired deflection angle is used as the control target, and the speed difference between the first track and the second track is determined based on the feedback control algorithm and the load.

[0173] The target speed is determined based on the speed difference and the average speed.

[0174] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0175] Calculate the ratio of the rotational speed difference to the number of tracks in the tracked chassis;

[0176] The sum of the ratio and the average speed is determined as the first speed of the first drive motor, and the difference between the ratio and the average speed is determined as the second speed of the second drive motor.

[0177] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0178] Calculate the second difference between the desired travel speed and the overall machine travel speed;

[0179] The first correction value is obtained based on the second difference and the feedback control algorithm;

[0180] The initial average rotational speed is determined based on the desired driving speed, the first correction value, and the rolling radius;

[0181] The average speed is determined based on the initial average speed, the estimated slip ratio of each track in the engineering machinery, and the preset target slip ratio.

[0182] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0183] Calculate the third difference between each slip ratio estimate and the preset target slip ratio estimate;

[0184] The second correction value is determined based on the third difference and the feedback control algorithm;

[0185] The sum of the second correction value and the initial average speed is determined as the average speed.

[0186] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0187] Calculate the ratio of the desired travel speed to the rolling radius;

[0188] The sum of the ratio and the first correction value is determined as the initial average rotational speed.

[0189] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0190] In response to a driving control request for the construction machinery, the overall driving speed of the construction machinery is determined based on the current driving parameters of the construction machinery.

[0191] Based on the overall machine travel speed and the expected travel speed of the construction machinery, determine the average speed of the drive motors corresponding to each tracked chassis included in the construction machinery.

[0192] Based on the average speed, the load on each tracked chassis, and the deflection angle of each tracked chassis, the target speed of each drive motor corresponding to each tracked chassis is determined.

[0193] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0194] For each tracked chassis, when the deflection angle is not zero, the desired deflection angle is used as the control target, and the speed difference between the first track and the second track is determined based on the feedback control algorithm and the load.

[0195] The target speed is determined based on the speed difference and the average speed.

[0196] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0197] Calculate the ratio of the rotational speed difference to the number of tracks in the tracked chassis;

[0198] The sum of the ratio and the average speed is determined as the first speed of the first drive motor, and the difference between the ratio and the average speed is determined as the second speed of the second drive motor.

[0199] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0200] Calculate the second difference between the desired travel speed and the overall machine travel speed;

[0201] The first correction value is obtained based on the second difference and the feedback control algorithm;

[0202] The initial average rotational speed is determined based on the desired driving speed, the first correction value, and the rolling radius;

[0203] The average speed is determined based on the initial average speed, the estimated slip ratio of each track in the engineering machinery, and the preset target slip ratio.

[0204] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0205] Calculate the third difference between each slip ratio estimate and the preset target slip ratio estimate;

[0206] The second correction value is determined based on the third difference and the feedback control algorithm;

[0207] The sum of the second correction value and the initial average speed is determined as the average speed.

[0208] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0209] Calculate the ratio of the desired travel speed to the rolling radius;

[0210] The sum of the ratio and the first correction value is determined as the initial average rotational speed.

[0211] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0212] In response to a driving control request for the construction machinery, the overall driving speed of the construction machinery is determined based on the current driving parameters of the construction machinery.

[0213] Based on the overall machine travel speed and the expected travel speed of the construction machinery, determine the average speed of the drive motors corresponding to each tracked chassis included in the construction machinery.

[0214] Based on the average speed, the load on each tracked chassis, and the deflection angle of each tracked chassis, the target speed of each drive motor corresponding to each tracked chassis is determined.

[0215] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0216] For each tracked chassis, when the deflection angle is not zero, the desired deflection angle is used as the control target, and the speed difference between the first track and the second track is determined based on the feedback control algorithm and the load.

[0217] The target speed is determined based on the speed difference and the average speed.

[0218] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0219] Calculate the ratio of the rotational speed difference to the number of tracks in the tracked chassis;

[0220] The sum of the ratio and the average speed is determined as the first speed of the first drive motor, and the difference between the ratio and the average speed is determined as the second speed of the second drive motor.

[0221] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0222] Calculate the second difference between the desired travel speed and the overall machine travel speed;

[0223] The first correction value is obtained based on the second difference and the feedback control algorithm;

[0224] The initial average rotational speed is determined based on the desired driving speed, the first correction value, and the rolling radius;

[0225] The average speed is determined based on the initial average speed, the estimated slip ratio of each track in the engineering machinery, and the preset target slip ratio.

[0226] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0227] Calculate the third difference between each slip ratio estimate and the preset target slip ratio estimate;

[0228] The second correction value is determined based on the third difference and the feedback control algorithm;

[0229] The sum of the second correction value and the initial average speed is determined as the average speed.

[0230] In one embodiment, when the computer program is executed by a processor, it also performs the following steps:

[0231] Calculate the ratio of the desired travel speed to the rolling radius;

[0232] The sum of the ratio and the first correction value is determined as the initial average rotational speed.

[0233] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0234] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0235] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for controlling the movement of engineering machinery, characterized in that, The method includes: In response to a travel control request for the construction machinery, the overall travel speed of the construction machinery is determined based on its current travel parameters. Each tracked chassis of the construction machinery includes a first track and a second track. The overall travel speed is: in, This refers to the overall travel speed of the construction machinery. Let be the actual rotational speed of the drive motor of the i-th track at time n. The rolling radius of the track to the center of the drive motor corresponding to that track. Let be the longitudinal acceleration of the entire construction machinery at time n. The signal sampling interval, The estimation weights for the overall machine acceleration estimation. The weights for estimating motor speed; Calculate a second difference between the desired travel speed of the construction machinery and the overall travel speed; obtain a first correction value based on the second difference and a feedback control algorithm; determine an initial average rotational speed based on the desired travel speed, the first correction value, and the rolling radius from any track in the construction machinery to the center of the drive motor corresponding to that track; calculate a third difference between the estimated slip ratio of each track in the construction machinery and a preset target slip ratio estimate; determine a second correction value based on the third difference and the feedback control algorithm; and determine the sum of the second correction value and the initial average rotational speed as the average rotational speed of the drive motor corresponding to each track chassis. For each tracked chassis, when the deflection angle of the tracked chassis is not zero, the desired deflection angle of the tracked chassis is used as the control target. Based on the feedback control algorithm and the load of the tracked chassis, the speed difference between the first track and the second track is determined. Based on the speed difference and the average speed, the target speed of each drive motor corresponding to the tracked chassis is determined. The speed difference is determined based on the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track. The determination process of the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track is based on the PID adaptive control parameters for correction of each tracked chassis, the load of each tracked chassis, and the sliding mode control adaptive control parameters for correction of each tracked chassis.

2. The method according to claim 1, characterized in that, The drive motors corresponding to the tracked chassis include a first drive motor and a second drive motor. Determining the target speed based on the speed difference and the average speed includes: Calculate the ratio of the rotational speed difference to the number of tracks in the tracked chassis; The sum of the ratio and the average speed is determined as the first speed of the first drive motor, and the difference between the ratio and the average speed is determined as the second speed of the second drive motor.

3. The method according to claim 1, characterized in that, Determining the initial average rotational speed based on the desired driving speed, the first correction value, and the rolling radius includes: Calculate the ratio between the desired travel speed and the rolling radius; The sum of the ratio and the first correction value is determined as the initial average rotational speed.

4. The method according to claim 1, characterized in that, The deflection angle of the tracked chassis is the offset angle of the track in the tracked chassis relative to the reference direction when the tracked chassis turns.

5. The method according to claim 1, characterized in that, The engineering machinery includes one or more controllers, which are used to control the drive motors corresponding to each track.

6. The method according to claim 1, characterized in that, The construction machinery includes four tracked chassis.

7. A walking control device for engineering machinery, characterized in that, The device includes: The first determining module is used to respond to a driving control request for the construction machinery, and determine the overall driving speed of the construction machinery based on the current driving parameters of the construction machinery, wherein each tracked chassis of the construction machinery includes a first track and a second track; the overall driving speed is: in, This refers to the overall travel speed of the construction machinery. Let be the actual rotational speed of the drive motor of the i-th track at time n. The rolling radius of the track to the center of the drive motor corresponding to that track. Let be the longitudinal acceleration of the entire construction machinery at time n. The signal sampling interval, The estimation weights for the overall machine acceleration estimation. The weights for estimating motor speed; The second determining module is used to calculate a second difference between the expected travel speed of the construction machinery and the overall travel speed; obtain a first correction value based on the second difference and a feedback control algorithm; determine an initial average rotational speed based on the expected travel speed, the first correction value, and the rolling radius from any track in the construction machinery to the center of the drive motor corresponding to that track; calculate a third difference between the estimated slip ratio of each track in the construction machinery and a preset target slip ratio estimate; determine a second correction value based on the third difference and the feedback control algorithm; and determine the sum of the second correction value and the initial average rotational speed as the average rotational speed of the drive motor corresponding to each track chassis. The third determining module is used, for each tracked chassis, when the deflection angle of the tracked chassis is not zero, to determine the speed difference between the first track and the second track based on the feedback control algorithm and the load of the tracked chassis, using the desired deflection angle of the tracked chassis as the control target; the speed difference is determined based on the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track, wherein the determination process of the speed of the drive motor corresponding to the first track and the speed of the drive motor corresponding to the second track is based on the PID adaptive control parameters for correction of each tracked chassis, the load of each tracked chassis, and the sliding mode control adaptive control parameters for correction of each tracked chassis; and the target speed of each drive motor corresponding to the tracked chassis is determined based on the speed difference and the average speed.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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