Hydraulically driven vehicle control method and related hardware

Abstract

The embodiment of the invention provides a hydraulically-driven vehicle control method and related hardware, and for a hydraulically-driven wheel system corresponding to any driving wheel, the method comprises the following steps: determining the feedforward volume efficiency of the hydraulically-driven wheel system according to the current working state parameter of the hydraulically-driven wheel system corresponding to the driving wheel; determining the target rotating speed of the hydraulic motor according to the target driving control parameters, and determining the volume efficiency correction of the hydraulic drive wheel system according to the actual rotating speed and the target rotating speed of the hydraulic motor; determining a target volume efficiency according to the feedforward volume efficiency and the volume efficiency correction; and according to the target volume efficiency, the target driving control parameters and the current working state parameters of the hydraulic driving wheel system, the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor are determined, the hydraulic pump is controlled to work at the first target displacement, and the hydraulic motor is controlled to work at the second target displacement.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a hydraulically driven vehicle control method and related hardware. Background Art

[0002] A hydraulically driven vehicle is a vehicle that uses an engine to drive a hydraulic pump, which in turn drives a hydraulic motor, which in turn drives the wheels to rotate through a corresponding power transmission structure. In the control process of existing hydraulically driven vehicles, it is necessary to measure the hydraulic pressure value in the hydraulic oil circuit between the hydraulic pump and the hydraulic motor through a hydraulic sensor, and then control the hydraulic drive system according to the hydraulic pressure value.

[0003] At present, in order to reduce the failure rate of hydraulically driven vehicles, it can be achieved by reducing the number of hardware structures of hydraulically driven vehicles. After removing the hydraulic sensor used to measure the hydraulic pressure of the hydraulic oil circuit between the hydraulic pump and the hydraulic motor in the hydraulically driven vehicle, how to better control the hydraulically driven vehicle has not yet been solved. Summary of the invention

[0004] An embodiment of the present invention provides a hydraulically driven vehicle control method and related hardware, which are used to provide a driving control method for a hydraulically driven vehicle without a hydraulic sensor for measuring the hydraulic pressure of a hydraulic oil circuit between a hydraulic pump and a hydraulic motor.

[0005] An embodiment of the present invention provides a hydraulically driven vehicle control method. For a hydraulically driven wheel system corresponding to any driving wheel, the method comprises:

[0006] Determining a feedforward volumetric efficiency of the hydraulically driven wheel system according to a current working state parameter of the hydraulically driven wheel system corresponding to the driving wheel;

[0007] Determine a target speed of the hydraulic motor according to the target driving control parameter, and determine a volumetric efficiency correction amount of the hydraulically driven wheel system according to the actual speed of the hydraulic motor and the target speed of the hydraulic motor;

[0008] determining a target volumetric efficiency according to the feedforward volumetric efficiency and the volumetric efficiency correction amount;

[0009] Determining a first target displacement of the hydraulic pump and a second target displacement of the hydraulic motor according to the target volumetric efficiency, the target travel control parameter and the current working state parameter of the hydraulically driven wheel system, and controlling the hydraulic pump to operate at the first target displacement, and controlling the hydraulic motor to operate at the second target displacement;

[0010] The current working state parameters of the hydraulically driven wheel system include the actual driving speed v of the current vehicle.t , current driving wheel size s, current hydraulic pump first actual displacement q mot , the second actual displacement of the current hydraulic motor q pmp , Current actual engine speed n eng .

[0011] Optionally, the target driving control parameters include: a target driving speed and a target steering angle of the vehicle;

[0012] In the case where the target driving control parameters and the current working state parameters of the hydraulically driven wheel system are the same, when the target steering angle is not 0, the volumetric efficiency correction values ​​corresponding to the driving wheels on different sides are different.

[0013] Optionally, the feedforward volumetric efficiency η v Satisfies the following relationship:

[0014]

[0015] Among them, k1 is a preset parameter, and i is a transmission parameter of the hydraulic drive wheel system.

[0016] Optionally, determining the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor according to the target volumetric efficiency, the target driving control parameter and the current working state parameter of the hydraulic drive wheel system includes:

[0017] Determining a target displacement ratio according to the target volumetric efficiency, the target driving control parameter and the current working state parameter of the hydraulically driven wheel system; the target displacement ratio represents a target ratio of the displacement of the hydraulic pump to the displacement of the hydraulic motor;

[0018] The first target displacement and the second target displacement corresponding to the target displacement ratio are determined according to a preset corresponding relationship among the displacement ratio, the displacement of the hydraulic pump, and the displacement of the hydraulic motor.

[0019] Optionally, the target driving control parameters include: a target driving speed v0 of the vehicle;

[0020] The target displacement ratio B satisfies the following relationship:

[0021]

[0022] Among them, k2 is a preset parameter, η is the target volumetric efficiency, and i is the transmission parameter of the hydraulic drive wheel system.

[0023] Optionally, determining the volumetric efficiency correction amount of the hydraulically driven wheel system according to the actual speed of the hydraulic motor and the target speed of the hydraulic motor includes:

[0024] According to the hydraulic motor target speed n set The actual speed n of the hydraulic motor act The difference is calculated and the volumetric efficiency correction is determined using the proportional-differential-integral PID algorithm.

[0025] Based on the same inventive concept, an embodiment of the present invention further provides a hydraulically driven vehicle control device, comprising:

[0026] a feedforward module, configured to determine a feedforward volumetric efficiency of the hydraulically driven wheel system according to a current working state parameter of the hydraulically driven wheel system corresponding to the driving wheel;

[0027] a correction module, configured to determine a target speed of the hydraulic motor according to a target driving control parameter, and determine a volumetric efficiency correction amount of the hydraulically driven wheel system according to an actual speed of the hydraulic motor and the target speed of the hydraulic motor;

[0028] a control module, configured to determine a target volumetric efficiency according to the feedforward volumetric efficiency and the volumetric efficiency correction amount; determine a first target displacement of the hydraulic pump and a second target displacement of the hydraulic motor according to the target volumetric efficiency, the target driving control parameter and a current working state parameter of the hydraulically driven wheel system, and control the hydraulic pump to operate at the first target displacement, and control the hydraulic motor to operate at the second target displacement;

[0029] The current working state parameters of the hydraulically driven wheel system include the actual driving speed v of the current vehicle. t , current driving wheel size s, current hydraulic pump first actual displacement q mot , the second actual displacement of the current hydraulic motor q pmp , Current actual engine speed n eng .

[0030] Based on the same inventive concept, an embodiment of the present invention further provides a controller, comprising: a processor and a memory for storing instructions executable by the processor;

[0031] Wherein, the processor is configured to execute the instructions to implement the hydraulically driven vehicle control method.

[0032] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium storing a computer program code. When the computer program code runs on a computer, the computer executes the hydraulically driven vehicle control method.

[0033] Based on the same inventive concept, an embodiment of the present invention further provides a computer program product, which includes: a computer program code, and when the computer program code runs on a computer, the computer executes the hydraulic drive vehicle control method.

[0034] The beneficial effects of the present invention are as follows:

[0035] The hydraulically driven vehicle control method and related hardware provided by the embodiment of the present invention determine the feedforward volumetric efficiency of the hydraulically driven wheel system according to the current working state parameters of the hydraulically driven wheel system, determine the volumetric efficiency correction amount in combination with the target driving control parameters, use the volumetric efficiency correction amount to correct the feedforward volumetric efficiency to obtain the target volumetric efficiency, and determine the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor based on the target volumetric efficiency, thereby controlling the hydraulic pump and the hydraulic motor to work at the corresponding target displacements, thereby achieving the speed control of the driving wheel. In addition, the current working state parameters of the hydraulically driven wheel system omit the hydraulic pressure / pressure of the hydraulic oil circuit between the hydraulic pump and the hydraulic motor, thereby omitting the corresponding hydraulic sensor in the hardware structure of the hydraulically driven vehicle, thereby reducing the probability of failure of the hydraulically driven vehicle and reducing the manufacturing cost of the hydraulically driven vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a structural schematic diagram of a hydraulically driven vehicle involved in an embodiment of the present invention;

[0037] Figure 2 One of the flow charts of the hydraulic drive vehicle control method provided by the embodiment of the present invention;

[0038] Figure 3 A second flow chart of a hydraulically driven vehicle control method provided by an embodiment of the present invention;

[0039] Figure 4 is a structural schematic diagram of a steering structure;

[0040] Figure 5 A schematic diagram of a portion of the flow chart of a hydraulically driven vehicle control method provided by an embodiment of the present invention;

[0041] Figure 6 A schematic diagram of the structure of a hydraulically driven vehicle control device provided by an embodiment of the present invention;

[0042] Figure 7 A schematic diagram of the structure of a controller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described below with reference to the accompanying drawings and examples. However, the exemplary embodiments can be implemented in various forms and should not be understood as being limited to the embodiments described herein; on the contrary, these embodiments are provided to make the present invention more comprehensive and complete, and to fully convey the concepts of the exemplary embodiments to those skilled in the art. The same figure marks in the figures represent the same or similar structures, and thus their repeated descriptions will be omitted. The words expressing position and direction described in the present invention are all explained using the accompanying drawings as examples, but changes can be made as needed, and the changes made are all included in the scope of protection of the present invention. The drawings of the present invention are only used to illustrate the relative position relationship and do not represent the true proportions.

[0044] It should be noted that specific details are described in the following description to facilitate a full understanding of the present invention. However, the present invention can be implemented in a variety of other ways different from those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below. The subsequent description of the specification is a preferred embodiment of the present application, but the description is for the purpose of illustrating the general principles of the present application and is not intended to limit the scope of the present application. The scope of protection of the present application shall be determined by the definition of the attached claims.

[0045] The hydraulically driven vehicle control method and related hardware provided by the embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0046] The embodiment of the present invention provides a hydraulic drive vehicle control method, which can be applied to Figure 1 In hydraulically driven vehicles as shown. Figure 1 As shown, the hydraulically driven vehicle includes an engine 101, a hydraulic pump 102, a hydraulic motor 103, a reducer 104, a driving wheel 105 and other structures. Among them, the engine 101 is connected to the hydraulic pump 102 through a transmission shaft. The hydraulic pump 102 is connected to the hydraulic motor 103 through a hydraulic oil circuit, the hydraulic motor 103 is connected to the reducer 104 through a transmission shaft, and the reducer is connected to the driving wheel 105 through a transmission shaft.

[0047] like Figure 2 and Figure 3 As shown, for a hydraulically driven wheel system corresponding to any driving wheel, the hydraulically driven vehicle control method includes:

[0048] S110. Determine a feedforward volumetric efficiency of the hydraulically driven wheel system according to a current working state parameter of the hydraulically driven wheel system corresponding to the driving wheel.

[0049] Among them, the current working state parameters of the hydraulic drive wheel system include:

[0050] The actual speed of the vehicle at present v t , the current driving wheel size s, the first actual displacement of the current hydraulic pump q mot , the second actual displacement q of the current hydraulic motor pmp , Current actual engine speed n eng .

[0051] Among them, the actual driving speed v of the current vehicle t is the average of the instantaneous linear velocities of different driving wheels. When the hydraulically driven vehicle is traveling in a straight line, the actual driving speed v t is equal to the instantaneous linear speed of each driving wheel; when the hydraulically driven vehicle is turning, the actual driving speed v t The instantaneous linear speed of the left and right driving wheels is not equal.

[0052] The driving wheel size s can be expressed by the driving wheel circumference c, the driving wheel diameter d, and the driving wheel radius r.

[0053] Correspondingly, the feedforward volumetric efficiency η t Satisfies the following relationship:

[0054]

[0055] In formula (1), k1 is a preset parameter, v t is the actual speed of the vehicle, q mot is the first actual displacement of the current hydraulic pump, i is the transmission parameter of the hydraulic drive wheel system, s is the current drive wheel size, q pmp is the second actual displacement of the current hydraulic motor, n eng The actual engine speed.

[0056] If the driving wheel size is expressed by the driving wheel radius r, the feedforward volumetric efficiency η t It can be expressed as:

[0057]

[0058] Among them, the radius r is in meters (m), the actual driving speed v t The unit of speed is kilometers per hour (km / h), and the unit of actual engine speed is revolutions per minute (rpm).

[0059] S120: Determine a target speed of the hydraulic motor according to the target driving control parameter.

[0060] As an optional implementation, if the hydraulically driven vehicle realizes the steering of the vehicle through a hardware steering structure, for example Figure 4The steering structure shown: wherein the steering structure comprises a steering wheel 1, a steering shaft 2, a steering universal joint 3, a steering transmission shaft 4, a steering gear 5, a steering rocker arm 6, a steering main tie rod 7, a steering knuckle arm 8, a left steering knuckle 9, a left trapezoidal arm 10, a steering tie rod 11, a right trapezoidal arm 12, and a right steering knuckle 13. When the steering wheel 1 rotates under the control of the driver, it drives the steering shaft 2 connected to the shaft, and then the steering shaft 2 drives the connected first steering universal joint 3, the steering transmission shaft 4, the second steering universal joint 3, the steering gear 5, the steering rocker arm 6, the steering main tie rod 7, and the steering knuckle arm 8 to rotate in sequence, and the steering knuckle arm 8 drives the connected left steering knuckle 9 to rotate, and at the same time, the steering knuckle arm 8 drives the left trapezoidal arm 10, the steering tie rod 11, and the right trapezoidal arm 12 in sequence, so that the right trapezoidal arm 12 drives the right steering knuckle 13 to rotate, and the left steering knuckle 9 and the right steering knuckle 13 respectively drive the corresponding left and right driving wheels to rotate, so as to realize the turning of the vehicle. Then, the target driving control parameters include: the target driving speed v0 of the vehicle.

[0061] As another optional implementation, in order to further reduce the number of hardware structures of the hydraulically driven vehicle, thereby reducing the probability of failure of the hydraulically driven vehicle, as Figure 1 As shown, the hardware steering structure of the hydraulically driven vehicle can be eliminated, and an independent hydraulically driven wheel system can be set for the left and right driving wheels respectively. During the driving process of the hydraulically driven vehicle, the steering of the hydraulically driven vehicle is achieved by the wheel speed difference between the left and right driving wheels. Then, the target driving control parameters include: the target driving speed v0 of the vehicle and the target steering angle θ.

[0062] In the specific implementation process, the target driving speed v0 can be determined according to the driving instructions triggered by the driver such as the accelerator pedal opening, the joystick opening, the vehicle-machine interaction instruction, or the driving instructions triggered by the automatic driving program of the vehicle controller. The target steering angle θ can be determined according to the driving instructions triggered by the driver such as the steering wheel rotation angle, the vehicle-machine interaction instruction, or the driving instructions triggered by the automatic driving program of the vehicle controller. The embodiments of the present invention are not limited in detail here.

[0063] In the specific implementation process, the corresponding relationship between the driving control parameters and the desired hydraulic motor speed can be pre-calibrated (for example, in the form of a function curve, a data table MAP, etc.), and then the target speed of the hydraulic motor is determined according to the target driving control parameters.

[0064] S130: Determine a volumetric efficiency correction amount of the hydraulically driven wheel system according to the actual speed of the hydraulic motor and the target speed of the hydraulic motor.

[0065] In the specific implementation process, a suitable control algorithm can be selected as needed to determine the volumetric efficiency correction amount of the hydraulic drive wheel system according to the actual speed of the hydraulic motor and the target speed of the hydraulic motor.

[0066] Optionally, the volumetric efficiency correction amount is determined by using a Proportional Integral Differential (PID) algorithm according to a difference between a target speed of the hydraulic motor and an actual speed of the hydraulic motor.

[0067] Specifically, the volumetric efficiency correction amount η c Satisfies the following relationship:

[0068]

[0069] In formula (2), k P , k I , k D They are the parameters of the PID algorithm, n set is the target speed of the hydraulic motor, n act is the actual speed of the hydraulic motor, and t is the time.

[0070] Of course, the volumetric efficiency correction amount can also be determined according to the difference between the target speed of the hydraulic motor and the actual speed of the hydraulic motor by using a model predictive control (MPC) algorithm, an internal feedback controller (IFC) algorithm, etc. The embodiment of the present invention does not make too many restrictions here.

[0071] If the hydraulically driven vehicle achieves steering through the wheel speed difference between the left and right driving wheels, then when the target driving control parameters and the current working state parameters of the hydraulically driven wheel system are the same, and the target steering angle is not 0, the volumetric efficiency correction values ​​η corresponding to the driving wheels on different sides are c Furthermore, in subsequent steps, the hydraulic drive wheel systems of the drive wheels on different sides can be controlled separately to make the drive wheels on different sides rotate at different speeds, thereby achieving vehicle steering.

[0072] In the specific implementation process, for different side driving wheels of the same vehicle, the corresponding relationship between the driving control parameters and the hydraulic motor speed can be calibrated differently for the driving wheels on different sides, and then when the target steering angle is not 0, the target speed n of the hydraulic motor corresponding to the driving wheels on different sides is used. set Different to achieve the volumetric efficiency correction value η corresponding to the drive wheel on different sides c Different; and / or, the algorithm parameters of the control algorithm (such as the PID algorithm described above) for calculating the volumetric efficiency correction amount can be different for the drive wheels on different sides, so that when the target steering angle is not 0, the volumetric efficiency correction value η corresponding to the drive wheels on different sides is achieved c The embodiments of the present invention are not limited in detail herein.

[0073] S140: Determine a target volumetric efficiency based on the feedforward volumetric efficiency and the volumetric efficiency correction amount.

[0074] Specifically, the target volumetric efficiency η satisfies the following relationship:

[0075] η=η t -η c (3)

[0077] In formula (3), η t is the feedforward volumetric efficiency, η c is the volumetric efficiency correction.

[0078] S150. Determine a first target displacement of the hydraulic pump and a second target displacement of the hydraulic motor according to the target volumetric efficiency, the target driving control parameter and the current working state parameter of the hydraulically driven wheel system.

[0079] For the same hydraulically driven wheel system, since the hardware structure has been determined, the first target displacement and the second target displacement can be determined by pre-calibrating the corresponding relationship between the parameters related to the displacement of the hydraulic pump and the displacement of the hydraulic motor.

[0080] As an optional implementation, the preset correspondence between the target volumetric efficiency, target driving control parameters, current working state parameters of the hydraulic drive wheel system and the first target displacement and the second target displacement can be pre-calibrated (for example, in the form of a function curve, data table MAP, etc.), and the specific values ​​of the first target displacement and the second target displacement can be determined by querying the preset correspondence between the five.

[0081] As another optional implementation, Figure 5 As shown, the step S150 specifically includes:

[0082] S151, determining a target displacement ratio according to the target volumetric efficiency, the target driving control parameter and the current working state parameter of the hydraulic drive wheel system, wherein the target displacement ratio represents a target ratio of the displacement of the hydraulic pump to the displacement of the hydraulic motor.

[0083] Optionally, the target displacement ratio B satisfies the following relationship:

[0084]

[0085] Among them, k2 is the preset parameter, v0 is the target driving speed, i is the transmission parameter of the hydraulic drive wheel system, s is the current drive wheel size, η is the target volumetric efficiency, and n eng The actual engine speed.

[0086] If the driving wheel size is expressed by the driving wheel radius r, the target displacement ratio B can be expressed as:

[0087]

[0088] Among them, the radius r is in meters (m), the actual driving speed v t The unit of speed is kilometers per hour (km / h), and the unit of actual engine speed is revolutions per minute (rpm).

[0089] S152. According to a preset correspondence between the displacement ratio, the displacement of the hydraulic pump and the displacement of the hydraulic motor (for example, in the form of a function curve, a data table MAP, etc.), determine a first target displacement and a second target displacement corresponding to the target displacement ratio by querying the preset correspondence between the three.

[0090] S160, controlling the hydraulic pump to operate at a first target displacement, and controlling the hydraulic motor to operate at a second target displacement.

[0091] In the specific implementation process, if the hydraulic pump / hydraulic motor is an electronically controlled hydraulic pump / electronically controlled hydraulic motor, then the electronic control signal of the electronically controlled hydraulic pump can be determined according to the first target displacement / the electronic control signal of the electronically controlled hydraulic motor can be determined according to the second target displacement, and the electronically controlled hydraulic pump can be controlled to work at the first target displacement / the electronically controlled hydraulic motor can be controlled to work at the second target displacement by the electronic control signal. The electronic control signal can be a pulse width modulation (PWM) signal, and the duty cycle of the PWM signal corresponding to different displacements is different.

[0092] In the above formulas (1), (1-1), (4), and (4-1), the transmission parameter i of the hydraulic drive wheel system satisfies the following relationship:

[0093] i=i0·i e2p (5)

[0095] Among them, i0 is the transmission ratio of the axle, i e2p is the transmission ratio between the engine and the hydraulic pump.

[0096] The hydraulically driven vehicle control method provided by the embodiment of the present invention determines the feedforward volumetric efficiency of the hydraulically driven wheel system according to the current working state parameters of the hydraulically driven wheel system, determines the volumetric efficiency correction amount in combination with the target driving control parameters, corrects the feedforward volumetric efficiency using the volumetric efficiency correction amount to obtain the target volumetric efficiency, determines the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor based on the target volumetric efficiency, thereby controlling the hydraulic pump and the hydraulic motor to work at the corresponding target displacements, thereby achieving the speed control of the driving wheel. In addition, the current working state parameters of the hydraulically driven wheel system omit the measurement of the hydraulic pressure / pressure of the hydraulic oil circuit between the hydraulic pump and the hydraulic motor, thereby being able to omit the corresponding hydraulic sensor in the hardware structure of the hydraulically driven vehicle, thereby being able to reduce the probability of failure of the hydraulically driven vehicle, and being able to reduce the manufacturing cost of the hydraulically driven vehicle.

[0097] Based on the same inventive concept, the embodiment of the present invention also provides a hydraulically driven vehicle control device, such as Figure 6 As shown, including:

[0098] A feedforward module M1, configured to determine a feedforward volumetric efficiency of the hydraulically driven wheel system according to a current working state parameter of the hydraulically driven wheel system corresponding to the driving wheel;

[0099] A correction module M2, used to determine a target speed of the hydraulic motor according to the target driving control parameter, and to determine a volumetric efficiency correction amount of the hydraulically driven wheel system according to an actual speed of the hydraulic motor and the target speed of the hydraulic motor;

[0100] a control module M3, configured to determine a target volumetric efficiency according to the feedforward volumetric efficiency and the volumetric efficiency correction amount; determine a first target displacement of the hydraulic pump and a second target displacement of the hydraulic motor according to the target volumetric efficiency, the target driving control parameter and a current working state parameter of the hydraulically driven wheel system, and control the hydraulic pump to operate at the first target displacement, and control the hydraulic motor to operate at the second target displacement;

[0101] The current working state parameters of the hydraulically driven wheel system include the actual driving speed v of the current vehicle. t , current driving wheel size s, current hydraulic pump first actual displacement q mot , the second actual displacement of the current hydraulic motor q pmp , Current actual engine speed n eng .

[0102] As an optional implementation manner, the target driving control parameter includes: a target driving speed of the vehicle.

[0103] As another optional implementation, the target driving control parameters include: a target driving speed and a target steering angle of the vehicle.

[0104] Optionally, when the target driving control parameters and the current working state parameters of the hydraulically driven wheel system are the same, when the target steering angle is not 0, the volumetric efficiency correction values ​​corresponding to the driving wheels on different sides of the vehicle are different.

[0105] Optionally, the feedforward volumetric efficiency η v Satisfies the following relationship:

[0106]

[0107] Among them, k1 is a preset parameter, and i is a transmission parameter of the hydraulic drive wheel system.

[0108] Optionally, determining the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor according to the target volumetric efficiency, the target driving control parameter and the current working state parameter of the hydraulic drive wheel system includes:

[0109] Determining a target displacement ratio according to the target volumetric efficiency, the target driving control parameter and the current working state parameter of the hydraulically driven wheel system; the target displacement ratio represents a target ratio of the displacement of the hydraulic pump to the displacement of the hydraulic motor;

[0110] The first target displacement and the second target displacement corresponding to the target displacement ratio are determined according to a preset corresponding relationship among the displacement ratio, the displacement of the hydraulic pump, and the displacement of the hydraulic motor.

[0111] Optionally, the target driving control parameters include: a target driving speed v0 of the vehicle;

[0112] The target displacement ratio B satisfies the following relationship:

[0113]

[0114] Among them, k2 is a preset parameter, η is the target volumetric efficiency, and i is the transmission parameter of the hydraulic drive wheel system.

[0115] Optionally, determining the volumetric efficiency correction amount of the hydraulically driven wheel system according to the actual speed of the hydraulic motor and the target speed of the hydraulic motor includes:

[0116] According to the hydraulic motor target speed n set The actual speed n of the hydraulic motor act The difference is calculated and the volumetric efficiency correction is determined using the proportional-differential-integral PID algorithm.

[0117] It should be understood that the embodiments of the hydraulically driven vehicle control device described above are merely illustrative. For example, the division of the modules is merely a logical function division. There may be other division methods in actual implementation, such as multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. The functional modules in the embodiments may be integrated into a processing module, or the individual unit modules may exist physically, or two or more modules may be integrated into one module. The above-mentioned integrated modules may be implemented in the form of hardware or in the form of software functional units. If the integrated units are implemented in the form of software functional modules and sold or used as independent products, they may be stored in a computer-readable storage medium.

[0118] Since the principle of solving the problem by the hydraulically driven vehicle control device is basically consistent with that of the hydraulically driven vehicle control method, the implementation of the hydraulically driven vehicle control device can refer to the implementation of the hydraulically driven vehicle control method, which will not be repeated here.

[0119] Based on the same inventive concept, the embodiment of the present invention further provides a controller, such as Figure 7 As shown, it includes: a processor 110 and a memory 120 for storing executable instructions of the processor 110;

[0120] The processor 110 is configured to execute the instructions to implement the hydraulically driven vehicle control method.

[0121] In the specific implementation process, the controller may have relatively large differences due to different configurations or performances, and may include one or more processors 110, memory 120, and computer-readable storage medium 130. The memory 120 and / or computer-readable storage medium 130 include one or more applications 131 or data 132. The memory 120 and / or computer-readable storage medium 130 may also include one or more operating systems 133, such as Windows, Mac OS, Linux, IOS, Android, Unix, FreeBSD, etc. Among them, the memory 120 and the computer-readable storage medium 130 may be short-term storage or persistent storage. The application 131 may include one or more modules ( Figure 7 ), each module may include a series of instruction operations. Further, the processor 110 may be configured to communicate with the computer-readable storage medium 130, and execute a series of instruction operations in the computer-readable storage medium 130 on the controller. The controller may also include one or more power supplies ( Figure 7one or more network interfaces 140, wherein the network interface 140 includes a wired network interface 141 and / or a wireless network interface 142; and one or more input / output interfaces 143.

[0122] Based on the same inventive concept, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program code runs on a computer, the computer executes the hydraulically driven vehicle control method.

[0123] The readable storage medium may be any available medium that can be stored by a computer or a data storage device such as a server or a data center that includes one or more available media. The available medium may be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a high-density digital video disc (DVD), a video compact disc (VCD)), or a semiconductor medium (such as a solid state disk (SSD)).

[0124] Since the principle of solving the problem by the above-mentioned readable storage medium is consistent with the above-mentioned hydraulic drive vehicle control method, the implementation of the above-mentioned readable storage medium can refer to the implementation of the method, and the repeated parts will not be repeated.

[0125] Based on the same inventive concept, an embodiment of the present invention further provides a computer program product, which includes: a computer program code, and when the computer program code runs on a computer, the computer executes the hydraulic drive vehicle control method.

[0126] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions may be stored in a readable storage medium, or transmitted from a readable storage medium to another readable storage medium, for example, the computer instructions may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center.

[0127] Since the principle of solving the problem by the above-mentioned computer program product is consistent with the hydraulic drive vehicle control method, the implementation of the above-mentioned computer program product can refer to the implementation of the method, and the repeated parts will not be repeated.

[0128] The hydraulically driven vehicle control method and related hardware provided by the embodiment of the present invention determine the feedforward volumetric efficiency of the hydraulically driven wheel system according to the current working state parameters of the hydraulically driven wheel system, determine the volumetric efficiency correction amount in combination with the target driving control parameters, use the volumetric efficiency correction amount to correct the feedforward volumetric efficiency to obtain the target volumetric efficiency, and determine the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor based on the target volumetric efficiency, thereby controlling the hydraulic pump and the hydraulic motor to work at the corresponding target displacements, thereby achieving the speed control of the driving wheel. In addition, the current working state parameters of the hydraulically driven wheel system omit the hydraulic pressure / pressure of the hydraulic oil circuit between the hydraulic pump and the hydraulic motor, thereby omitting the corresponding hydraulic sensor in the hardware structure of the hydraulically driven vehicle, thereby reducing the probability of failure of the hydraulically driven vehicle and reducing the manufacturing cost of the hydraulically driven vehicle.

[0129] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0130] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0131] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0132] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0133] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A hydraulically driven vehicle control method, characterized in that: For a hydraulically driven wheel system corresponding to any driving wheel, the method comprises: Determining a feedforward volumetric efficiency of the hydraulically driven wheel system according to a current working state parameter of the hydraulically driven wheel system corresponding to the driving wheel; Determine a target speed of the hydraulic motor according to the target driving control parameter, and determine a volumetric efficiency correction amount of the hydraulically driven wheel system according to the actual speed of the hydraulic motor and the target speed of the hydraulic motor; determining a target volumetric efficiency according to the feedforward volumetric efficiency and the volumetric efficiency correction amount; Determining a first target displacement of the hydraulic pump and a second target displacement of the hydraulic motor according to the target volumetric efficiency, the target travel control parameter and the current working state parameter of the hydraulically driven wheel system, and controlling the hydraulic pump to operate at the first target displacement, and controlling the hydraulic motor to operate at the second target displacement; The current working state parameters of the hydraulically driven wheel system include the actual driving speed v of the current vehicle. t , current driving wheel size s, current hydraulic pump first actual displacement q mot , the second actual displacement of the current hydraulic motor q pmp , Current actual engine speed n eng .

2. The method according to claim 1, characterized in that The target driving control parameters include: a target driving speed and a target steering angle of the vehicle; In the case where the target driving control parameters and the current working state parameters of the hydraulically driven wheel system are the same, when the target steering angle is not 0, the volumetric efficiency correction values ​​corresponding to the driving wheels on different sides are different.

3. The method according to claim 2, characterized in that The feedforward volumetric efficiency η v Satisfies the following relationship: Among them, k1 is a preset parameter, and i is a transmission parameter of the hydraulic drive wheel system.

4. The method according to claim 1 or 2, characterized in that: The step of determining the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor according to the target volumetric efficiency, the target driving control parameter and the current working state parameter of the hydraulically driven wheel system comprises: Determining a target displacement ratio according to the target volumetric efficiency, the target driving control parameter and the current working state parameter of the hydraulically driven wheel system; the target displacement ratio represents a target ratio of the displacement of the hydraulic pump to the displacement of the hydraulic motor; The first target displacement and the second target displacement corresponding to the target displacement ratio are determined according to a preset corresponding relationship among the displacement ratio, the displacement of the hydraulic pump, and the displacement of the hydraulic motor.

5. The method according to claim 4, characterized in that The target driving control parameters include: the target driving speed v0 of the vehicle; The target displacement ratio B satisfies the following relationship: Among them, k2 is a preset parameter, η is the target volumetric efficiency, and i is the transmission parameter of the hydraulic drive wheel system.

6. The method according to claim 1, characterized in that Determining the volumetric efficiency correction amount of the hydraulically driven wheel system according to the actual speed of the hydraulic motor and the target speed of the hydraulic motor includes: According to the hydraulic motor target speed n set The actual speed of the hydraulic motor n act The difference is calculated and the volumetric efficiency correction is determined using the proportional-differential-integral PID algorithm.

7. A hydraulically driven vehicle control device, characterized in that: include: a feedforward module, configured to determine a feedforward volumetric efficiency of the hydraulically driven wheel system according to a current working state parameter of the hydraulically driven wheel system corresponding to the driving wheel; a correction module, configured to determine a target speed of the hydraulic motor according to a target driving control parameter, and determine a volumetric efficiency correction amount of the hydraulically driven wheel system according to an actual speed of the hydraulic motor and the target speed of the hydraulic motor; a control module, configured to determine a target volumetric efficiency according to the feedforward volumetric efficiency and the volumetric efficiency correction amount; Determining a first target displacement of the hydraulic pump and a second target displacement of the hydraulic motor according to the target volumetric efficiency, the target travel control parameter and the current working state parameter of the hydraulically driven wheel system, and controlling the hydraulic pump to operate at the first target displacement, and controlling the hydraulic motor to operate at the second target displacement; The current working state parameters of the hydraulically driven wheel system include the actual driving speed v of the current vehicle. t , current driving wheel size s, current hydraulic pump first actual displacement q mot , the second actual displacement of the current hydraulic motor q pmp , Current actual engine speed n eng .

8. A controller, characterized in that: include: a processor and a memory for storing instructions executable by the processor; Wherein, the processor is configured to execute the instructions to implement the hydraulically driven vehicle control method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program code, and when the computer program code is run on a computer, the computer executes the hydraulic drive vehicle control method as described in any one of claims 1 to 6.

10. A computer program product, characterized in that The computer program product comprises: a computer program code, which, when executed on a computer, enables the computer to execute the hydraulically driven vehicle control method as claimed in any one of claims 1 to 6.

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