Hydraulically driven vehicle control method and related hardware

Abstract

The embodiment of the present application provides a kind of hydraulic drive vehicle control method and related hardware, to any drive wheel corresponding hydraulic drive wheel system, comprising: according to the current working state parameter of the drive wheel corresponding hydraulic drive wheel system, determine the feedforward volumetric efficiency of hydraulic drive wheel system;According to target driving control parameter, determine the target speed of hydraulic motor, according to the actual speed of hydraulic motor and the target speed of hydraulic motor, determine the volumetric efficiency correction of hydraulic drive wheel system;According to feedforward volumetric efficiency and volumetric efficiency correction, determine target volumetric efficiency;According to target volumetric efficiency, target driving control parameter and the current working state parameter of hydraulic drive wheel system, determine the first target displacement of hydraulic pump and the second target displacement of hydraulic motor, and control hydraulic pump to work with first target displacement, and control hydraulic motor to work with second target displacement.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation control technology, in particular to a hydraulic drive vehicle control method and related hardware. BACKGROUND

[0002] The hydraulic drive vehicle is a vehicle using an engine to drive a hydraulic pump, the hydraulic pump drives a hydraulic motor, and the hydraulic motor drives the rotation of the wheels through a corresponding power transmission structure. In the control process of the existing hydraulic drive vehicle, the hydraulic pressure value in the hydraulic oil circuit between the hydraulic pump and the hydraulic motor is measured by a hydraulic sensor, and then the hydraulic drive system is controlled according to the hydraulic pressure value.

[0003] At present, in order to reduce the failure rate of the hydraulic drive vehicle, the number of hardware structures of the hydraulic drive vehicle can be reduced. After canceling the hydraulic sensor for measuring the hydraulic pressure of the hydraulic oil circuit between the hydraulic pump and the hydraulic motor in the hydraulic drive vehicle, how to better control the hydraulic drive vehicle currently has no good solution. SUMMARY

[0004] The embodiments of the present application provide a hydraulic drive vehicle control method and related hardware to provide a driving control method for a hydraulic drive vehicle without a hydraulic sensor for measuring the hydraulic pressure of the hydraulic oil circuit between the hydraulic pump and the hydraulic motor.

[0005] The embodiments of the present application provide a hydraulic drive vehicle control method for a hydraulic drive wheel system corresponding to any drive wheel, the method comprising:

[0006] determining the feedforward volumetric efficiency of the hydraulic drive wheel system according to the current working state parameters of the hydraulic drive wheel system corresponding to the drive wheel;

[0007] determining the hydraulic motor target speed according to the target driving control parameters, and determining the volumetric efficiency correction amount of the hydraulic drive wheel system according to the actual speed of the hydraulic motor and the hydraulic motor target speed;

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

[0009] 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 parameters and the current working state parameters of the hydraulic drive wheel system, and controlling the hydraulic pump to work at the first target displacement and controlling the hydraulic motor to work at the second target displacement;

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

[0011] Optionally, the target driving control parameter comprises: a target driving speed and a target steering angle of the vehicle.

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

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

[0014]

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

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

[0017] According to the target volumetric efficiency, the target driving control parameter and the current working state parameter of the hydraulic drive wheel system, a target displacement ratio is determined; the target displacement ratio represents a target ratio of the displacement of the hydraulic pump to the displacement of the hydraulic motor;

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

[0019] Optionally, the target driving control parameter comprises: a target driving speed v0 of the vehicle.

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

[0021]

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

[0023] Optionally, the volumetric efficiency correction amount of the hydraulic drive wheel system is determined according to the actual speed of the hydraulic motor and the target speed of the hydraulic motor, comprising:

[0024] According to the hydraulic motor target rotating speed n set and the difference between the hydraulic motor actual rotating speed n act , a proportional-integral-derivative PID algorithm is used to determine the volumetric efficiency correction amount.

[0025] Based on the same inventive concept, the embodiment of the present application also provides a hydraulic drive vehicle control device, comprising:

[0026] a feedforward module, configured to determine the feedforward volumetric efficiency of the hydraulic drive wheel system according to the current working state parameters of the hydraulic drive wheel system corresponding to the drive wheel;

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

[0028] a control module, configured to determine the target volumetric efficiency according to the feedforward volumetric efficiency and the volumetric efficiency correction amount, and determine 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 parameters of the hydraulic drive wheel system, and control the hydraulic pump to work at the first target displacement and control the hydraulic motor to work at the second target displacement;

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

[0030] Based on the same inventive concept, the embodiment of the present application also provides a controller, comprising a processor and a memory for storing executable instructions of the processor;

[0031] wherein the processor is configured to execute the instructions to implement the hydraulic drive vehicle control method.

[0032] Based on the same inventive concept, the embodiment of the present application also provides a computer readable storage medium, which stores computer program codes, when the computer program codes are run on a computer, the computer is caused to execute the hydraulic drive vehicle control method.

[0033] Based on the same inventive concept, the embodiment of the present application also provides a computer program product, which comprises computer program codes, when the computer program codes are run on a computer, the computer program codes make the computer execute the hydraulic drive vehicle control method.

[0034] The present application has the following advantages:

[0035] The hydraulic drive vehicle control method and related hardware provided by the embodiment of the present application, by determining the feedforward volumetric efficiency of the hydraulic drive wheel system according to the current working state parameters of the hydraulic drive wheel system, and combining the target driving control parameters to determine the volumetric efficiency correction amount, the target volumetric efficiency is obtained by correcting the feedforward volumetric efficiency with the volumetric efficiency correction amount, and the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor are determined based on the target volumetric efficiency, so as to control the hydraulic pump and the hydraulic motor to work at the corresponding target displacement respectively, and the rotation speed control of the drive wheel is realized. Moreover, the hydraulic pressure / pressure of the hydraulic oil circuit between the hydraulic pump and the hydraulic motor is omitted in the current working state parameters of the hydraulic drive wheel system, so that the corresponding hydraulic sensor can be omitted in the hardware structure of the hydraulic drive vehicle, and the probability of failure of the hydraulic drive vehicle can be reduced, and the manufacturing cost of the hydraulic drive vehicle can be reduced. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 The structure schematic diagram of the hydraulic drive vehicle related to the embodiment of the present application;

[0037] Figure 2 The flowchart of the hydraulic drive vehicle control method provided by the embodiment of the present application is shown in one of the following;

[0038] Figure 3 The flowchart of the hydraulic drive vehicle control method provided by the embodiment of the present application is shown in two of the following;

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

[0040] Figure 5 The partial flowchart of the hydraulic drive vehicle control method provided by the embodiment of the present application is shown in the following;

[0041] Figure 6 The structure schematic diagram of the hydraulic drive vehicle control device provided by the embodiment of the present application is shown in the following;

[0042] Figure 7 The structure schematic diagram of the controller provided by the embodiment of the present application is shown in the following. DETAILED DESCRIPTION

[0043] In order to make the above objectives, characteristics and advantages of the present application more apparent, comprehensible and easier to understand, the present application will be further described below in conjunction with the accompanying drawings and embodiments. However, the example embodiments can be implemented in various forms, and should not be understood as being limited to the embodiments set forth herein; on the contrary, these embodiments are provided so as to make the present application more comprehensive and complete, and to fully convey the ideas of the example embodiments to those skilled in the art. Identical reference numerals in the drawings represent identical or similar structures, and thus repeated description thereof will be omitted. The words expressing position and direction described in the present application are described by taking the drawings as an example, but changes can also be made as needed, and the changes made are all included in the protection scope of the present application. The drawings of the present application are only used to illustrate the relative positional relationship and do not represent the true proportion.

[0044] It should be noted that specific details are set forth in the following description in order to provide a thorough understanding of the present application. However, the present application can be practiced in a variety of ways other than those described herein, and skilled artisans can make similar substitutions without departing from the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below. The subsequent description of the specification is a preferred embodiment for implementing the present application, and is intended to illustrate the general principles of the present application, rather than to limit the scope of the present application. The protection scope of the present application is defined by the appended claims.

[0045] The hydraulic drive vehicle control method and related hardware provided by the embodiments of the present application will be specifically described below in conjunction with the accompanying drawings.

[0046] The embodiments of the present application provide a hydraulic drive vehicle control method, which can be applied to a hydraulic drive vehicle as shown in Figure 1 As shown in Figure 1 , the hydraulic drive vehicle includes an engine 101, a hydraulic pump 102, a hydraulic motor 103, a reducer 104, a drive wheel 105 and the like. Among them, the engine 101 is connected with the hydraulic pump 102 through a transmission shaft. The hydraulic pump 102 is connected with the hydraulic motor 103 through a hydraulic oil circuit, the hydraulic motor 103 is connected with the reducer 104 through a transmission shaft, and the reducer is connected with the drive wheel 105 through a transmission shaft.

[0047] As shown in Figure 2 and Figure 3 , for the hydraulic drive wheel system corresponding to any drive wheel, the hydraulic drive vehicle control method comprises:

[0048] S110, determining the feedforward volumetric efficiency of the hydraulic drive wheel system according to the current working state parameter of the hydraulic drive wheel system corresponding to the drive wheel.

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

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

[0051] wherein the actual driving speed v of the current vehicle t is an average of the instantaneous linear speeds of the different drive wheels. When the driving direction of the hydraulic drive vehicle is straight, the actual driving speed v t is equal to the instantaneous linear speeds of each drive wheel; when the driving direction of the hydraulic drive vehicle is turning, the actual driving speed v t is not equal to the instantaneous linear speeds of the left and right drive wheels.

[0052] wherein the drive wheel size s can be expressed by a drive wheel circumference c, a drive wheel diameter d, or a drive wheel radius r.

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

[0054]

[0055] In the formula (1), k1 is a preset parameter, v t is the actual driving speed of the current vehicle, q mot is the first actual displacement of the current hydraulic pump, i is a 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 is the current engine actual speed.

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

[0057]

[0058] wherein the unit of the radius r is meter (m), the unit of the actual driving speed v t is kilometer per hour (km / h), and the unit of the engine actual speed is revolution per minute (rpm).

[0059] S120, determining a hydraulic motor target speed according to the target driving control parameter.

[0060] As an optional implementation, if the hydraulic drive vehicle implements the steering of the vehicle through a hardware steering structure, for example Figure 4The turning structure shown: wherein the turning structure includes steering wheel 1, steering shaft 2, steering universal joint 3, steering transmission shaft 4, steering gear 5, steering arm 6, steering main pull rod 7, steering knuckle arm 8, left steering knuckle 9, left trapezoidal arm 10, steering cross rod 11, right trapezoidal arm 12, right steering knuckle 13. When the steering wheel 1 rotates under the control of the driver, the shaft connected steering shaft 2, and then the steering shaft 2 in turn drives the connected first steering universal joint 3, steering transmission shaft 4, second steering universal joint 3, steering gear 5, steering arm 6, steering main pull rod 7, steering knuckle arm 8 rotation, steering knuckle arm 8 connected to drive the left steering knuckle 9 rotation, while the steering knuckle arm 8 in turn drives the left trapezoidal arm 10, steering cross rod 11, right trapezoidal arm 12, so that the right trapezoidal arm 12 drives the right steering knuckle 13 rotation, the left steering knuckle 9 and the right steering knuckle 13 drive the corresponding left and right drive wheels to rotate, realize the turning of the vehicle. Then, the target driving control parameter includes: the target driving speed v0 of the vehicle.

[0061] As another optional embodiment, in order to further reduce the number of hardware structures of the hydraulic drive vehicle, thereby reducing the probability of failure of the hydraulic drive vehicle, as shown Figure 1 The hardware turning structure of the hydraulic drive vehicle can be cancelled, and independent hydraulic drive wheel systems are respectively arranged for the left and right drive wheels. The turning of the hydraulic drive vehicle is realized by the wheel speed difference of the left and right drive wheels during the driving of the hydraulic drive vehicle. Then, the target driving control parameter includes: the target driving speed v0 and the target turning angle θ of the vehicle.

[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 degree, the joystick opening degree, the car-machine interactive instruction, or the driving instructions triggered by the automatic driving program of the vehicle controller. The target turning angle θ can be determined according to the driving instructions triggered by the driver such as the steering wheel rotation angle, the car-machine interactive instruction, or the driving instructions triggered by the automatic driving program of the vehicle controller. The present embodiment does not make too many limitations here.

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

[0064] S130, determining the volumetric efficiency correction amount of the hydraulic drive wheel system according to the hydraulic motor actual speed and the hydraulic motor target speed.

[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 hydraulic motor actual speed and the hydraulic motor target speed.

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

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

[0068]

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

[0070] Of course, the volumetric efficiency correction amount can also be determined by a Model Predictive Control (MPC) algorithm, an Internal feedback controller (IFC) algorithm, etc. according to a difference between the target rotating speed of the hydraulic motor and the actual rotating speed of the hydraulic motor, and the present embodiment is not limited in this regard.

[0071] If the hydraulic drive vehicle realizes steering by the speed difference between the left and right drive wheels, correspondingly, when the target steering angle is not 0, the volumetric efficiency correction values η c corresponding to the drive wheels on different sides are different, and then, by controlling the hydraulic drive wheel systems of the drive wheels on different sides in subsequent steps, the drive wheels on different sides can be made to rotate at different speeds, thereby realizing vehicle steering.

[0072] In the specific implementation process, for the drive wheels on different sides of the same vehicle, the corresponding relationship between the driving control parameters and the rotating speed of the hydraulic motor can be calibrated to be different for the drive wheels on different sides, and then, when the target steering angle is not 0, the target rotating speeds n set of the hydraulic motors corresponding to the drive wheels on different sides are made to be different, thereby realizing that the volumetric efficiency correction values η c corresponding to the drive wheels on different sides are 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 calibrated to be different for the drive wheels on different sides, and then, when the target steering angle is not 0, the volumetric efficiency correction values η c corresponding to the drive wheels on different sides are made to be different. The present embodiment is not limited in this regard.

[0073] S140, determining the target volumetric efficiency according to 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, and η c is the volumetric efficiency correction amount.

[0078] S150, 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.

[0079] For the same hydraulic drive wheel system, since the hardware structure is determined, the first target displacement and the second target displacement can be determined by pre-calibrating the correspondence between the parameters related to the displacement of the hydraulic pump and the displacement of the hydraulic motor.

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

[0081] As another optional implementation, as shown in the following formula (4), the step S150 specifically includes: Figure 5

[0082] S151, determining the 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. The target displacement ratio represents the 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] Wherein, k2 is a 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 is the current engine actual speed.

[0086] ​If the size of the drive wheel is represented by the radius r of the drive wheel, the target displacement ratio B can be represented as:

[0087]

[0088] where the unit of the radius r is meter (m), the actual driving speed v t is in kilometer per hour (km / h), and the actual engine speed is in revolutions per minute (rpm).

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

[0090] S160, 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.

[0091] In the specific implementation process, if the hydraulic pump / hydraulic motor is an electrically controlled hydraulic pump / electrically controlled hydraulic motor, the electronic control signal of the electrically controlled hydraulic pump can be determined according to the first target displacement, the electronic control signal of the electrically controlled hydraulic motor can be determined according to the second target displacement, and the electrically controlled hydraulic pump is controlled to work at the first target displacement / electrically controlled hydraulic motor is controlled to work at the second target displacement through 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), (4-1), the transmission parameter i of the hydraulic drive wheel system satisfies the following relationship:

[0093] i = i0·i e2p (5)

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

[0096] The control method of the hydraulic drive vehicle provided by the embodiment of the present application determines the feed-forward volumetric efficiency of the hydraulic drive wheel system according to the current working state parameters of the hydraulic drive wheel system, determines the volumetric efficiency correction amount in combination with the target driving control parameters, corrects the feed-forward volumetric efficiency by using the volumetric efficiency correction amount to obtain the target volumetric efficiency, and determines the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor based on the target volumetric efficiency, so as to control the hydraulic pump and the hydraulic motor to work at the corresponding target displacements, and to realize the speed control of the drive wheel. In addition, the current working state parameters of the hydraulic drive wheel system do not include the hydraulic pressure / pressure of the hydraulic oil path between the hydraulic pump and the hydraulic motor, so that the corresponding hydraulic sensor can be omitted in the hardware structure of the hydraulic drive vehicle, and the probability of failure of the hydraulic drive vehicle can be reduced, and the manufacturing cost of the hydraulic drive vehicle can be reduced.

[0097] Based on the same inventive concept, the embodiment of the present application also provides a control device of a hydraulic drive vehicle, as shown in the figure, comprising: Figure 6

[0098] a feed-forward module M1, configured to determine the feed-forward volumetric efficiency of the hydraulic drive wheel system according to the current working state parameters of the hydraulic drive wheel system corresponding to the drive wheel;

[0099] a correction module M2, configured to determine the target rotational speed of the hydraulic motor according to the target driving control parameters, and determine the volumetric efficiency correction amount of the hydraulic drive wheel system according to the actual rotational speed of the hydraulic motor and the target rotational speed of the hydraulic motor;

[0100] a control module M3, configured to determine the target volumetric efficiency according to the feed-forward volumetric efficiency and the volumetric efficiency correction amount, and determine 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 parameters and the current working state parameters of the hydraulic drive wheel system, and control the hydraulic pump to work at the first target displacement and control the hydraulic motor to work at the second target displacement;

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

[0102] As an optional implementation, the target driving control parameters include the target driving speed of the vehicle.

[0103] ​As another optional implementation, the target driving control parameter comprises a target driving speed and a target steering angle of the vehicle.

[0104] Optionally, when the target steering angle is not 0, the volumetric efficiency correction values corresponding to the drive wheels on different sides of the vehicle are different, in a case where the target driving control parameter and the current working state parameter of the hydraulic drive wheel system are both the same.

[0105] Optionally, the feedforward volumetric efficiency η v The following relationship is satisfied:

[0106]

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

[0108] Optionally, the 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 comprises:

[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 hydraulic drive 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] determining the first target displacement and the second target displacement corresponding to the target displacement ratio according to a preset correspondence relationship among the displacement ratio, the displacement of the hydraulic pump and the displacement of the hydraulic motor.

[0111] Optionally, the target driving control parameter comprises a target driving speed v0 of the vehicle.

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

[0113]

[0114] wherein 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, the determining the volumetric efficiency correction amount of the hydraulic drive wheel system according to the actual rotational speed of the hydraulic motor and the target rotational speed of the hydraulic motor comprises:

[0116] determining the volumetric efficiency correction amount according to a difference between the target rotational speed n set of the hydraulic motor and the actual rotational speed n act of the hydraulic motor by using a proportional-integral-derivative (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 functional division. In actual implementation, there may be other division methods, 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 may be physically present as individual unit modules, 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 of the hydraulically driven vehicle control device is basically the same as 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, an 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 a specific implementation, the controller may have relatively large differences due to different configurations or performances, and may include one or more processors 110, a memory 120, and a computer-readable storage medium 130. The memory 120 and / or the computer-readable storage medium 130 may include one or more applications 131 or data 132. The memory 120 and / or the 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. The memory 120 and the computer-readable storage medium 130 may be temporary storage or persistent storage. The application 131 may include one or more modules ( Figure 7 (not shown), each module may include a series of instruction operations. Furthermore, 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, including a wired network interface 141 and / or a wireless network interface 142; one or more input / output interfaces 143.

[0122] Based on the same inventive concept, the embodiments of the present application further provide a computer readable storage medium, which stores a computer program, and when the computer program code is run on a computer, the computer is caused to execute the hydraulic drive vehicle control method.

[0123] The readable storage medium can be any available medium that can be used to store by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., Digital Video Disc (DVD), Video Compact Disc (VCD)), or a semiconductor medium (e.g., Solid State Disk (SSD)), etc.

[0124] Since the above readable storage medium solves the problem by the same principle as the hydraulic drive vehicle control method, the implementation of the above readable storage medium can refer to the implementation of the method, and the repeated parts will not be described.

[0125] Based on the same inventive concept, the embodiments of the present application further provide a computer program product, which includes: computer program code, and when the computer program code is run on a computer, the computer is caused to execute 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, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a readable storage medium or transmitted from one readable storage medium to another readable storage medium, for example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, Digital Subscriber Line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode.

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

[0128] The hydraulic drive vehicle control method and related hardware provided by the embodiments of the present application can determine the feed-forward volumetric efficiency of the hydraulic drive wheel system according to the current working state parameters of the hydraulic drive wheel system, determine the volumetric efficiency correction amount in combination with the target driving control parameters, correct the feed-forward volumetric efficiency by using the volumetric efficiency correction amount 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, so that the hydraulic pump and the hydraulic motor work at the corresponding target displacements, and the rotation speed control of the drive wheel is realized. In addition, the hydraulic pressure / pressure of the hydraulic oil circuit between the hydraulic pump and the hydraulic motor is omitted from the current working state parameters of the hydraulic drive wheel system, so that the corresponding hydraulic sensor can be omitted from the hardware structure of the hydraulic drive vehicle, and the probability of failure of the hydraulic drive vehicle can be reduced, and the manufacturing cost of the hydraulic drive vehicle can be reduced.

[0129] Those skilled in the art will understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can adopt a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes.

[0130] The present application is described with reference to 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 flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one flow or multiple flows and / or blocks Figure 1 The functions specified in one flow or multiple flows and / or blocks

[0131] These computer program instructions can also be stored in a computer readable storage medium that can guide the computer or other programmable data processing devices to work in a specific way, so that the instructions stored in the computer readable storage medium produce a product including instruction devices, which implement the functions specified in the flowcharts and / or block diagrams. Figure 1one or more processes and / or blocks Figure 1 the function(s) specified in the block or blocks.

[0132] These computer program instructions can also be loaded into computer or other programmable data processing devices, so that a series of operation steps are performed on the computer or other programmable data processing devices to generate computer-implemented processes, thus the instructions executed on the computer or other programmable data processing devices provide processes for implementing the flow Figure 1 one or more processes and / or blocks Figure 1 the function(s) specified in the block or blocks.

[0133] Obviously, those skilled in the art can make various modifications and variations 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 belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. A hydraulic drive vehicle control method, characterized by, The method comprises the following steps: According to the current working state parameters of the hydraulic drive wheel system corresponding to the driving wheel, the feedforward volumetric efficiency of the hydraulic drive wheel system is determined; According to the target driving control parameters, the target rotating speed of the hydraulic motor is determined, and according to the actual rotating speed of the hydraulic motor and the target rotating speed of the hydraulic motor, the volumetric efficiency correction value of the hydraulic drive wheel system is determined; According to the feedforward volumetric efficiency and the volumetric efficiency correction value, the target volumetric efficiency is determined; According to the target volumetric efficiency, the target driving control parameters and the current working state parameters of the hydraulic drive wheel system, the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor are determined, and 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; The current working state parameters of the hydraulic drive wheel system include actual driving speed of the current vehicle , current drive wheel size s , current first actual displacement of the hydraulic pump , current second actual displacement of the hydraulic motor , and current actual engine speed .

2. The method of claim 1, wherein, The target driving control parameters comprise the target driving speed and the target steering angle of the vehicle; When the target steering angle is not 0, the volumetric efficiency correction values corresponding to the driving wheels on different sides are different under the condition that the target driving control parameters and the current working state parameters of the hydraulic drive wheel system are the same.

3. The method of claim 2, wherein, The feed forward volume efficiency satisfies the following relationship: wherein, is a predetermined parameter, i is a transmission parameter of the hydraulic drive wheel system.

4. The method of claim 1 or 2, wherein, The method comprises the following steps: According to the target volumetric efficiency, the target driving control parameters and the current working state parameters of the hydraulic drive wheel system, the target displacement ratio is determined; the target displacement ratio represents the target ratio of the displacement of the hydraulic pump to the displacement of the hydraulic motor; According to the preset corresponding relationship among the displacement ratio, the displacement of the hydraulic pump and the displacement of the hydraulic motor, the first target displacement and the second target displacement corresponding to the target displacement ratio are determined.

5. The method of claim 4, wherein, The target travel control parameter includes a target travel speed of the vehicle ; The target displacement ratio B satisfies the following relationship: wherein, is a predetermined parameter, The method comprises the following steps: is the target volumetric efficiency, i is a transmission parameter of the hydraulic drive wheel system.

6. The method of claim 1, wherein, According to the difference between the target rotating speed of the hydraulic motor and the actual rotating speed of the hydraulic motor, the volumetric efficiency correction value is determined by using a proportional-integral-derivative (PID) algorithm. The method comprises the following steps:

7. A hydraulic drive vehicle control apparatus characterized by comprising: A feedforward module is configured to determine the feedforward volumetric efficiency of the hydraulic drive wheel system according to the current working state parameters of the hydraulic drive wheel system corresponding to the driving wheel; A correction module is configured to determine the target rotating speed of the hydraulic motor according to the target driving control parameters, and determine the volumetric efficiency correction value of the hydraulic drive wheel system according to the actual rotating speed of the hydraulic motor and the target rotating speed of the hydraulic motor; A control module is configured to determine the target volumetric efficiency according to the feedforward volumetric efficiency and the volumetric efficiency correction value; According to the target volumetric efficiency, the target driving control parameters and the current working state parameters of the hydraulic drive wheel system, the first target displacement of the hydraulic pump and the second target displacement of the hydraulic motor are determined, and 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; The method comprises the following steps: The current working state parameters of the hydraulic drive wheel system include actual driving speed of the current vehicle , current drive wheel size s , current first actual displacement of the hydraulic pump , current second actual displacement of the hydraulic motor , current actual engine speed .

8. A controller characterized by, A processor and a memory for storing executable instructions of the processor. ​ The processor is configured to execute the instructions to implement the hydraulic drive vehicle control method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program code which, when executed on a computer, causes the computer to perform the hydraulic drive vehicle control method of any one of claims 1-6.

10. A computer program product, characterised in that, The computer program product comprises computer program code which, when executed on a computer, causes the computer to perform the hydraulic drive vehicle control method of any one of claims 1-6.

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