Bulldozer power adjusting method and device, bulldozer, program product and storage medium

Abstract

The embodiment of the invention discloses a bulldozer power adjusting method and device, a bulldozer, a program product and a storage medium, and the method comprises the steps that when a static hydraulic bulldozer is in a working state, the engine rotating speed of the static hydraulic bulldozer is obtained in real time; determining whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed; when the hydrostatic bulldozer is in the large-load mode and the rotating speed of the engine does not meet the preset condition, the distributable power of a fan motor of the hydrostatic bulldozer is determined based on the rotating speed of the engine; and the distributable power is distributed to the engine through a preset control algorithm until the rotating speed of the engine meets a preset condition, and the distributable power is distributed to the fan motor. According to the method, on the premise that the heat dissipation requirement of the bulldozer is met, the power of the engine is reasonably distributed, the power performance and operation efficiency of the bulldozer are improved, power loss is reduced, the situation that the power performance is insufficient is avoided, and therefore the construction efficiency and the driving feeling are improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of bulldozers, and in particular to a bulldozer power adjustment method, device, bulldozer, program product and storage medium. Background Art

[0002] A hydrostatic bulldozer is a type of engineering machinery that uses hydrostatic transmission technology. Hydrostatic transmission technology uses hydraulic oil to directly transmit power, and its main components include hydraulic pumps, control devices, and hydraulic motors. This transmission method has the advantages of large transmission ratio, high transmission efficiency, and stepless speed regulation, and is considered to be the mainstream development direction of bulldozers in the future. Hydrostatic bulldozers use hydraulic systems to transmit power to achieve tasks such as bulldozing and excavation.

[0003] The net power of the hydrostatic bulldozer during operation plays a decisive role in the power performance of the whole machine. During the construction process, the existing bulldozers often have problems such as excessive load when pushing and cutting soil, resulting in insufficient power performance, which reduces construction efficiency and poor driving experience. Summary of the invention

[0004] The embodiments of the present invention provide a bulldozer power adjustment method, device, bulldozer, program product and storage medium, which can quickly increase the power performance of the entire machine, reduce power loss, and avoid insufficient power performance when the bulldozer encounters heavy load operations, thereby improving construction efficiency and driving experience.

[0005] In a first aspect, an embodiment of the present invention provides a bulldozer power adjustment method, comprising:

[0006] When the hydrostatic bulldozer is in working state, obtaining the engine speed of the hydrostatic bulldozer in real time;

[0007] determining whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first predetermined speed;

[0008] When the hydrostatic bulldozer is in the heavy load mode, determining whether the engine satisfies a preset condition based on the engine speed and a second preset speed;

[0009] When the engine does not meet the preset condition, the allocable power of the fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the allocable power is allocated to the engine through a preset control algorithm until the engine speed meets the preset condition, and the allocable power is allocated to the fan motor.

[0010] In a second aspect, an embodiment of the present invention provides a bulldozer power adjustment device, the device comprising:

[0011] An information acquisition module, used for acquiring the engine speed of the hydrostatic bulldozer in real time when the hydrostatic bulldozer is in working state;

[0012] a first determination module, configured to determine whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed;

[0013] a second determination module, configured to determine whether the engine satisfies a preset condition based on the engine speed and a second preset speed when the hydrostatic bulldozer is in the heavy load mode;

[0014] A power distribution module is used to determine the allocable power of the fan motor of the hydrostatic bulldozer based on the engine speed when the engine does not meet the preset condition; and distribute the allocable power to the engine through a preset control algorithm until the engine speed meets the preset condition, and then distribute the allocable power to the fan motor.

[0015] In a third aspect, an embodiment of the present invention further provides a bulldozer, wherein a controller of the bulldozer comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a bulldozer power adjustment method as described in any one of the embodiments of the present invention is implemented.

[0016] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a bulldozer power adjustment method as described in any one of the embodiments of the present invention.

[0017] In a fifth aspect, an embodiment of the present invention provides a computer program product, including a computer program, which, when executed by a processor, implements a bulldozer power adjustment method as described in any one of the embodiments of the present invention.

[0018] In an embodiment of the present invention, when the hydrostatic bulldozer is in working state, the engine speed of the hydrostatic bulldozer is obtained in real time; based on the engine speed and the first preset speed, it is determined whether the hydrostatic bulldozer is in a heavy load mode; when the hydrostatic bulldozer is in a heavy load mode, it is determined whether the engine meets a preset condition based on the engine speed and the second preset speed; when the engine does not meet the preset condition, the allocable power of the fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the allocable power is allocated to the engine through a preset control algorithm until the engine speed meets the preset condition, and the allocable power is allocated to the fan motor. The method of the embodiment of the present invention, when the bulldozer is in a heavy load mode, reduces the power consumption of the fan motor and allocates more power to the walking and working systems. Under the premise of meeting the heat dissipation requirements of the bulldozer, the power of the engine is reasonably allocated, the power performance and operating efficiency of the bulldozer are improved, the power loss is reduced, and the situation of insufficient power performance is avoided, thereby improving the construction efficiency and driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 A first flow chart of a bulldozer power adjustment method provided by an embodiment of the present invention;

[0021] Figure 2 A second flow chart of a bulldozer power adjustment method provided by an embodiment of the present invention;

[0022] Figure 3 A schematic structural diagram of a bulldozer power adjustment device provided by an embodiment of the present invention;

[0023] Figure 4 A schematic structural diagram of a bulldozer controller provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0025] Figure 1This is the first flow chart of a bulldozer power adjustment method provided by an embodiment of the present invention. The method of the embodiment of the present invention can quickly increase the power performance of the entire machine, reduce power loss, and avoid insufficient power performance when the bulldozer encounters heavy load operations, thereby improving construction efficiency and driving experience. The method can be executed by a bulldozer power adjustment device provided by an embodiment of the present invention, and the device can be implemented in software and / or hardware. The following embodiments will be described by taking the device integrated in the entire machine controller of the bulldozer as an example, referring to Figure 1 , the method may specifically include the following steps:

[0026] Step 101: When the hydrostatic bulldozer is in working state, the engine speed of the hydrostatic bulldozer is obtained in real time.

[0027] Specifically, when the hydrostatic bulldozer is in operation, that is, in working state, the hydrostatic bulldozer drives the hydraulic pump by transmitting the power output by the engine. After the hydraulic pump is driven, it converts mechanical energy into hydraulic energy, thereby generating high-pressure oil. The high-pressure oil is transported to the hydraulic motor through the hydraulic pipeline, and the hydraulic motor converts the hydraulic energy of the high-pressure oil into mechanical energy, and drives the walking device (such as crawler) through mechanical energy to realize the forward, backward and steering movements of the bulldozer. Therefore, during the operation of the bulldozer, the more power the engine outputs in the walking and working systems, the stronger the power performance of the whole machine. In addition to consuming engine power in the walking and working systems, the bulldozer also needs to drive the fan of the heat dissipation module to reduce the temperature of each system, resulting in further loss of the power of the whole machine. In order to ensure that the walking and working systems of the hydrostatic bulldozer can obtain sufficient power when the hydrostatic bulldozer needs strong overall power, in this solution, when the hydrostatic bulldozer is in working state, the engine speed of the bulldozer (hydrostatic bulldozer) can be obtained in real time, so as to determine whether more power needs to be allocated to the walking and working systems according to the engine speed. In an optional implementation, when the user adjusts the bulldozer from a stationary state to a working state, the engine speed sensor can obtain the engine speed of the bulldozer in real time, and send the engine speed to the controller, so that the controller can determine whether more power needs to be allocated to the walking and working systems according to the engine speed.

[0028] Step 102: Determine whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed.

[0029] Among them, in a hydrostatic bulldozer, the heavy load mode is a working mode in which the engine speed drops due to excessive load when the bulldozer is performing heavy load operations, such as cutting or transporting soil. In heavy load mode, the bulldozer needs more power to cope with the high load, and the engine power may need to be redistributed to ensure that the walking and working systems can obtain enough power. In an optional implementation, after obtaining the engine speed in real time, when the engine speed is less than or equal to a first preset speed, it is determined that the hydrostatic bulldozer is in heavy load mode. When the engine speed is greater than the first preset speed, it is determined that the hydrostatic bulldozer is not in heavy load mode.

[0030] Among them, the first preset speed is predetermined based on the domain big data and the equipment information of the bulldozer, and is used to judge whether the bulldozer is in a high-load model. Specifically, when the bulldozer is in working mode, the engine speed of the bulldozer will remain in a normal range, and when the bulldozer is performing operations such as cutting or transporting soil under heavy load, the engine may experience a decrease in speed due to excessive load, that is, the bulldozer has a serious vehicle turn. When the engine speed is less than or equal to the first preset speed, it means that the engine speed is reduced and is in a high-load mode. By setting the first preset speed, it is possible to accurately judge whether the bulldozer is in a high-load working state, which lays the foundation for the subsequent accurate determination of whether the fan motor speed needs to be reduced.

[0031] Step 103: When the hydrostatic bulldozer is in the heavy load mode, determine whether the engine meets a preset condition based on the engine speed and a second preset speed.

[0032] Among them, the preset conditions are used to determine whether it is necessary to redistribute the power of the engine. Specifically, when it is determined that the bulldozer is seriously turned around and is in a high-load mode, the controller will not immediately redistribute the power of the engine. The controller can obtain the engine speed in real time, and determine whether the engine meets the preset conditions based on the engine speed and the second preset speed. In this solution, optionally, in this solution, optionally, when the engine speed is less than the second preset speed, it is determined that the engine speed does not meet the preset conditions; when the engine speed is greater than or equal to the second preset speed, it is determined that the engine speed meets the preset conditions.

[0033] Among them, the second preset speed is less than the first preset speed, and the second speed in this solution can be the first speed × 50%. When the engine speed is less than the second preset speed, it means that the engine can no longer provide enough power to meet the needs of all systems such as walking, working and heat dissipation at the same time, that is, the engine speed does not meet the preset conditions. When the engine speed is greater than or equal to the second preset speed, it means that although the engine speed has dropped, it can still provide enough power to meet the needs of all systems such as walking, working and heat dissipation at the same time, so it can be determined that the engine speed meets the preset conditions. Through the first preset speed and the second preset speed, the working state of the engine can be more finely distinguished, thereby achieving more accurate power control and distribution. When the engine speed is lower than the second preset speed, it can be identified that the engine may not be able to meet the needs of all systems, so that measures can be taken to prevent the engine from overloading.

[0034] Step 104: When the engine does not meet the preset condition, determine the allocable power of the fan motor of the hydrostatic bulldozer based on the engine speed; and allocate the allocable power to the engine through a preset control algorithm until the engine speed meets the preset condition, and then allocate the allocable power to the fan motor.

[0035] Among them, the fan motor is an electric motor used to drive the cooling fan in the bulldozer. The fan motor is directly driven by the engine and is used to generate sufficient airflow to cool the engine and other key components to prevent overheating. Distributable power refers to the engine output power of the hydrostatic bulldozer, which can be reallocated to other systems or functions in addition to the power that must be used for basic operations (such as walking, digging, etc.) and key auxiliary functions (such as cooling systems). During the operation of the bulldozer, the total power generated by the engine needs to be distributed among different systems to meet various operational needs.

[0036] Specifically, when the hydrostatic bulldozer is in a heavy load mode and the engine speed does not meet the preset conditions, it means that the engine may not be able to provide enough power to meet the needs of all systems such as walking, working and heat dissipation at the same time, and the engine speed needs to be increased. Therefore, when the hydrostatic bulldozer is in a heavy load mode and the engine speed does not meet the preset conditions, the distributable power of the fan motor of the hydrostatic bulldozer is determined based on the engine speed. The lower the engine speed, the greater the power to be distributed, that is, the distributable power should be as much as possible. After determining the distributable power, the distributable power is distributed to the engine through a preset control algorithm so that the engine uses the power to drive the walking system, etc. Until the engine speed meets the preset conditions, the speed of the fan motor is restored, that is, the distributable power is distributed to the fan motor. When the hydrostatic bulldozer is in a heavy load mode and the engine speed meets the preset conditions, it means that although the bulldozer is in a heavy load mode, the engine can still provide enough power to meet the needs of all systems such as walking, working and heat dissipation at the same time, and there is no need to distribute power to the engine.

[0037] The technical solution of this embodiment is to obtain the engine speed of the hydrostatic bulldozer in real time when the hydrostatic bulldozer is in working state; determine whether the hydrostatic bulldozer is in heavy load mode based on the engine speed and the first preset speed; when the hydrostatic bulldozer is in heavy load mode, determine whether the engine meets the preset conditions based on the engine speed and the second preset speed; when the engine does not meet the preset conditions, determine the distributable power of the fan motor of the hydrostatic bulldozer based on the engine speed; and distribute the distributable power to the engine through a preset control algorithm until the engine speed meets the preset conditions, and then distribute the distributable power to the fan motor. The method of the embodiment of the present invention is to distribute more power to the walking and working systems by reducing the power consumption of the fan motor when the bulldozer is in heavy load mode. Under the premise of meeting the heat dissipation requirements of the bulldozer, the power of the engine is reasonably distributed, the power performance and operating efficiency of the bulldozer are improved, the power loss is reduced, and the situation of insufficient power performance is avoided, thereby improving the construction efficiency and driving experience.

[0038] Figure 2 The second flow chart of a bulldozer power adjustment method provided by an embodiment of the present invention is a refinement of the above embodiment. The specific method can be as follows: Figure 2 As shown, the method may include the following steps:

[0039] Step 201: When the hydrostatic bulldozer is in working state, the engine speed of the hydrostatic bulldozer is obtained in real time; and whether the hydrostatic bulldozer is in a heavy load mode is determined based on the engine speed and a first preset speed.

[0040] Step 202: When the hydrostatic bulldozer is in the heavy load mode, determine whether the engine meets a preset condition based on the engine speed and a second preset speed; when the engine does not meet the preset condition, determine a target speed of the fan motor based on the engine speed and a preset engine fan speed table.

[0041] Among them, the engine fan speed table is predetermined based on the field big data and the equipment information of the bulldozer, and is used to record the corresponding relationship between the engine speed and the fan speed when the bulldozer is in a high load mode and the engine speed does not meet the preset conditions. Specifically, the lower the engine speed, the greater the power that needs to be allocated to it, and the lower the corresponding fan motor speed. However, if the speed of the fan motor is too low, it will affect the heat dissipation of the bulldozer, thereby affecting the working efficiency of the bulldozer. Therefore, the speed of the fan motor recorded in the engine fan speed table is within a certain range, ensuring that the bulldozer meets the heat dissipation requirements while increasing the engine speed.

[0042] In an optional implementation, when the hydrostatic bulldozer is in a heavy load mode and the engine speed does not meet the preset conditions, it means that the engine may not be able to provide enough power to meet the needs of all systems such as walking, working and heat dissipation at the same time, and the engine speed needs to be increased. Therefore, when the hydrostatic bulldozer is in a heavy load mode and the engine speed does not meet the preset conditions, the speed of the fan motor corresponding to the engine speed at the current moment, that is, the target speed of the fan motor, is searched in the engine speed table, so as to reduce the speed of the fan motor according to the target speed and increase the speed of the engine.

[0043] Step 203: Obtain the current speed of the fan motor at the current moment, and determine the allocatable power according to the target speed and the motor speed.

[0044] Among them, the allocable power refers to the part of the power that needs to be reallocated to other systems or functions in the engine output power of the hydrostatic bulldozer, in addition to the power that must be used for basic operations (such as walking, digging, etc.) and key auxiliary functions (such as the cooling system). The speed of the fan motor and the allocable power are inversely proportional, that is, the greater the target speed, the greater the power used by the fan motor, and the smaller the allocable power. The smaller the target speed, the smaller the power used by the fan motor, and the greater the allocable power. Specifically, after determining the target speed of the fan motor, the power being used by the fan motor is determined based on the current speed of the fan motor at the current moment, and the target power of the fan motor is determined based on the target speed.

[0045] In this solution, Pf represents the power of the fan motor, Nf represents the fan speed, and k represents the fan power coefficient. The power formula of the fan motor is: Pf = k × Nf 3For example, the current speed of the fan motor is A, and the current power of the fan motor is A1 according to the power formula of the fan motor. The target speed of the fan motor is B, and the target power of the fan motor is B1 according to the power formula of the fan motor, then the allocable power can be determined to be A1-B1.

[0046] Step 204: Determine the target current of the fan motor according to the target speed and a predetermined speed-current relationship.

[0047] Among them, the speed-current relationship is predetermined by the controller, which records the relationship between the speed and current of the fan motor. Specifically, when the engine speed drops, causing the cooling system to need to reduce power to allocate more power to the walking system and the working system, the controller can reduce the fan speed by reducing the current of the fan motor. Therefore, after determining the target speed, in order to use more power for the walking and power systems, the target current corresponding to the target speed is determined according to the target speed of the fan motor, so that the power can be distributed by controlling the current of the fan motor.

[0048] Step 205 : Obtain the initial current of the fan motor at the current moment, and calculate the deviation between the initial current of the fan motor and the target current.

[0049] Specifically, the initial current is the current of the fan motor at the current moment. After the target current is determined, the initial current is obtained, and the deviation between the initial current and the target current is calculated, so as to control the fan motor according to the deviation and distribute power to the engine.

[0050] Step 206 , based on the predetermined fan device information and deviation of the fan motor, perform proportional integral differential current control on the fan motor, and adjust the fan motor from the initial current to the target current, until the engine speed meets the preset conditions, and then adjust the fan motor from the target current to the initial current.

[0051] Among them, the fan equipment information of the fan motor includes the specification information of the fan, model information, rated power, rated current and rated voltage of the fan motor and other parameters. The preset condition is used to determine whether the power of the engine needs to be redistributed. In this scheme, when the engine speed is less than the second preset speed, it is determined that the engine speed does not meet the preset condition; when the engine speed is greater than or equal to the second preset speed, it is determined that the engine speed meets the preset condition. The proportional integral differential control algorithm calculates the error of the control object (such as motor, temperature and pressure, etc.), and adjusts the control signal according to the proportion, integration and differentiation of the error, so as to achieve precise control of the control object.

[0052] In an optional embodiment, after obtaining the deviation between the target speed and the initial speed of the fan motor, the controller of the hydrostatic bulldozer uses a proportional-integral-differential control algorithm to control the current of the fan motor based on the device information of the fan motor and the deviation between the initial current and the target current of the fan motor. For example, the output power of the fan motor is adjusted according to the size of the deviation through the proportional part of the proportional-integral-differential control algorithm. The larger the deviation, the larger the adjustment amount, so as to respond quickly to the deviation change. Through the integral part, the output power of the fan motor is adjusted according to the change of the cumulative deviation over time to ensure that the bulldozer can remain stable after long-term operation. Through the differential part, the output power of the fan motor is adjusted according to the rate of change of the deviation.

[0053] In practical applications, the proportional-integral-differential control algorithm needs to achieve the best control effect by adjusting the proportional, integral and differential gains according to the specific control object (bulldozer) and control requirements (engine speed meets preset conditions). Through the proportional-integral-differential control algorithm, the controller of the hydrostatic bulldozer can dynamically adjust the speed and power distribution of the fan motor according to the actual working state and heat dissipation requirements of the engine to optimize the power performance and heat dissipation effect of the whole machine. This control method can not only improve operating efficiency, but also protect the engine from overheating damage, thereby improving the overall performance and reliability of the bulldozer.

[0054] In this solution, when the engine speed drops, causing the cooling system to need to reduce power to allocate more power to the travel system and the working system, the controller reduces the current of the fan motor through the proportional integral differential control algorithm, thereby reducing the fan speed. In this way, because the fan speed is reduced, the power consumption of the cooling system is reduced, so that when working under heavy loads, the engine can use more power for the travel and working systems instead of for heat dissipation. At the same time, this adjustment is short-lived. When the engine speed returns to the second preset speed (50% of the first preset speed), the speed of the fan motor is restored to the initial speed. Therefore, it will not cause high temperature of the entire system, and at the same time ensure that the bulldozer can quickly increase its power performance, reduce power loss, and improve the working efficiency of the bulldozer when working under heavy loads.

[0055] In the technical solution of this embodiment, when the hydrostatic bulldozer is in working state, the engine speed of the hydrostatic bulldozer is obtained in real time; based on the engine speed and the first preset speed, it is determined whether the hydrostatic bulldozer is in a heavy load mode. When the hydrostatic bulldozer is in a heavy load mode, it is determined whether the engine meets the preset conditions based on the engine speed and the second preset speed; when the engine does not meet the preset conditions, the target speed of the fan motor is determined based on the engine speed and the preset engine fan speed table. The current speed of the fan motor at the current moment is obtained, and the allocable power is determined according to the target speed and the motor speed. The target current of the fan motor is determined according to the target speed and the predetermined speed-current relationship. The initial current of the fan motor at the current moment is obtained, and the deviation between the initial current and the target current of the fan motor is calculated. According to the predetermined fan device information and deviation of the fan motor, the fan motor is controlled by proportional integral differential current, and the fan motor is adjusted from the initial current to the target current until the engine speed meets the preset conditions, and the fan motor is adjusted from the target current to the initial current. The technical solution of this embodiment can determine the target speed of the fan motor according to the engine speed in the heavy load mode, thereby reducing the power consumption of the fan motor through target speed control. The proportional integral differential control algorithm is used to achieve precise control of the fan motor current, thereby accurately adjusting the fan speed to ensure that the engine can maintain optimal performance under various working conditions. That is, the technical solution of this embodiment can improve the power performance of the bulldozer, reduce power loss, and thus improve the construction efficiency of the bulldozer.

[0056] Figure 3 The structure diagram of a bulldozer power adjustment device provided by an embodiment of the present invention is suitable for executing the bulldozer power adjustment method provided by an embodiment of the present invention. Figure 3 As shown, the device may specifically include:

[0057] The information acquisition module 301 is used to acquire the engine speed of the hydrostatic bulldozer in real time when the hydrostatic bulldozer is in working state;

[0058] A first determination module 302 is used to determine whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed;

[0059] A second determination module 303, configured to determine whether the engine meets a preset condition based on the engine speed and a second preset speed when the hydrostatic bulldozer is in the heavy load mode;

[0060] The power allocation module 304 is used to determine the allocable power of the fan motor of the hydrostatic bulldozer based on the engine speed when the engine does not meet the preset condition; and allocate the allocable power to the engine through a preset control algorithm until the engine speed meets the preset condition, and then allocate the allocable power to the fan motor.

[0061] Optionally, the first determination module 302 is specifically configured to: when the engine speed is less than or equal to a first preset speed, determine that the hydrostatic bulldozer is in the heavy load mode.

[0062] Optionally, the second determination module 303 is specifically configured to: when the engine speed is less than a second preset speed, determine that the engine speed does not meet the preset condition;

[0063] When the engine speed is greater than or equal to the second preset speed, it is determined that the engine speed meets the preset condition; wherein the second preset speed is less than the first preset speed.

[0064] Optionally, the power distribution module 304 is specifically configured to: determine a target speed of the fan motor based on the engine speed and a preset engine fan speed table;

[0065] The current rotation speed of the fan motor at the current moment is acquired, and the allocatable power is determined according to the target rotation speed and the motor rotation speed.

[0066] Optionally, the power allocation module 304 is further configured to: determine a target current of the fan motor according to the target speed and a predetermined speed-current relationship;

[0067] The initial current of the fan motor at the current moment is obtained, and the fan motor is adjusted from the initial current to the target current through the preset control algorithm, until the engine speed meets the preset condition, and the fan motor is adjusted from the target current to the initial current.

[0068] Optionally, the power allocation module 304 is further used to: calculate a deviation between the initial current and the target current of the fan motor;

[0069] According to the predetermined fan device information of the fan motor and the deviation, proportional-integral-differential current control is performed on the fan motor to adjust the fan motor from the initial current to the target current.

[0070] The bulldozer power adjustment device provided in the embodiment of the present invention can execute the bulldozer power adjustment method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method. The contents not described in detail in this embodiment can refer to the description in any method embodiment of the present invention.

[0071] An embodiment of the present invention also provides a computer program product.

[0072] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer program products, which can include one or more computer programs, which can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor, which can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0073] Figure 4 A schematic diagram of a controller for a bulldozer according to an embodiment of the present invention is provided. Figure 4 , Figure 4 The bulldozer controller 12 shown is only an example and should not limit the functions and scope of use of the embodiments of the present application. Figure 4 As shown, the bulldozer controller 12 is implemented as a general purpose computing device. Components of the bulldozer controller 12 may include, but are not limited to, one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0074] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0075] The bulldozer controller 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the bulldozer controller 12, including volatile and non-volatile media, removable and non-removable media.

[0076] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The bulldozer controller 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 4 not shown, usually called a "hard drive"). Although Figure 4 Not shown, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical medium) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0077] A program / utility 40 having a set (at least one) of program modules 46 may be stored, for example, in the memory 28, such program modules 46 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 46 generally perform the functions and / or methods of the embodiments described herein.

[0078] The bulldozer controller 12 may also communicate with one or more external devices 14 (e.g., keyboards, pointing devices, displays 24, etc.), one or more devices that enable a user to interact with the bulldozer controller 12, and / or any device that enables the bulldozer controller 12 to communicate with one or more other computing devices (e.g., network cards, modems, etc.). Such communication may be performed via an input / output (I / O) interface 22. Furthermore, the bulldozer controller 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via a network adapter 20. As shown, the network adapter 20 communicates with other modules of the bulldozer controller 12 via the bus 18. It should be understood that although Figure 4Not shown, other hardware and / or software modules may be used in conjunction with the bulldozer controller 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0079] The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing a bulldozer power adjustment method provided in an embodiment of the present invention: when the hydrostatic bulldozer is in working state, the engine speed of the hydrostatic bulldozer is obtained in real time; based on the engine speed and a first preset speed, it is determined whether the hydrostatic bulldozer is in a heavy load mode; when the hydrostatic bulldozer is in the heavy load mode, it is determined whether the engine meets a preset condition based on the engine speed and a second preset speed; when the engine does not meet the preset condition, the allocable power of the fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the allocable power is allocated to the engine through a preset control algorithm until the engine speed meets the preset condition, and then the allocable power is allocated to the fan motor.

[0080] The embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, a bulldozer power adjustment method provided by all the embodiments of the present invention is implemented: when the hydrostatic bulldozer is in a working state, the engine speed of the hydrostatic bulldozer is obtained in real time; based on the engine speed and a first preset speed, whether the hydrostatic bulldozer is in a heavy load mode is determined; when the hydrostatic bulldozer is in the heavy load mode, whether the engine meets a preset condition is determined based on the engine speed and a second preset speed; when the engine does not meet the preset condition, the allocable power of the fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the allocable power is allocated to the engine through a preset control algorithm until the engine speed meets the preset condition, and the allocable power is allocated to the fan motor. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor bulldozer controller, device or device, or any combination thereof. More specific examples of computer readable storage media (a non-exhaustive list) include: an electrical connection having one or more conductors, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction-executing bulldozer controller, device, or device.

[0081] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, wherein computer readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer readable signal media may also be any computer readable medium other than a computer readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution bulldozer controller, device, or device.

[0082] The program code embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0083] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0084] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A bulldozer power adjustment method, characterized in that: The method comprises: When the hydrostatic bulldozer is in working state, obtaining the engine speed of the hydrostatic bulldozer in real time; determining whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first predetermined speed; When the hydrostatic bulldozer is in the heavy load mode, determining whether the engine satisfies a preset condition based on the engine speed and a second preset speed; When the engine does not meet the preset condition, the allocable power of the fan motor of the hydrostatic bulldozer is determined based on the engine speed; and the allocable power is allocated to the engine through a preset control algorithm until the engine speed meets the preset condition, and the allocable power is allocated to the fan motor.

2. The method according to claim 1, characterized in that Determining whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed includes: When the engine speed is less than or equal to the first preset speed, it is determined that the hydrostatic bulldozer is in the heavy load mode.

3. The method according to claim 1, characterized in that Determining whether the engine meets a preset condition based on the engine speed and a second preset speed includes: When the engine speed is less than a second preset speed, determining that the engine speed does not meet the preset condition; When the engine speed is greater than or equal to the second preset speed, it is determined that the engine speed meets the preset condition; wherein the second preset speed is less than the first preset speed.

4. The method according to claim 1, characterized in that: Determining the allocable power of a fan motor of the hydrostatic bulldozer based on the engine speed includes: determining a target speed of the fan motor based on the engine speed and a preset engine fan speed table; The current rotation speed of the fan motor at the current moment is acquired, and the allocatable power is determined according to the target rotation speed and the motor rotation speed.

5. The method according to claim 4, characterized in that The method allocates the allocable power to the engine by a preset control algorithm until the engine speed meets the preset condition, and then allocates the allocable power to the fan motor, including: determining a target current of the fan motor according to the target speed and a predetermined speed-current relationship; The initial current of the fan motor at the current moment is obtained, and the fan motor is adjusted from the initial current to the target current through the preset control algorithm, until the engine speed meets the preset condition, and the fan motor is adjusted from the target current to the initial current.

6. The method according to claim 5, characterized in that The method further comprises: adjusting the fan motor from the initial current to the target current by using the preset control algorithm, comprising: calculating a deviation between the initial current and the target current of the fan motor; According to the predetermined fan device information of the fan motor and the deviation, proportional-integral-differential current control is performed on the fan motor to adjust the fan motor from the initial current to the target current.

7. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the computer program implements a bulldozer power adjustment method according to any one of claims 1 to 6.

8. A bulldozer power adjustment device, characterized in that: include: An information acquisition module, used for acquiring the engine speed of the hydrostatic bulldozer in real time when the hydrostatic bulldozer is in working state; a first determination module, configured to determine whether the hydrostatic bulldozer is in a heavy load mode based on the engine speed and a first preset speed; a second determination module, configured to determine whether the engine satisfies a preset condition based on the engine speed and a second preset speed when the hydrostatic bulldozer is in the heavy load mode; A power distribution module is used to determine the allocable power of the fan motor of the hydrostatic bulldozer based on the engine speed when the engine does not meet the preset condition; and distribute the allocable power to the engine through a preset control algorithm until the engine speed meets the preset condition, and then distribute the allocable power to the fan motor.

9. A bulldozer, wherein a controller of the bulldozer comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the bulldozer power adjustment method as described in any one of claims 1 to 6 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the bulldozer power adjustment method as claimed in any one of claims 1 to 6 is implemented.

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