Control method and control device for linear walking of working machine and working machine

Abstract

The invention belongs to the technical field of operation machinery, and relates to an operation machinery linear walking control method and device and an operation machinery, the control method comprises the following steps: obtaining a first rotating speed of a left walking motor and a second rotating speed of a right walking motor; under the condition that the absolute value of the difference value between the first rotating speed and the second rotating speed is larger than or equal to a preset difference value threshold value, a first to-be-adjusted parameter of a left walking motor and a second to-be-adjusted parameter of a right walking motor are determined; respectively importing the first to-be-adjusted parameter and the second to-be-adjusted parameter into a PID algorithm module to output a first adjustment current value and a second adjustment current value; and according to the first adjusting current value and the second adjusting current value, the input current of the left hydraulic pump and the input current of the right hydraulic pump are adjusted, so that the rotating speed of the left walking motor and the rotating speed of the right walking motor are adjusted till the absolute value of the difference value is smaller than a preset difference value threshold value. By adopting the control method, the rotating speed of the left and right walking motors can be accurately adjusted, so that the operation machine keeps linear walking operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of working machinery, and specifically relates to a control method for straight-line walking of a working machinery, a control device, a working machinery and a storage medium. Background Art

[0002] Whether operating machinery, especially earth-moving construction machinery such as bulldozers, excavators, and loaders, can move in a straight line accurately directly affects construction efficiency and operating instructions. Therefore, straight-line walking performance is an important indicator for evaluating operating machinery. When operating machinery in the prior art is moving, when a speed difference is found between the left and right travel motors, most of them will directly reduce the speed of one travel motor and increase the speed of the other travel motor. However, in the control process, most of them are adjusted directly according to the speed difference. The adjustment process is too simple, and the adjustment range is often too small, resulting in slow speed adjustment; or the adjustment range is too large, resulting in drastic speed fluctuations. Both of the above situations will lead to inaccurate speed adjustment, and the operating machinery cannot move in a straight line accurately. Summary of the invention

[0003] The object of the present invention is to provide a control method, a control device, a working machine and a storage medium for the straight-line walking of a working machine, so as to realize the precise straight-line walking of the working machine.

[0004] In order to achieve the above-mentioned object, the present invention provides a control method for a working machine to travel in a straight line, wherein the working machine comprises a left travel motor, a left hydraulic pump driving the left travel motor to rotate, a right travel motor, and a right hydraulic pump driving the right travel motor to rotate, and the control method comprises:

[0005] Acquire a first rotation speed of a left travel motor and a second rotation speed of a right travel motor;

[0006] When the absolute value of the difference between the first rotation speed and the second rotation speed is greater than or equal to a preset difference threshold, determining a first parameter to be adjusted for the left travel motor and a second parameter to be adjusted for the right travel motor;

[0007] Importing the first parameter to be adjusted and the second parameter to be adjusted into the PID algorithm module respectively to output a first adjustment current value and a second adjustment current value;

[0008] The input currents of the left hydraulic pump and the right hydraulic pump are adjusted respectively according to the first adjustment current value and the second adjustment current value to adjust the rotation speeds of the left travel motor and the right travel motor until the absolute value of the difference is less than a preset difference threshold.

[0009] In some embodiments, the working machine also includes an engine that provides power for the left hydraulic pump and the right hydraulic pump. When the absolute value of the difference between the first speed and the second speed is greater than or equal to a preset difference threshold, the step of determining the first parameter to be adjusted for the left travel motor and the second parameter to be adjusted for the right travel motor includes: obtaining the engine gear and engine speed of the engine; determining the speed difference adjustment weight and the target speed of the two travel motors according to the engine gear and the engine speed; determining the first parameter to be adjusted according to the speed difference between the target speed and the first speed, the speed difference adjustment weight, and the speed difference between the first speed and the second speed; determining the second parameter to be adjusted according to the speed difference between the target speed and the second speed, the speed difference adjustment weight, and the speed difference between the first speed and the second speed.

[0010] In some implementations, the first parameter to be adjusted and the second parameter to be adjusted are determined according to the following formula (1) and formula (2), respectively:

[0011] Δn1=n0-n1-k(n1-n2) (1)

[0012] Δn2=n0-n2+k(n1-n2) (2)

[0013] Among them, Δn1 is the first parameter to be adjusted, Δn2 is the second parameter to be adjusted, n0 is the target speed, n1 is the first speed, n2 is the second speed, and k is the speed difference adjustment weight and is greater than zero.

[0014] In some embodiments, the working machine also includes an engine that provides power for the left hydraulic pump and the right hydraulic pump, the PID algorithm module includes a hydraulic pump regulation model, the hydraulic pump regulation model is used to output a first adjustment current value and a second adjustment current value, and the steps of constructing the hydraulic pump regulation model include: determining the PID adjustment coefficient of the hydraulic pump adjustment current corresponding to each gear of the engine; determining the current current PID adjustment coefficient of the hydraulic pump according to the engine gear of the engine; and constructing the hydraulic pump regulation model according to the current current PID adjustment coefficient.

[0015] In some embodiments, the working machine also includes an engine that provides power for the left hydraulic pump and the right hydraulic pump, the PID algorithm module also includes a travel motor adjustment model, and the control method also includes the following steps: respectively determining the maximum displacement of the left hydraulic pump and the right hydraulic pump corresponding to each gear of the engine; determining the maximum input current corresponding to the maximum displacement; when it is determined that the input current of the left hydraulic pump or the right hydraulic pump can reach the maximum input current, respectively importing the first parameter to be adjusted and the second parameter to be adjusted into the travel motor adjustment model to output a third adjustment current value and a fourth adjustment current value; respectively adjusting the current input current of the left travel motor and the right travel motor according to the third adjustment current value and the fourth adjustment current value.

[0016] In some embodiments, the steps of constructing the walking motor adjustment model include: determining the PID adjustment coefficient of the walking motor adjustment current corresponding to each gear of the engine; determining the current current PID adjustment coefficient of the walking motor according to the engine gear of the engine; and constructing the walking motor adjustment model according to the current current PID adjustment coefficient.

[0017] In some embodiments, the control method also includes the following steps: after adjusting the input current of the left hydraulic pump and the right hydraulic pump according to the first adjustment current value and the second adjustment current value respectively, obtaining the third speed of the left travel motor and the fourth speed of the right travel motor again; when the absolute value of the difference between the third speed and the fourth speed is less than a preset difference threshold, controlling the input current of the left hydraulic pump and the right hydraulic pump to remain unchanged within the current cycle.

[0018] A second aspect of the present invention provides a control device, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and implement the above-mentioned control method for the straight-line walking of the working machine when executing the instructions.

[0019] A third aspect of the present invention provides a working machine, comprising: a left travel motor; a right travel motor; a left hydraulic pump for driving the left travel motor to rotate; a right hydraulic pump for driving the right travel motor to rotate; and the above-mentioned control device.

[0020] A fourth aspect of the present invention provides a machine-readable storage medium having instructions stored thereon, the instructions being used to enable a machine to execute the above-mentioned control method for a working machine to travel in a straight line.

[0021] Through the above technical solution, it is possible to determine whether the speed of the travel motor needs to be adjusted according to whether the absolute value of the speed difference between the left travel motor and the right travel motor exceeds the preset difference threshold, and the first parameter to be adjusted of the left travel motor and the second parameter to be adjusted of the right travel motor can be determined, and the first parameter to be adjusted and the second parameter to be adjusted are input into the PID algorithm module, and the first adjustment current value and the second adjustment current value can be determined. According to the first adjustment current value and the second adjustment current value, the input current of the left hydraulic pump and the right hydraulic pump are adjusted respectively, and the speed of the left travel motor and the right travel motor can be adjusted to make the speed of the left and right travel motors consistent, so that the operating machine can accurately perform straight-line walking. The straight-line walking control method provided by the present invention can gradually adjust the current of the hydraulic pump with the help of the PID algorithm module, so that the speeds of the left and right travel motors gradually approach the same, the speed adjustment of the left and right travel motors is accurate, and the speed fluctuation of the operating machine is small, so that the operating machine can maintain straight-line walking.

[0022] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative work. In the accompanying drawings:

[0024] Figure 1 This is a flow chart of a method for controlling a working machine to walk in a straight line according to an embodiment of the present invention;

[0025] Figure 2 A logic diagram of a control method for a working machine to move in a straight line according to an embodiment of the present invention;

[0026] Figure 3 The figure is a diagram showing the internal structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0028] The following describes the control method, control device, working machine and storage medium of the working machine linear travel according to the present invention with reference to the accompanying drawings. Figure 1 , which is a flow chart of a method for controlling a working machine to walk in a straight line according to an embodiment of the present invention.

[0029] In an embodiment of the present invention, the working machine includes: a left travel motor, a left hydraulic pump for driving the left travel motor to rotate, a right travel motor, a right hydraulic pump for driving the right travel motor to rotate, and a control device. Among them, the left travel motor can drive the left travel wheel or the left travel track to rotate, and the right travel wheel can drive the right travel wheel or the right travel track to rotate. The hydraulic pump is a driving component that can deliver high-pressure hydraulic oil to the motor, and the displacement of the hydraulic pump can affect the rotation speed of the travel motor. The left hydraulic pump can deliver high-pressure hydraulic oil to the left travel motor to rotate the left travel motor; the right hydraulic pump can deliver high-pressure hydraulic oil to the right travel motor to rotate the right travel motor. The control device is configured to execute the following control method for the straight-line travel of the working machine.

[0030] In an embodiment of the present invention, a method for controlling a working machine to move in a straight line comprises the following steps:

[0031] S101, obtaining a first rotation speed of a left travel motor and a second rotation speed of a right travel motor.

[0032] S102: When the absolute value of the difference between the first rotation speed and the second rotation speed is greater than or equal to a preset difference threshold, determine a first parameter to be adjusted for the left travel motor and a second parameter to be adjusted for the right travel motor.

[0033] S103, importing the first parameter to be adjusted and the second parameter to be adjusted into the PID algorithm module respectively, so as to output a first adjusted current value and a second adjusted current value.

[0034] S104, adjusting the input currents of the left hydraulic pump and the right hydraulic pump respectively according to the first adjustment current value and the second adjustment current value to adjust the rotation speeds of the left travel motor and the right travel motor until the absolute value of the difference is less than a preset difference threshold.

[0035] When controlling the operating machinery, it is necessary to control the operating machinery to move in a straight line under certain working conditions to complete the work with high efficiency and high quality. In the process of straight-line movement control, the speed control of the left and right travel motors is the most critical. When the absolute value of the speed difference between the left and right travel motors is less than the preset difference threshold, it can be determined that the operating machinery is moving in a straight line. When the absolute value of the speed difference between the left and right travel motors is greater than or equal to the preset difference threshold, it can be determined that the movement of the operating machinery is offset from the straight line, and the speed of the travel motor needs to be adjusted.

[0036] The embodiment of the present invention provides a control method for a working machine to travel in a straight line. First, a first speed of a left travel motor and a second speed of a right travel motor are obtained, and the difference between the first speed and the second speed can be calculated. When the absolute value of the difference exceeds a preset difference threshold, it can be determined that the speeds of the left travel motor and the right travel motor need to be adjusted to ensure that the working machine travels in a straight line. Subsequently, a first parameter to be adjusted for the left travel motor and a second parameter to be adjusted for the right travel motor can be determined, and the first parameter to be adjusted and the second parameter to be adjusted are respectively imported into a PID algorithm module, and a first adjustment current value and a second adjustment current value can be output. Among them, the first parameter to be adjusted can be determined according to the speed difference between the left travel motor and the right travel motor, or according to the speed difference between the left travel motor and the target speed, or according to the speed difference between the left and right travel motors and the target speed difference. The second parameter to be adjusted is the same. In addition, the input current of the left hydraulic pump and the right hydraulic pump is adjusted according to the first adjustment current value and the second adjustment current value to adjust the displacement of the left hydraulic pump and the right hydraulic pump. After the displacement of the left hydraulic pump and the right hydraulic pump is adjusted, the rotation speeds of the left travel motor and the right travel motor can be adjusted, so that the rotation speeds of the left and right travel motors tend to be consistent, until the absolute value of the speed difference between the left travel motor and the right travel motor is less than the preset difference threshold. In a specific embodiment, the first parameter to be adjusted is equal to the speed difference between the left travel motor and the right travel motor, and the second parameter to be adjusted is equal to the speed difference between the right travel motor and the left travel motor. In another specific embodiment, the first parameter to be adjusted is equal to the target speed and the speed difference between the left travel motor, and the second parameter to be adjusted is equal to the target speed and the speed difference between the right travel motor.

[0037] By adopting the above control method, it is possible to determine whether to adjust the speed of the travel motor based on the speed difference between the left travel motor and the right travel motor, and during the adjustment process, the current of the left and right hydraulic pumps is adjusted with the help of the hydraulic pump current PID adjustment model. The adjustment process is smooth and the adjustment speed is fast, which can keep the rotation speed of the left and right travel motors consistent, thereby allowing the operating machine to maintain a straight line walking operation.

[0038] In one embodiment, the working machine also includes an engine that provides power for the left hydraulic pump and the right hydraulic pump. When the absolute value of the difference between the first speed and the second speed is greater than or equal to a preset difference threshold, the step of determining the first parameter to be adjusted for the left travel motor and the second parameter to be adjusted for the right travel motor includes: obtaining the engine gear and engine speed of the engine; determining the speed difference adjustment weight and the target speed of the two travel motors according to the engine gear and the engine speed; determining the first parameter to be adjusted according to the speed difference between the target speed and the first speed, the speed difference adjustment weight, and the speed difference between the first speed and the second speed; determining the second parameter to be adjusted according to the speed difference between the target speed and the second speed, the speed difference adjustment weight, and the speed difference between the first speed and the second speed.

[0039] The first adjustment current and the second adjustment current output by the hydraulic pump current PID algorithm can make the left travel motor and the right travel motor tend to be consistent. However, in many cases, the speed of the left travel motor and the right travel motor will gradually decrease, resulting in the absolute value of the speed difference reaching zero when the speed approaches zero to remain within the preset difference threshold. In an embodiment of the present invention, the engine gear and engine speed of the engine can be obtained, and the target speed and speed difference adjustment weight of the two travel motors can be determined according to the engine gear and engine speed. Among them, the target speed is the rated speed of the travel motor corresponding to the engine gear and engine speed. When the speed of the travel motor deviates greatly from the target speed, it will affect the straight-line travel operation of the working machine. The speed difference adjustment weight is the weight ratio of the speed difference between the first speed and the second speed in the first parameter to be adjusted and the second parameter to be adjusted. The speed difference adjustment weight is related to the engine gear and the engine speed. Each engine gear corresponds to multiple engine speed ranges. According to the engine gear and the corresponding speed of the engine, a unique speed difference adjustment weight can be determined. The embodiment of the present invention can determine the first parameter to be adjusted according to the speed difference between the target speed and the first speed, the speed difference adjustment weight, and the speed difference between the first speed and the second speed, and can determine the second parameter to be adjusted according to the speed difference between the target speed and the second speed, the speed difference adjustment weight, and the speed difference between the first speed and the second speed. The determination of the two parameters to be adjusted couples the speed of the travel motor and the target speed, so that the speed of the travel motor after adjustment is closer to the target speed, so that the operating machine can maintain a straight line while maintaining a high speed.

[0040] In one embodiment, the first parameter to be adjusted and the second parameter to be adjusted are determined according to the following formula (1) and formula (2), respectively:

[0041] Δn1=n0-n1-k(n1-n2) (1)

[0042] Δn2=n0-n2+k(n1-n2) (2)

[0043] Wherein, Δn1 is the first parameter to be adjusted, Δn2 is the second parameter to be adjusted, n0 is the target speed, n1 is the first speed, n2 is the second speed, and k is the speed difference adjustment weight and is greater than zero. The above formula (1) and formula (2) can more accurately calculate the first parameter to be adjusted and the second parameter to be adjusted, which is convenient for the control device to calculate and execute the control operation.

[0044] In one embodiment, the working machine also includes an engine that provides power for the left hydraulic pump and the right hydraulic pump, the PID algorithm module includes a hydraulic pump adjustment model, the hydraulic pump adjustment model is used to output a first adjustment current value and a second adjustment current value, and the construction steps of the hydraulic pump adjustment model include: determining the PID adjustment coefficient of the hydraulic pump adjustment current corresponding to each gear of the engine; determining the current current PID adjustment coefficient of the hydraulic pump according to the engine gear of the engine; and constructing the hydraulic pump adjustment model according to the current current PID adjustment coefficient. PID adjustment is a method of adjusting the controlled object by performing proportional, integral and differential operations on the deviation signal (i.e., the difference between the set value and the actual output value) to generate a control signal so that the output of the system can quickly, accurately and stably track the set value. The PID adjustment coefficient usually includes three adjustment coefficients: proportional, integral and differential. The size of the PID adjustment coefficient can affect the adjustment speed and the adjustment result. In an embodiment of the present invention, through multiple tests, different current current PID adjustment coefficients of the hydraulic pump are determined for different engine gears, and the hydraulic pump adjustment model can be constructed according to the current current PID adjustment coefficient of the hydraulic pump, and the first adjustment current value and the second adjustment current value can be calculated by importing the first parameter to be adjusted and the second parameter to be adjusted into the hydraulic pump adjustment model. By adopting the above control method, multiple hydraulic pump adjustment models can be constructed based on the gear position of the engine, and then different controls can be performed on the operating machinery under different working conditions, so that the operating machinery can perform straight-line walking operations more accurately.

[0045] In one embodiment, the working machine also includes an engine that provides power for the left hydraulic pump and the right hydraulic pump, the PID algorithm module also includes a travel motor adjustment model, and the control method also includes the following steps: respectively determining the maximum displacement of the left hydraulic pump and the right hydraulic pump corresponding to each gear of the engine; determining the maximum input current corresponding to the maximum displacement; when it is determined that the input current of the left hydraulic pump or the right hydraulic pump can reach the maximum input current, importing the first parameter to be adjusted and the second parameter to be adjusted into the travel motor adjustment model respectively to output a third adjustment current value and a fourth adjustment current value; and adjusting the current input current of the left travel motor and the right travel motor respectively according to the third adjustment current value and the fourth adjustment current value.

[0046] The displacement adjustment range of the hydraulic pump corresponding to each engine is small. When the speed of the travel motor is adjusted by adjusting the hydraulic pump, when the output displacement of the travel motor reaches the maximum value of the current engine gear, the displacement of the hydraulic pump cannot be further increased, and the displacement of the travel motor needs to be adjusted to achieve the adjustment of the travel motor speed. Specifically, the control device can obtain the maximum displacement of the left hydraulic pump and the right hydraulic pump corresponding to each engine gear of the engine, and determine the maximum output current corresponding to the maximum displacement. When it is determined that the left hydraulic pump or the right hydraulic pump reaches the maximum output current, the first parameter to be adjusted and the second parameter to be adjusted are respectively input into the travel motor adjustment model, and the third adjustment current value and the fourth adjustment current value can be output. According to the third adjustment current value and the fourth adjustment current value, the current input current of the left travel motor and the right travel motor are adjusted respectively, so that the displacement of the hydraulic pump is adjusted within the current gear range, and the speed of the left travel motor and the right travel motor is controlled to be consistent, so as to better control the straight-line travel of the working machine.

[0047] In one embodiment, the steps of constructing the travel motor adjustment model include: determining the PID adjustment coefficient of the travel motor adjustment current corresponding to each gear of the engine; determining the current current PID adjustment coefficient of the travel motor according to the engine gear of the engine; and constructing the travel motor adjustment model according to the current current PID adjustment coefficient. In an embodiment of the present invention, through multiple tests, different current current PID adjustment coefficients of the travel motor are determined for different engine gears, and the travel motor adjustment model can be constructed according to the current current PID adjustment coefficient of the travel motor. The third adjustment current value and the fourth adjustment current value can be calculated by importing the first parameter to be adjusted and the second parameter to be adjusted into the travel motor adjustment model. By adopting the above-mentioned control method, multiple travel motor adjustment models can be constructed based on the gear of the engine, and then different controls can be performed on the operating machinery under different working conditions, so that the operating machinery can perform straight-line walking operations more accurately.

[0048] In one embodiment, the control method further includes the following steps: after adjusting the input current of the left hydraulic pump and the right hydraulic pump respectively according to the first adjustment current value and the second adjustment current value, the third speed of the left travel motor and the fourth speed of the right travel motor are obtained again; when the absolute value of the difference between the third speed and the fourth speed is less than the preset difference threshold, the input current of the left hydraulic pump and the right hydraulic pump is controlled to remain unchanged in the current cycle. The control device controls the hydraulic pump according to a certain control cycle. After adjusting the travel motor for one cycle according to the first adjustment current value and the second adjustment current value, the third speed of the left travel motor and the fourth speed of the right travel motor can be obtained again. When the absolute value of the difference between the third speed and the fourth speed is greater than or equal to the preset difference threshold, the displacement of the left hydraulic pump and the right hydraulic pump is adjusted again to adjust the speed of the left travel motor and the right travel motor. Until the speed difference between the left travel motor and the right travel motor is less than the preset difference threshold, the input current of the left hydraulic pump and the right hydraulic pump is controlled to remain unchanged in the current cycle, so that the speeds of the left and right travel motors are kept consistent, and the working machine performs a straight-line walking operation. For example, when the engine is in the first gear, the preset difference threshold is 10r / min; when the engine is in the second gear, the preset difference threshold is 15r / min. When the absolute value of the difference between the third speed and the fourth speed is 11r / min, and the engine gear is the second gear, the control device can determine that there is no need to adjust the speeds of the left travel motor and the right travel motor.

[0049] In one embodiment, a control device is provided, comprising: a memory configured to store instructions; and a processor configured to call instructions from the memory and implement the above-mentioned control method for the working machine to walk in a straight line when executing the instructions.

[0050] In one embodiment, a machine-readable storage medium is provided, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned control method for the working machine to walk in a straight line.

[0051] In a specific embodiment, Figure 2As shown, it is a logic diagram of a control method for straight-line travel of a working machine provided according to an embodiment of the present invention. After the control device obtains the first speed and the second speed, the target speed can be determined according to the current engine gear and the throttle knob (proportional to the engine speed). The first parameter to be adjusted and the second parameter to be adjusted can be determined respectively according to the first speed, the second speed, the target speed and the speed difference adjustment weight. The first parameter to be adjusted and the second parameter to be adjusted are respectively introduced into the PID algorithm model, and the left hydraulic pump control amount, the right hydraulic pump control amount, the left travel motor control amount and the right travel motor control amount can be calculated. According to the left hydraulic pump control amount, the right hydraulic pump control amount, the left travel motor control amount and the right travel motor control amount, the current is input to adjust the speed of the left and right travel motors. After the adjustment is completed, the third speed of the left travel motor and the fourth speed of the right travel motor are obtained again, and the deviation of the third speed and the fourth speed is calculated. When the deviation is greater than or equal to the set value, the input current of the left hydraulic pump, the right hydraulic pump, the left travel motor and the right travel motor is PID-adjusted again. Until the deviation rate is less than the set value, PID adjustment is no longer performed on the input currents of the left hydraulic pump, the right hydraulic pump, the left travel motor and the right travel motor.

[0052] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a network interface, a memory (not shown in the figure) and a database (not shown in the figure) connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory and a non-volatile storage medium. The non-volatile storage medium stores an operating system, a computer program and a database (not shown in the figure). The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for the straight-line walking of the working machine is realized.

[0053] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take 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 code.

[0054] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0055] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0056] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0057] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0058] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0059] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0060] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0061] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0064] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for a working machine to travel in a straight line, characterized in that: The working machine includes a left travel motor, a left hydraulic pump driving the left travel motor to rotate, a right travel motor, and a right hydraulic pump driving the right travel motor to rotate, and the control method includes: Acquire a first rotation speed of the left travel motor and a second rotation speed of the right travel motor; When the absolute value of the difference between the first rotation speed and the second rotation speed is greater than or equal to a preset difference threshold, determining a first parameter to be adjusted for the left travel motor and a second parameter to be adjusted for the right travel motor; Importing the first parameter to be adjusted and the second parameter to be adjusted into the PID algorithm module respectively to output a first adjustment current value and a second adjustment current value; The input currents of the left hydraulic pump and the right hydraulic pump are adjusted respectively according to the first adjustment current value and the second adjustment current value to adjust the rotation speeds of the left travel motor and the right travel motor until the absolute value of the difference is less than a preset difference threshold.

2. The control method for straight-line travel of a working machine according to claim 1, characterized in that: The working machine further includes an engine providing power to the left hydraulic pump and the right hydraulic pump, and the step of determining a first parameter to be adjusted for the left travel motor and a second parameter to be adjusted for the right travel motor when the absolute value of the difference between the first speed and the second speed is greater than or equal to a preset difference threshold comprises: Obtaining an engine gear position and an engine speed of the engine; Determining a speed difference adjustment weight and a target speed of two travel motors according to the engine gear position and the engine speed; determining the first parameter to be adjusted according to a speed difference between the target speed and the first speed, the speed difference adjustment weight, and a speed difference between the first speed and the second speed; The second parameter to be adjusted is determined according to a speed difference between the target speed and the second speed, the speed difference adjustment weight, and a speed difference between the first speed and the second speed.

3. The control method for straight-line travel of a working machine according to claim 2, characterized in that: The first parameter to be adjusted and the second parameter to be adjusted are determined according to the following formula (1) and formula (2) respectively: Δn1=n0-n1-k(n1-n2) (1) Δn2=n0-n2+k(n1-n2) (2) Among them, Δn1 is the first parameter to be adjusted, Δn2 is the second parameter to be adjusted, n0 is the target speed, n1 is the first speed, n2 is the second speed, and k is the speed difference adjustment weight and is greater than zero.

4. The method for controlling the straight-line travel of a working machine according to claim 1, characterized in that: The working machine further includes an engine for providing power to the left hydraulic pump and the right hydraulic pump. The PID algorithm module includes a hydraulic pump adjustment model, and the hydraulic pump adjustment model is used to output the first adjustment current value and the second adjustment current value. The steps of constructing the hydraulic pump adjustment model include: Determine a PID adjustment coefficient of a hydraulic pump adjustment current corresponding to each gear position of the engine; Determining a current current PID adjustment coefficient of the hydraulic pump according to the engine gear position of the engine; A hydraulic pump regulation model is constructed according to the current current PID regulation coefficient.

5. The method for controlling the straight-line travel of a working machine according to claim 1, characterized in that: The working machine further includes an engine providing power for the left hydraulic pump and the right hydraulic pump, the PID algorithm module further includes a travel motor adjustment model, and the control method further includes the following steps: Determine the maximum displacement of the left hydraulic pump and the right hydraulic pump corresponding to each gear position of the engine; Determining a maximum input current corresponding to the maximum displacement; When it is determined that the input current of the left hydraulic pump or the right hydraulic pump can reach the maximum input current, the first parameter to be adjusted and the second parameter to be adjusted are respectively introduced into the travel motor adjustment model to output a third adjustment current value and a fourth adjustment current value; The current input currents of the left travel motor and the right travel motor are adjusted respectively according to the third adjustment current value and the fourth adjustment current value.

6. The method for controlling the straight-line travel of a working machine according to claim 5, characterized in that: The steps of constructing the walking motor adjustment model include: Determine the PID adjustment coefficient of the travel motor adjustment current corresponding to each gear position of the engine; Determine the current PID adjustment coefficient of the travel motor according to the engine gear position of the engine; The travel motor adjustment model is constructed according to the current current PID adjustment coefficient.

7. The method for controlling the straight-line travel of a working machine according to any one of claims 1 to 6, characterized in that: The control method further comprises the following steps: After adjusting the input currents of the left hydraulic pump and the right hydraulic pump respectively according to the first adjustment current value and the second adjustment current value, obtaining again the third rotation speed of the left travel motor and the fourth rotation speed of the right travel motor; When the absolute value of the difference between the third speed and the fourth speed is smaller than the preset difference threshold, the input currents of the left hydraulic pump and the right hydraulic pump are controlled to remain unchanged in the current cycle.

8. A control device, characterized in that: include: a memory configured to store instructions; as well as The processor is configured to call the instruction from the memory and implement the control method for straight-line walking of the working machine according to any one of claims 1 to 7 when executing the instruction.

9. A working machine, characterized in that: include: Left travel motor; Right travel motor; A left hydraulic pump, used for driving the left travel motor to rotate; A right hydraulic pump, used for driving the right travel motor to rotate; and, A control device according to claim 8.

10. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for causing the machine to execute the method for controlling the straight-line travel of a working machine according to any one of claims 1 to 7.

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