Control method, control device and work machine for linear travel of work machine

Abstract

The application belongs to the technical field of working machines, and relates to a control method and a control device for linear walking of a working machine and the working machine. 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; determining a first to-be-adjusted parameter of the left walking motor and a second to-be-adjusted parameter of the right walking motor in the case that an absolute value of a difference between the first rotating speed and the second rotating speed is greater than or equal to a preset difference threshold value; introducing the first to-be-adjusted parameter and the second to-be-adjusted parameter into a PID algorithm module respectively to output a first adjustment current value and a second adjustment current value; and adjusting input currents of a left hydraulic pump and a right hydraulic pump according to the first adjustment current value and the second adjustment current value respectively to adjust the rotating speeds of the left walking motor and the right walking motor until the absolute value of the difference is less than the preset difference threshold value. The control method can accurately adjust the rotating speeds of the left and right walking motors, and the working machine can keep linear walking operation.

Description

Technical Field

[0001] This invention belongs to the field of construction machinery technology, and specifically relates to a control method, control device, construction machinery and storage medium for linear movement of construction machinery. Background Technology

[0002] For construction machinery, especially earthmoving equipment such as bulldozers, excavators, and loaders, the ability to travel precisely in a straight line directly impacts construction efficiency and operational commands. Therefore, straight-line travel performance is a crucial indicator for evaluating construction machinery. Currently, when a speed difference is detected between the left and right travel motors during movement, most construction machinery will directly reduce the speed of one motor and increase the speed of the other. However, the control process often involves direct adjustment based solely on the speed difference, which is overly simplistic. This often results in adjustments that are too small, leading to slow speed adjustment, or too large, causing drastic speed fluctuations. Both situations lead to inaccurate speed adjustment, preventing the construction machinery from traveling precisely in a straight line. Summary of the Invention

[0003] The purpose of this invention is to provide a control method, control device, working machine, and storage medium for the linear movement of working machinery, so as to achieve precise linear movement of the working machinery.

[0004] To achieve the above objectives, the present invention provides a control method for the linear movement of a working machine. The working machine includes a left travel motor, a left hydraulic pump that drives the left travel motor to rotate, a right travel motor, and a right hydraulic pump that drives the right travel motor to rotate. The control method includes:

[0005] Obtain the first speed of the left travel motor and the second speed of the right travel motor;

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

[0007] The first and second parameters to be adjusted are respectively imported into the PID algorithm module to output the first and second adjustment current values;

[0008] The input currents of the left and right hydraulic pumps are adjusted according to the first and second adjustment current values, respectively, to regulate the speeds of the left and right travel motors until the absolute value of the difference is less than a preset difference threshold.

[0009] In some embodiments, the working machinery also includes an engine that powers the left and right hydraulic pumps. When the absolute value of the difference between the first and second speeds is greater than or equal to a preset difference threshold, the step of determining a first adjustable parameter for the left travel motor and a second adjustable parameter for the right travel motor includes: acquiring the engine gear and engine speed; determining a speed difference adjustment weight and a target speed for the two travel motors based on the engine gear and engine speed; determining the first adjustable parameter based on the speed difference between the target speed and the first speed, the speed difference adjustment weight, and the speed difference between the first and second speeds; and determining the second adjustable parameter based on the speed difference between the target speed and the second speed, the speed difference adjustment weight, and the speed difference between the first and second speeds.

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

[0011] Δn1=n0-n1-k(n1-n2) (1)

[0012] Δn2=n0-n2+k(n1-n2) (2)

[0013] Where 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, which is greater than zero.

[0014] In some embodiments, the working machinery also includes an engine that powers the left and right hydraulic pumps. The PID algorithm module includes a hydraulic pump adjustment model, which is used to output a first adjustment current value and a second adjustment current value. The steps for constructing 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; and constructing the hydraulic pump adjustment model according to the current current PID adjustment coefficient.

[0015] In some embodiments, the working machinery also includes an engine that powers the left and right hydraulic pumps, the PID algorithm module includes a travel motor adjustment model, and the control method further includes the following steps: determining the maximum displacement of the left and right hydraulic pumps 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 or right hydraulic pump can reach the maximum input current, importing the first and second parameters to be adjusted into the travel motor adjustment model to output the third and fourth adjustment current values; and adjusting the current input current of the left and right travel motors according to the third and fourth adjustment current values.

[0016] In some implementations, 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 based on the engine gear; and constructing the travel motor adjustment model based on the current current PID adjustment coefficient.

[0017] In some embodiments, the control method further 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, the third speed of the left travel motor and the fourth speed of the right travel motor are obtained again; if 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.

[0018] A second aspect of the present invention provides a control device, comprising: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the aforementioned control method for linear movement of the working machinery.

[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 aforementioned control device.

[0020] A fourth aspect of the present invention provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned control method for linear movement of a working machine.

[0021] The above technical solution allows for determining whether the travel motor speed needs adjustment based on whether the absolute value of the speed difference between the left and right travel motors exceeds a preset threshold. It also identifies a first adjustable parameter for the left travel motor and a second adjustable parameter for the right travel motor. Inputting these parameters into a PID algorithm module determines a first and a second adjustment current value. Adjusting the input current of the left and right hydraulic pumps based on these values ​​regulates their speeds, ensuring they are synchronized and enabling precise linear movement of the machinery. The linear movement control method provided by this invention, utilizing a PID algorithm module, gradually adjusts the hydraulic pump current, causing the speeds of the left and right travel motors to gradually approach the same value. This precise speed adjustment minimizes speed fluctuations in the machinery, ensuring it maintains linear movement.

[0022] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings:

[0024] Figure 1 A flowchart of a control method for linear movement of a work machine according to an embodiment of the present invention;

[0025] Figure 2 A logic diagram of a control method for linear movement of a work machine according to an embodiment of the present invention;

[0026] Figure 3 This is an internal structural diagram of a computer device provided according to an embodiment of the present invention. Detailed Implementation

[0027] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0028] The following description, with reference to the accompanying drawings, outlines a control method, control device, working machinery, and storage medium for the linear movement of a working machine according to the present invention. Figure 1 The diagram shown is a flowchart of a control method for linear movement of a work machine according to an embodiment of the present invention.

[0029] In this embodiment of the invention, the working machine includes: a left travel motor, a left hydraulic pump that drives the left travel motor to rotate, a right travel motor, a right hydraulic pump that drives the right travel motor to rotate, and a control device. The left travel motor can drive the left travel wheel or left travel track to rotate, and the right travel wheel can drive the right travel wheel or right travel track to rotate. The hydraulic pump is a drive component that can deliver high-pressure hydraulic oil to the motor; the displacement of the hydraulic pump can affect the rotational speed of the travel motor. The left hydraulic pump delivers high-pressure hydraulic oil to the left travel motor to cause it to rotate; the right hydraulic pump delivers high-pressure hydraulic oil to the right travel motor to cause it to rotate. The control device is configured to execute the following control method for the linear movement of the working machine.

[0030] In this embodiment of the invention, the control method for the linear movement of the working machinery includes the following steps:

[0031] S101, obtain the first speed of the left travel motor and the second speed of the right travel motor.

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

[0033] S103, the first parameter to be adjusted and the second parameter to be adjusted are respectively imported into the PID algorithm module to output the first adjustment current value and the second adjustment current value.

[0034] S104, the input current of the left hydraulic pump and the right hydraulic pump are adjusted according to the first adjustment current value and the second adjustment current value respectively, so as to adjust the speed of the left travel motor and the right travel motor until the absolute value of the difference is less than the preset difference threshold.

[0035] When controlling machinery, some operating conditions require controlling its linear movement to complete tasks efficiently and with high quality. During linear movement control, the speed control of the left and right travel motors is crucial. When the absolute value of the speed difference between the left and right travel motors is less than a preset threshold, it can be determined that the 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 threshold, it can be determined that the machinery is deviating from a straight line, and the speed of the travel motors needs to be adjusted.

[0036] This invention provides a control method for the linear movement of a working machine. First, the first rotational speed of the left travel motor and the second rotational speed of the right travel motor are obtained, and the difference between the two speeds is calculated. When the absolute value of the difference exceeds a preset threshold, it is determined that the rotational speeds of the left and right travel motors need to be adjusted to ensure the linear movement of the working machine. Then, a first parameter to be adjusted for the left travel motor and a second parameter to be adjusted for the right travel motor are determined. These parameters are then imported into a PID algorithm module, which outputs a first adjustment current value and a second adjustment current value. The first adjustment parameter can be determined based on the speed difference between the left and right travel motors, the speed difference between the left and right travel motors and the target speed, or a combination of the speed difference between the left and right travel motors and the target speed difference. The second adjustment parameter is determined similarly. Furthermore, the input currents of the left and right hydraulic pumps are adjusted according to the first and second adjustment current values ​​to adjust their displacement. Adjusting the displacement of the left and right hydraulic pumps allows for adjustment of the rotational speeds of the left and right travel motors, bringing them closer together until the absolute value of the speed difference between the left and right travel motors is less than a preset threshold. In one specific embodiment, the first parameter to be adjusted is equal to the speed difference between the left and right travel motors, and the second parameter to be adjusted is equal to the speed difference between the right and left travel motors. In another specific embodiment, the first parameter to be adjusted is equal to the target rotational speed and the speed difference between the left and right travel motors, and the second parameter to be adjusted is equal to the target rotational speed and the speed difference between the right and right travel motors.

[0037] Using 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 and right travel motors. During the adjustment process, the current of the left and right hydraulic pumps is adjusted by using a PID control model of hydraulic pump current. The adjustment process is smooth and fast, which can keep the rotation speed of the left and right travel motors consistent, thereby enabling the working machinery to maintain straight-line travel.

[0038] In one embodiment, the working machinery further includes an engine that provides power to 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 a first parameter to be adjusted for the left travel motor and a second parameter to be adjusted for the right travel motor includes: acquiring the engine gear and engine speed; determining a speed difference adjustment weight and a target speed for the two travel motors based on the engine gear and engine speed; determining the first parameter to be adjusted based on 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 determining the second parameter to be adjusted based on 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 and second adjustment currents output by the PID algorithm of the hydraulic pump current can bring the left and right travel motors closer together. However, in many cases, the speeds of the left and right travel motors gradually decrease, causing the absolute value of the speed difference to remain within a preset difference threshold when the speed approaches zero. In this embodiment of the invention, the engine gear and engine speed can be obtained, and the target speed and speed difference adjustment weight of the two travel motors can be determined based on the engine gear and engine speed. 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 significantly from the target speed, it will affect the straight-line travel operation of the working machinery. The speed difference adjustment weight is the weight ratio of the speed difference between the first and second speeds in the first and second parameters to be adjusted. This speed difference adjustment weight is related to the engine gear and engine speed. Each engine gear corresponds to multiple engine speed ranges, and a unique speed difference adjustment weight can be determined based on the engine gear and the corresponding engine speed. In this embodiment of the invention, a first parameter to be adjusted can be determined based on the speed difference between the target speed and a first speed, the speed difference adjustment weight, and the speed difference between the first speed and a second speed. Similarly, a second parameter to be adjusted can be determined based on the same speed difference. The determination of these two parameters couples the speed of the travel motor with the target speed, ensuring that the adjusted speed of the travel motor is closer to the target speed, enabling the working machinery to maintain linear movement 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 formulas (1) and (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, which is greater than zero. Using the above formulas (1) and (2) can more accurately calculate the first and second parameters to be adjusted, which is convenient for the control device to calculate and execute control operations.

[0044] In one embodiment, the working machinery further includes an engine that powers the left and right hydraulic pumps. The PID algorithm module includes a hydraulic pump adjustment model, which outputs a first adjustment current value and a second adjustment current value. 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 based on the engine gear; and constructing the hydraulic pump adjustment model based on the current current PID adjustment coefficient. PID control is a method that generates a control signal to adjust the controlled object by performing proportional, integral, and derivative operations on the deviation signal (i.e., the difference between the set value and the actual output value), so that the system output can quickly, accurately, and stably track the set value. The PID adjustment coefficient typically includes three adjustment coefficients: proportional, integral, and derivative. The magnitude of the PID adjustment coefficient can affect the adjustment speed and the adjustment result. In this embodiment of the invention, through multiple tests, different current current PID adjustment coefficients of the hydraulic pump are determined for different engine gears. Based on the current current PID adjustment coefficients of the hydraulic pump, a hydraulic pump adjustment model can be constructed. By importing the first and second parameters to be adjusted into the hydraulic pump adjustment model, the first and second adjustment current values ​​can be calculated. Using the above control method, multiple hydraulic pump adjustment models can be constructed based on the engine gear, thereby enabling different controls to be applied to the machinery under different working conditions, allowing the machinery to perform linear travel operations more precisely.

[0045] In one embodiment, the working machinery further includes an engine that provides power to the left and right hydraulic pumps, the PID algorithm module further includes a travel motor adjustment model, and the control method further includes the following steps: determining the maximum displacement of the left and right hydraulic pumps 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 or right hydraulic pump can reach the maximum input current, importing the first and second parameters to be adjusted into the travel motor adjustment model to output the third and fourth adjustment current values; and adjusting the current input current of the left and right travel motors according to the third and fourth adjustment current values.

[0046] The displacement adjustment range of the hydraulic pump corresponding to each engine is relatively small. When adjusting the speed of the travel motor 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 increased further. It is necessary to adjust the displacement of the travel motor to achieve speed adjustment. Specifically, the control device can obtain the maximum displacement of the left and right hydraulic pumps corresponding to each engine gear and determine the maximum output current corresponding to the maximum displacement. When it is determined that the left or right hydraulic pump has reached the maximum output current, the first and second parameters to be adjusted are input into the travel motor adjustment model, which can output the third and fourth adjustment current values. Based on the third and fourth adjustment current values, the current input current of the left and right travel motors is adjusted respectively, so that the displacement of the hydraulic pump is adjusted within the current gear range, and the speed of the left and right travel motors is kept consistent to better control the linear movement of the working machinery.

[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 engine gear; determining the current PID adjustment coefficient of the travel motor based on the engine gear; and constructing the travel motor adjustment model based on the current PID adjustment coefficient. In this embodiment, through multiple tests, different current PID adjustment coefficients of the travel motor are determined for different engine gears. Based on these current PID adjustment coefficients, a travel motor adjustment model can be constructed. By importing the first and second parameters to be adjusted into the travel motor adjustment model, the third and fourth adjustment current values ​​can be calculated. Using the above control method, multiple travel motor adjustment models can be constructed based on the engine gears, thereby enabling different controls for the working machinery under different working conditions, allowing the working machinery to perform linear travel operations more accurately.

[0048] In one embodiment, the control method further includes the following steps: after adjusting the input currents of the left and right hydraulic pumps according to the first and second adjustment current values ​​respectively, the third speed of the left travel motor and the fourth speed of the right travel motor are obtained again; if the absolute value of the difference between the third and fourth speeds is less than a preset difference threshold, the input currents of the left and right hydraulic pumps are kept constant within the current cycle. The control device controls the hydraulic pumps according to a certain control cycle. After adjusting the travel motors for one cycle according to the first and second adjustment current values, the third speed of the left travel motor and the fourth speed of the right travel motor are obtained again. If the absolute value of the difference between the third and fourth speeds is greater than or equal to a preset difference threshold, the displacement of the left and right hydraulic pumps is adjusted again to adjust the speeds of the left and right travel motors. This continues until the speed difference between the left and right travel motors is less than the preset difference threshold, at which point the input currents of the left and right hydraulic pumps are kept constant within the current cycle, so that the speeds of the left and right travel motors are consistent, and the working machinery performs linear travel operations. For example, when the engine is in first gear, the preset difference threshold is 10 r / min; when the engine is in second gear, the preset difference threshold is 15 r / min. When the absolute value of the difference between the third and fourth speeds is 11 r / min, and the engine is in second gear, the control device can determine that it is not necessary to adjust the speeds of the left and right travel motors.

[0049] In one embodiment, a control device is provided, comprising: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the aforementioned control method for linear movement of the working machinery.

[0050] In one embodiment, a machine-readable storage medium is provided, on which instructions are stored for causing a machine to perform the aforementioned control method for linear movement of the working machinery.

[0051] In a specific embodiment, such as Figure 2The diagram shown is a logic diagram of a control method for linear movement of a working machine according to an embodiment of the present invention. After the control device acquires the first and second speeds, the target speed can be determined based on the current engine gear and throttle knob (proportional to the engine speed). The first and second adjustable parameters can be determined based on the first speed, the second speed, the target speed, and the speed difference adjustment weight. These parameters are then imported into a PID algorithm model to calculate the control quantities of the left hydraulic pump, the right hydraulic pump, the left travel motor, and the right travel motor. Current is input based on these quantities to adjust the speeds of the left and right travel motors. After adjustment, the third speed of the left travel motor and the fourth speed of the right travel motor are acquired again, and the deviation between the third and fourth speeds is calculated. When the deviation is greater than or equal to a set value, the input current of the left and right hydraulic pumps, the left travel motor, and the right travel motor is readjusted using PID control. The PID adjustment of the input current of the left hydraulic pump, right hydraulic pump, left travel motor, and right travel motor will cease once the deviation rate is less than the set value.

[0052] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 3 As shown, the computer device includes a processor, network interface, memory (not shown), and database (not shown) connected via a system bus. The processor provides computing and control capabilities. The memory includes internal memory and a non-volatile storage medium. This non-volatile storage medium stores the operating system, computer programs, and the database (not shown). The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a control method for the linear movement of the working machinery.

[0053] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied 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] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0055] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0056] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function 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] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0059] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, 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 technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0060] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

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

[0062] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0064] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for the linear movement of a work machine, characterized in that, The working machinery includes a left travel motor, a left hydraulic pump that drives the left travel motor to rotate, a right travel motor, and a right hydraulic pump that drives the right travel motor to rotate. The working machinery also includes an engine that provides power to the left and right hydraulic pumps. The control method includes: Obtain the first rotational speed of the left travel motor and the second rotational speed of the right travel motor; Obtain the engine gear and engine speed of the engine; The speed difference adjustment weight and the target speed of the two travel motors are determined based on the engine gear and engine speed. The first parameter to be adjusted is determined based on 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. The second parameter to be adjusted is determined based on 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 first parameter to be adjusted and the second parameter to be adjusted are respectively imported into the PID algorithm module to output the first adjustment current value and the second adjustment current value; The input currents of the left hydraulic pump and the right hydraulic pump are adjusted according to the first adjustment current value and the second adjustment current value, respectively, to regulate the speed of the left travel motor and the right travel motor until the absolute value of the speed difference is less than a preset difference threshold.

2. The control method for linear movement of operating machinery according to claim 1, characterized in that, The first parameter to be adjusted and the second parameter to be adjusted are determined according to the following formulas (1) and (2): （1） （2） in, The first parameter to be adjusted is... The second parameter to be adjusted is... The target rotational speed, For the first rotational speed, Let k be the second rotational speed, and k be the adjustment weight for the rotational speed difference, which is greater than zero.

3. The control method for linear movement of operating machinery according to claim 1, characterized in that, The operating machinery also includes an engine that provides power to the left and right hydraulic pumps. The PID algorithm module includes a hydraulic pump adjustment model, which is used to output the first adjustment current value and the second adjustment current value. The construction steps of the hydraulic pump adjustment model include: Determine the PID control coefficient of the hydraulic pump regulating current corresponding to each gear of the engine; The current PID adjustment coefficient of the hydraulic pump is determined based on the engine gear position. A hydraulic pump regulation model is constructed based on the current current PID regulation coefficient.

4. The control method for linear movement of operating machinery according to claim 1, characterized in that, The operating machinery also includes an engine that provides power to the left and right hydraulic pumps, the PID algorithm module also includes a travel motor adjustment model, and the control method further includes the following steps: Determine the maximum displacement of the left and right hydraulic pumps corresponding to each gear of the engine; Determine the maximum input current corresponding to the maximum displacement; If 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 imported into the walking motor adjustment model to output 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 according to the third adjustment current value and the fourth adjustment current value, respectively.

5. The control method for linear movement of operating machinery according to claim 4, characterized in that, The steps for constructing the walking motor adjustment model include: Determine the PID control coefficient of the travel motor regulating current corresponding to each gear of the engine; The current PID adjustment coefficient of the travel motor is determined based on the engine gear position. The walking motor adjustment model is constructed based on the current current PID adjustment coefficient.

6. The control method for linear movement of a working machine according to any one of claims 1 to 5, characterized in that, The control method further 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, the third speed of the left travel motor and the fourth speed of the right travel motor are obtained again. If 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 constant within the current cycle.

7. A control device, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the control method for linear movement of the working machinery according to any one of claims 1 to 6.

8. A type of operating machinery, characterized in that, include: Left-side drive motor; Right-hand drive motor; A left hydraulic pump is used to drive the left travel motor to rotate; A right hydraulic pump is used to drive the right travel motor to rotate; and, The control device according to claim 7.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the control method for linear movement of the working machinery according to any one of claims 1 to 6.

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