Control method, device, equipment, medium and loader of skid steer loader

Abstract

Embodiments of the present application provide a control method, device, equipment, medium and loader of a skid steer loader. The method comprises: first, when it is determined that the skid steer loader ends turning, obtaining a first wheel speed of an inner wheel of the skid steer loader and a second wheel speed of an outer wheel; then, calculating a wheel speed difference between the first wheel speed and the second wheel speed; then, when the wheel speed difference is less than or equal to a preset threshold, controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a first control strategy; finally, when the wheel speed difference is greater than the preset threshold, controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a second control strategy. Through the method, the stability and response speed of vehicle control are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more particularly to a control method, device, equipment, medium, and loader for a skid steer loader. Background Technology

[0002] Steering control of loaders is crucial for ensuring operational performance, improving work efficiency, and guaranteeing safety. Through precise adjustment of the speed difference between the inner and outer wheels, steering control ensures excellent maneuverability and flexibility in confined or complex working environments. In particular, skid steer loaders can achieve on-the-spot turning or small-radius turns, significantly improving work efficiency and maneuverability. Furthermore, proper wheel speed control effectively reduces tire wear and transmission system impact, extends machine life, lowers maintenance costs, and improves overall operational economy by reducing ineffective skidding and energy consumption. Therefore, appropriate steering control is not only a necessary condition for achieving basic loader operation but also directly affects its operational efficiency, safety, reliability, and economy.

[0003] In existing technologies, the control method for skid steer loaders typically involves setting sensors in the hydraulic system to collect key data such as hydraulic pressure and wheel speed in real time, and then dynamically adjusting the flow of the hydraulic valves in conjunction with the vehicle's driving status to achieve differential steering.

[0004] However, existing control methods suffer from slow response speed and poor adaptability. Summary of the Invention

[0005] This application provides a control method, apparatus, equipment, medium, and loader for a skid steer loader, in order to solve the problems of slow response speed and poor adaptability in the prior art.

[0006] In a first aspect, embodiments of this application provide a control method for a skid steer loader, comprising:

[0007] Upon determining the end of the skid steer loader's turn, the first wheel speed of the inner wheel of the skid steer loader is obtained, and the second wheel speed of the outer wheel is obtained;

[0008] Calculate the wheel speed difference between the first wheel speed and the second wheel speed;

[0009] When the wheel speed difference is less than or equal to a preset threshold, the first wheel speed of the inner wheel and the second wheel speed of the outer wheel are controlled based on the first control strategy.

[0010] When the wheel speed difference is greater than the preset threshold, the first wheel speed of the inner wheel and the second wheel speed of the outer wheel are controlled based on the second control strategy.

[0011] In one possible implementation, controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the first control strategy includes:

[0012] Acquire handle signal, the handle signal including handle angle information and handle travel information, the handle angle information being the rotation direction information of the inner wheel and the outer wheel, and the handle travel information being the rotation speed information of the inner wheel and the outer wheel;

[0013] Based on the handle angle information and handle stroke information in the handle signal, determine the rated speed corresponding to the handle action;

[0014] Based on a preset S-shaped acceleration curve, the inner wheel and the outer wheel are controlled to accelerate synchronously to the rated speed.

[0015] In one possible implementation, controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the second control strategy includes:

[0016] Based on the PID algorithm and the wheel speed difference, the target wheel speed of the inner wheel and the target wheel speed of the outer wheel are calculated to dynamically control the inner wheel to gradually increase speed and the outer wheel to gradually decrease speed until the wheel speed difference is less than or equal to the preset threshold.

[0017] In one possible implementation, calculating the target wheel speed of the inner wheel and the target wheel speed of the outer wheel based on the PID algorithm and the wheel speed difference includes:

[0018] Based on the PID algorithm and the wheel speed difference, the cumulative sum of wheel speed difference and the rate of change of wheel speed difference are calculated in real time.

[0019] The target wheel speeds of the inner wheel and the outer wheel are calculated based on the wheel speed difference, the cumulative sum of the wheel speed differences, and the rate of change of the wheel speed difference.

[0020] Control the first wheel speed of the inner wheel according to the target wheel speed of the inner wheel;

[0021] The second wheel speed of the outer wheel is controlled according to the target wheel speed of the outer wheel.

[0022] In one possible implementation, the method further includes:

[0023] When the target wheel speed of the inner wheel is greater than the upper limit of the preset wheel speed threshold, the upper limit of the preset wheel speed threshold is determined as the target wheel speed of the inner wheel;

[0024] When the target wheel speed of the outer wheel is less than the preset wheel speed threshold lower limit, the preset wheel speed threshold lower limit is determined as the target wheel speed of the outer wheel.

[0025] In one possible implementation, the process of determining the end of the skid steer loader's steering includes:

[0026] Acquire controller signal;

[0027] When the handle signal indicates that the handle has returned to center, it is determined that the skid steer loader has ended its steering.

[0028] Secondly, embodiments of this application provide a control device for a skid steer loader, comprising:

[0029] The acquisition module is used to acquire the first wheel speed of the inner wheel of the skid steer loader and the second wheel speed of the outer wheel when the skid steer loader is determined to have finished turning.

[0030] The calculation module is used to calculate the wheel speed difference between the first wheel speed and the second wheel speed;

[0031] The first control module is used to control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a first control strategy when the wheel speed difference is less than or equal to a preset threshold.

[0032] The second control module is used to control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a second control strategy when the wheel speed difference is greater than the preset threshold.

[0033] In one possible implementation, the first control module is specifically used for:

[0034] Acquire handle signal, the handle signal including handle angle information and handle travel information, the handle angle information being the rotation direction information of the inner wheel and the outer wheel, and the handle travel information being the rotation speed information of the inner wheel and the outer wheel;

[0035] Based on the handle angle information and handle stroke information in the handle signal, determine the rated speed corresponding to the handle action;

[0036] Based on a preset S-shaped acceleration curve, the inner wheel and the outer wheel are controlled to accelerate synchronously to the rated speed.

[0037] In one possible implementation, the second control module is specifically used for:

[0038] Based on the PID algorithm and the wheel speed difference, the target wheel speed of the inner wheel and the target wheel speed of the outer wheel are calculated to dynamically control the inner wheel to gradually increase speed and the outer wheel to gradually decrease speed until the wheel speed difference is less than or equal to the preset threshold.

[0039] In one possible implementation, the second control module is specifically used for:

[0040] Based on the PID algorithm and the wheel speed difference, the cumulative sum of wheel speed difference and the rate of change of wheel speed difference are calculated in real time.

[0041] The target wheel speeds of the inner wheel and the outer wheel are calculated based on the wheel speed difference, the cumulative sum of the wheel speed differences, and the rate of change of the wheel speed difference.

[0042] Control the first wheel speed of the inner wheel according to the target wheel speed of the inner wheel;

[0043] The second wheel speed of the outer wheel is controlled according to the target wheel speed of the outer wheel.

[0044] In one possible implementation, the skid steer loader control device further includes a determining module for:

[0045] When the target wheel speed of the inner wheel is greater than the upper limit of the preset wheel speed threshold, the upper limit of the preset wheel speed threshold is determined as the target wheel speed of the inner wheel;

[0046] When the target wheel speed of the outer wheel is less than the preset wheel speed threshold lower limit, the preset wheel speed threshold lower limit is determined as the target wheel speed of the outer wheel.

[0047] In one possible implementation, the acquisition module is further configured to:

[0048] Acquire controller signal;

[0049] When the handle signal indicates that the handle has returned to center, it is determined that the skid steer loader has ended its steering.

[0050] Thirdly, embodiments of this application provide an electronic device, including: a memory and a processor;

[0051] The memory stores computer-executed instructions;

[0052] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0053] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0054] Fifthly, embodiments of this application provide a skid steer loader, the skid steer loader including a vehicle body, a memory, and a processor;

[0055] The memory stores computer-executed instructions;

[0056] The processor executes computer execution instructions stored in the memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0057] The control method, device, equipment, medium, and loader for skid steer loaders provided in this application embodiment acquire the first wheel speed of the inner wheel and the second wheel speed of the outer wheel in real time when the skid steer loader detects the end of the steering. Based on the actual state of the wheel speeds on both sides, it determines whether the vehicle has truly completed steering, avoiding misjudgments caused by relying solely on the return of the handle or hydraulic signals, thus improving the accuracy and reliability of the judgment. By calculating the wheel speed difference between the inner and outer wheels, it accurately reflects whether the vehicle still has residual steering, providing a basis for subsequent control. When the wheel speed difference is less than or equal to a preset threshold, it indicates that the vehicle has basically returned to a straight-line state. Based on the first control strategy, the inner and outer wheels are simultaneously increased to the target speed, enabling the vehicle to smoothly and naturally return to normal driving, improving driving comfort and safety, and avoiding vehicle swaying or instability caused by sudden acceleration changes. When the wheel speed difference is greater than the preset threshold, it indicates that the vehicle's residual steering has not yet been eliminated. Based on the second control strategy, the inner and outer wheel speeds are dynamically adjusted so that the wheel speed difference smoothly converges to within the set threshold, improving the vehicle's handling precision, straight-line stability, and tire lifespan. This achieves precise recovery and smooth control of the skid steer loader after steering in complex working conditions. Attached Figure Description

[0058] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0059] Figure 1 A flowchart illustrating the control method for a skid steer loader provided in this application embodiment. Figure 1 ;

[0060] Figure 2 A flowchart illustrating the control method for a skid steer loader provided in this application embodiment. Figure 2 ;

[0061] Figure 3This is a schematic diagram of the control device for a skid steer loader provided in an embodiment of this application;

[0062] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0063] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0064] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0065] Steering control of loaders is crucial for ensuring operational performance, improving work efficiency, and guaranteeing safety. Through precise adjustment of the speed difference between the inner and outer wheels, steering control ensures excellent maneuverability and flexibility in confined or complex working environments. In particular, skid steer loaders can achieve on-the-spot turning or small-radius turns, significantly improving work efficiency and maneuverability. Furthermore, proper wheel speed control effectively reduces tire wear and transmission system impact, extends machine life, lowers maintenance costs, and improves overall operational economy by reducing ineffective skidding and energy consumption. Therefore, appropriate steering control is not only a necessary condition for achieving basic loader operation but also directly affects its operational efficiency, safety, reliability, and economy.

[0066] In existing technologies, the control method for skid steer loaders typically involves setting sensors in the hydraulic system to collect key data such as hydraulic pressure and wheel speed in real time, and then dynamically adjusting the flow of the hydraulic valves in conjunction with the vehicle's driving status to achieve differential steering.

[0067] However, the pressure curves preset in existing control methods are usually based on standard or ideal working conditions, which are difficult to fully cover the actual complex and variable working environment. For example, when the road conditions, load changes or ground adhesion changes, the steering effect may not be optimal, resulting in a decrease in handling and stability. In addition, the hydraulic system itself has a certain lag and inertia, and the steering control relies on sensor data feedback and valve adjustment, which has a certain response delay.

[0068] Based on this, this application proposes a control method for skid steer loaders. Considering that traditional steering control methods are usually based on standard or ideal working conditions, they are difficult to adapt to the complex dynamic environment caused by changes in road conditions, load fluctuations, or differences in ground adhesion during actual operation. This can easily lead to problems such as poor steering effect, poor maneuverability, and decreased stability. In addition, the hydraulic system itself has lag and inertia, resulting in a slow response speed and an inability to complete steering recovery in a timely and accurate manner. Based on the above problems, the technical concept of this solution is to use real-time monitoring of the wheel speed difference between the inner and outer wheels of the vehicle as a direct physical criterion for steering status. By using the wheel speed difference to reflect whether the vehicle is still in a steering state, this approach abandons traditional preset curves and indirect signals and proposes a phased wheel speed control strategy. When the wheel speed difference is greater than a preset threshold, the difference is smoothly converged to the set threshold by accelerating one side and decelerating the other, thus accurately eliminating the residual effects of steering. When the wheel speed difference is less than or equal to the preset threshold, both wheels are simultaneously increased to the target speed, ensuring a smoother and more natural process for the vehicle to resume straight driving. This improves vehicle handling, stability, and driving comfort, effectively solving the problems of poor adaptability to complex working conditions and slow response in existing technologies.

[0069] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0070] Figure 1 A flowchart illustrating the control method for a skid steer loader provided in this application embodiment. Figure 1 ;like Figure 1 As shown, the method includes:

[0071] S101. When the skid steer loader finishes turning, obtain the first wheel speed of the inner wheel of the skid steer loader and the second wheel speed of the outer wheel.

[0072] In one possible approach, a handle signal is first acquired; then, when the handle signal indicates that the handle has returned to center, the end of the skid steer loader's steering is determined.

[0073] The handle signal is obtained through a handle angle sensor; the wheel speed is collected in real time by speed sensors (such as Hall sensors) installed on the inner and outer wheels.

[0074] It should be understood that the wheel speed adjustment mechanism in this application is triggered by multiple signals, relying not only on whether the control lever returns to center, but also on acquiring the actual wheel speeds of the inner and outer wheels. This is because there will inevitably be a difference in wheel speed between the inner and outer wheels during steering. By monitoring the inner and outer wheel speeds (first wheel speed, second wheel speed) in real time, it is possible to accurately reflect whether the vehicle is steering or has approached a straight-line state. This judgment mechanism avoids misjudgments caused by relying solely on the control lever returning to center or hydraulic signals, allowing for a more objective and accurate determination of the actual vehicle state, thus improving the accuracy and reliability of control.

[0075] S102. Calculate the wheel speed difference between the first wheel speed and the second wheel speed.

[0076] It is understandable that when a vehicle is traveling straight, the inner and outer wheel speeds should be similar, but there is a significant difference when turning; and the wheel speed difference = inner wheel speed (first wheel speed) - outer wheel speed (second wheel speed); this difference directly reflects whether the vehicle still has steering residue, providing a data basis for subsequent wheel speed control.

[0077] S103. When the wheel speed difference is less than or equal to a preset threshold, control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the first control strategy.

[0078] In one possible approach, the handle signal is first acquired; then, the rated speed corresponding to the handle action is determined based on the handle angle information and handle stroke information in the handle signal; finally, the inner and outer wheels are controlled to accelerate synchronously to the rated speed according to a preset S-shaped acceleration curve.

[0079] The handle signal includes handle angle information and handle travel information. The handle angle information is the rotation direction information of the inner wheel and the outer wheel, and the handle travel information is the rotation speed information of the inner wheel and the outer wheel.

[0080] It should be noted that the S-curve has low acceleration at the start, linear acceleration in the middle, and gradual deceleration to the target in the later stage. By controlling the synchronous acceleration of the inner and outer wheels through this curve, a smooth transition in acceleration is ensured, avoiding sudden changes that could cause vibration, impact, or slippage.

[0081] It should be understood that when the wheel speed difference is less than or equal to a preset threshold (e.g., ±5 revolutions per minute, RPM), it indicates that the vehicle has essentially returned to a straight-line state, and there is no longer a need to eliminate steering residue. At this point, the first control strategy can be used, which employs an S-shaped acceleration curve to synchronously accelerate the inner and outer wheels to the target speed, ensuring a linear and smooth acceleration process and avoiding vehicle swaying or sideslip due to sudden changes. Further, by acquiring the handlebar angle and handlebar formation information from the handlebar signal (as the angle information reflects the driver's intention regarding vehicle direction, and the handlebar travel information reflects the driver's intention regarding wheel speed), the rated speed (e.g., 1500 RPM) corresponding to the current handlebar angle and handlebar formation information is determined through table lookup or function calculation. Then, a preset S-shaped acceleration curve (adjustable acceleration gradient 0.5-2.0 m / s²) is used to control the inner and outer wheels to synchronously accelerate to the rated speed.

[0082] Understandably, this method enables the vehicle to smoothly return to a straight-line driving state, improves driving comfort and ride smoothness, and avoids unstable driving or mechanical wear caused by sudden speed changes.

[0083] S104. When the wheel speed difference is greater than a preset threshold, control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the second control strategy.

[0084] In one possible approach, the target wheel speeds of the inner wheel and the outer wheel are calculated based on a PID algorithm and the wheel speed difference, so as to dynamically control the inner wheel to gradually increase its speed and the outer wheel to gradually decrease its speed until the wheel speed difference is less than or equal to a preset threshold.

[0085] It should be understood that when the wheel speed difference exceeds a preset threshold, it indicates that the wheel speeds are not fully balanced after the steering is completed, and the vehicle is at risk of dragging or yawing. At this time, a second control strategy is adopted, which uses a PID algorithm to dynamically adjust the target speeds of the inner and outer wheels, gradually accelerating one side and gradually decelerating the other side, so that the wheel speed difference smoothly converges to within the set threshold, eliminating the residual steering effect and preventing the vehicle from dragging or unstable driving.

[0086] It should be noted that the detailed process of dynamically adjusting the target speed of the inner and outer wheels using the PID algorithm is described in this application. Figure 2 The embodiments are described in detail, and will not be repeated here.

[0087] The control method for a skid steer loader provided in this application obtains the first wheel speed of the inner wheel and the second wheel speed of the outer wheel in real time when the skid steer loader detects the end of the steering. Based on the actual state of the wheel speeds on both sides, it determines whether the vehicle has truly completed steering, avoiding misjudgments caused by relying solely on the return of the handle or hydraulic signals, thus improving the accuracy and reliability of the judgment. By calculating the wheel speed difference between the inner and outer wheels, it accurately reflects whether the vehicle still has residual steering, providing a basis for subsequent control. When the wheel speed difference is less than or equal to a preset threshold, it indicates that the vehicle has basically returned to a straight-line state. Based on the first control strategy, the inner and outer wheels are simultaneously increased to the target speed, enabling the vehicle to smoothly and naturally return to normal driving, improving driving comfort and safety, and avoiding vehicle swaying or instability caused by sudden acceleration changes. When the wheel speed difference is greater than the preset threshold, it indicates that the vehicle's residual steering has not yet been eliminated. Based on the second control strategy, the inner and outer wheel speeds are dynamically adjusted so that the wheel speed difference smoothly converges to within the set threshold, improving the vehicle's handling precision, straight-line stability, and tire lifespan. This achieves precise recovery and smooth control of the skid steer loader after steering in complex working conditions.

[0088] Figure 2 A flowchart illustrating the control method for a skid steer loader provided in this application embodiment. Figure 2 ,like Figure 2 As shown, in this embodiment... Figure 1 Based on the examples, the process of calculating the target wheel speed of the inner wheel and the target wheel speed of the outer wheel using a PID algorithm and wheel speed difference is described in detail. The method includes:

[0089] S201. Based on the PID algorithm and wheel speed difference, calculate the cumulative sum of wheel speed difference and the rate of change of wheel speed difference in real time.

[0090] The cumulative sum of wheel speed differences is the integral term in the PID algorithm, specifically:

[0091]

[0092]

[0093] Where e(t) is the wheel speed difference; The current rotational speed of the inner wheel (unit: RPM); The current rotational speed of the outer wheel (in RPM); integral represents the cumulative historical error.

[0094] The rate of change of wheel speed difference is the differential term in the PID algorithm, specifically:

[0095]

[0096] Where, derivative is the rate of change of wheel speed difference; e(t) is the wheel speed difference.

[0097] Understandably, by calculating the cumulative sum of wheel speed differences and the rate of change of wheel speed differences in real time, a data basis is provided for subsequently calculating the target wheel speeds of the inner and outer wheels.

[0098] S202. Based on the wheel speed difference, the cumulative sum of wheel speed differences, and the rate of change of wheel speed difference, calculate the target wheel speed of the inner wheel and the target wheel speed of the outer wheel respectively.

[0099] It should be noted that the specific calculation formula is as follows:

[0100]

[0101] In the formula, u(t) is the speed value to be compensated, Kp is the proportional gain, Ki is the integral gain, Kd is the differential gain, error is the wheel speed difference, integral is the cumulative wheel speed difference, and derivative is the rate of change of wheel speed difference.

[0102] It should be understood that the calculated speed value u(t) that needs compensation is used to dynamically adjust the inner and outer wheels. When u(t) is greater than 0, u(t) is increased for the inner wheel to obtain the target wheel speed; u(t) is decreased for the outer wheel to obtain the target wheel speed; that is, the inner wheel is accelerated and the outer wheel is decelerated. When u(t) is less than 0, u(t) is increased for the inner wheel to obtain the target wheel speed; u(t) is decreased for the outer wheel to obtain the target wheel speed; that is, the inner wheel is decelerated and the outer wheel is accelerated. The two gradually reach equilibrium, the wheel speed difference converges, and the vehicle resumes straight-line driving.

[0103] S203. Control the first wheel speed of the inner wheel according to the target wheel speed of the inner wheel.

[0104] S204. Control the second wheel speed of the outer wheel according to the target wheel speed of the outer wheel.

[0105] It should be noted that if the target wheel speed of the inner wheel is greater than the upper limit of the preset wheel speed threshold, the upper limit of the preset wheel speed threshold will be determined as the target wheel speed of the inner wheel; if the target wheel speed of the outer wheel is less than the lower limit of the preset wheel speed threshold, the lower limit of the preset wheel speed threshold will be determined as the target wheel speed of the outer wheel.

[0106] It should be noted that, to ensure vehicle safety and prevent rollovers, the speeds of the inner and outer wheels also need to be limited. Specifically, for the inner wheels, to prevent negative wheel speeds (reversing) or abnormally low values, the minimum target speed is limited to 0. Furthermore, to prevent excessive acceleration and avoid exceeding the safe RPM range, if the target wheel speed of the inner wheel is greater than the upper limit of a preset wheel speed threshold, the upper limit of the preset wheel speed threshold is set as the target wheel speed for the inner wheel. For the outer wheels, to prevent excessively low speeds (leading to vehicle braking or tire slippage and instability), if the target wheel speed of the outer wheel is less than the lower limit of a preset wheel speed threshold, the lower limit of the preset wheel speed threshold is set as the target wheel speed for the outer wheel; similarly, if the target wheel speed of the outer wheel is greater than the upper limit of the preset wheel speed threshold, the upper limit of the preset wheel speed threshold is set as the target wheel speed for the outer wheel.

[0107] It is understandable that by setting upper and lower limits for the target wheel speed, the control calculation results are prevented from exceeding a reasonable range, ensuring that the wheel speed adjustment process is always carried out within a safe, reasonable, and controllable range, thereby improving the stability and safety of the control system.

[0108] Figure 3 This is a schematic diagram of the control device for a skid steer loader provided in an embodiment of this application; as shown below. Figure 3 As shown, the device includes:

[0109] The acquisition module 301 is used to acquire the first wheel speed of the inner wheel of the skid steer loader and the second wheel speed of the outer wheel when the skid steer loader is determined to have finished turning.

[0110] Calculation module 302 is used to calculate the wheel speed difference between the first wheel speed and the second wheel speed;

[0111] The first control module 303 is used to control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the first control strategy when the wheel speed difference is less than or equal to a preset threshold.

[0112] The second control module 304 is used to control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the second control strategy when the wheel speed difference is greater than a preset threshold.

[0113] In one possible implementation, the first control module 303 is specifically used for:

[0114] Acquire handle signals, which include handle angle information and handle travel information. The handle angle information is the rotation direction information of the inner wheel and the outer wheel, and the handle travel information is the rotation speed information of the inner wheel and the outer wheel.

[0115] Based on the handle angle and handle travel information in the handle signal, determine the rated speed corresponding to the handle action;

[0116] Based on the preset S-shaped acceleration curve, the inner and outer wheels are controlled to accelerate synchronously to the rated speed.

[0117] In one possible implementation, the second control module 304 is specifically used for:

[0118] Based on the PID algorithm and wheel speed difference, the target wheel speeds of the inner wheel and the outer wheel are calculated to dynamically control the gradual increase in speed of the inner wheel and the gradual decrease in speed of the outer wheel until the wheel speed difference is less than or equal to a preset threshold.

[0119] In one possible implementation, the second control module 304 is specifically used for:

[0120] Based on the PID algorithm and wheel speed difference, the cumulative sum of wheel speed difference and the rate of change of wheel speed difference are calculated in real time.

[0121] The target wheel speeds of the inner wheel and the outer wheel are calculated based on the wheel speed difference, the cumulative sum of wheel speed differences, and the rate of change of wheel speed difference.

[0122] Control the first wheel speed of the inner wheel according to the target wheel speed of the inner wheel;

[0123] Control the second wheel speed of the outer wheel based on the target wheel speed of the outer wheel.

[0124] In one possible implementation, the skid steer loader control unit further includes a determining module for:

[0125] When the target wheel speed of the inner wheel is greater than the upper limit of the preset wheel speed threshold, the upper limit of the preset wheel speed threshold is determined as the target wheel speed of the inner wheel.

[0126] When the target wheel speed of the outer wheel is less than the preset wheel speed threshold lower limit, the preset wheel speed threshold lower limit is determined as the target wheel speed of the outer wheel.

[0127] In one possible implementation, the acquisition module 301 is further configured to:

[0128] Acquire controller signal;

[0129] The skid steer loader is confirmed to have ended its steering when the handle signal indicates that the handle has returned to center.

[0130] The control device for the skid steer loader provided in this application embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0131] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4As shown, the electronic device 40 provided in this embodiment includes at least one processor 401 and a memory 402. Optionally, the device 40 further includes a communication component 403. The processor 401, memory 402, and communication component 403 are connected via a bus 404.

[0132] In a specific implementation, at least one processor 401 executes computer execution instructions stored in memory 402, causing at least one processor 401 to perform the above-described method.

[0133] The specific implementation process of processor 401 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0134] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0135] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0136] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0137] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0138] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0139] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0140] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0141] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0142] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0143] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0145] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A control method for a skid steer loader, characterized in that, include: Upon determining the end of the skid steer loader's turn, the first wheel speed of the inner wheel of the skid steer loader is obtained, and the second wheel speed of the outer wheel is obtained; Calculate the wheel speed difference between the first wheel speed and the second wheel speed; When the wheel speed difference is less than or equal to a preset threshold, the first wheel speed of the inner wheel and the second wheel speed of the outer wheel are controlled based on the first control strategy. When the wheel speed difference is greater than the preset threshold, the first wheel speed of the inner wheel and the second wheel speed of the outer wheel are controlled based on the second control strategy. The method of controlling the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the first control strategy includes: acquiring a handle signal, wherein the handle signal includes handle angle information and handle travel information, wherein the handle angle information is the rotation direction information of the inner wheel and the outer wheel, and the handle travel information is the rotation speed information of the inner wheel and the outer wheel; Based on the handle angle information and handle stroke information in the handle signal, determine the rated speed corresponding to the handle action; Based on a preset S-shaped acceleration curve, the inner wheel and the outer wheel are controlled to accelerate synchronously to the rated speed.

2. The method according to claim 1, characterized in that, The control of the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on the second control strategy includes: Based on the PID algorithm and the wheel speed difference, the target wheel speed of the inner wheel and the target wheel speed of the outer wheel are calculated to dynamically control the inner wheel to gradually increase speed and the outer wheel to gradually decrease speed until the wheel speed difference is less than or equal to the preset threshold.

3. The method according to claim 2, characterized in that, The calculation of the target wheel speed of the inner wheel and the target wheel speed of the outer wheel based on the PID algorithm and the wheel speed difference includes: Based on the PID algorithm and the wheel speed difference, the cumulative sum of wheel speed difference and the rate of change of wheel speed difference are calculated in real time. The target wheel speeds of the inner wheel and the outer wheel are calculated based on the wheel speed difference, the cumulative sum of the wheel speed differences, and the rate of change of the wheel speed difference. Control the first wheel speed of the inner wheel according to the target wheel speed of the inner wheel; The second wheel speed of the outer wheel is controlled according to the target wheel speed of the outer wheel.

4. The method according to claim 3, characterized in that, The method further includes: When the target wheel speed of the inner wheel is greater than the upper limit of the preset wheel speed threshold, the upper limit of the preset wheel speed threshold is determined as the target wheel speed of the inner wheel; When the target wheel speed of the outer wheel is less than the preset wheel speed threshold lower limit, the preset wheel speed threshold lower limit is determined as the target wheel speed of the outer wheel.

5. The method according to claim 1, characterized in that, The process of determining the end of the skid steer loader's steering includes: Acquire controller signal; When the handle signal indicates that the handle has returned to center, it is determined that the skid steer loader has ended its steering.

6. A control device for a skid steer loader, characterized in that, include: The acquisition module is used to acquire the first wheel speed of the inner wheel of the skid steer loader and the second wheel speed of the outer wheel when the skid steer loader is determined to have finished turning. The calculation module is used to calculate the wheel speed difference between the first wheel speed and the second wheel speed; The first control module is used to control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a first control strategy when the wheel speed difference is less than or equal to a preset threshold. The second control module is used to control the first wheel speed of the inner wheel and the second wheel speed of the outer wheel based on a second control strategy when the wheel speed difference is greater than the preset threshold. The first control module is specifically used for: Acquire handle signal, the handle signal including handle angle information and handle travel information, the handle angle information being the rotation direction information of the inner wheel and the outer wheel, and the handle travel information being the rotation speed information of the inner wheel and the outer wheel; Based on the handle angle information and handle stroke information in the handle signal, determine the rated speed corresponding to the handle action; Based on a preset S-shaped acceleration curve, the inner wheel and the outer wheel are controlled to accelerate synchronously to the rated speed.

7. An electronic device, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-5.

9. A loader, characterized in that, This includes the vehicle body, memory, and processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory to perform the method as described in any one of claims 1-5.

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