Method and device for determining idle speed of hydraulic working motor of loading machine

Abstract

The invention relates to an idle speed determining method and device for a hydraulic working motor of a loading machine, and belongs to the technical field of automatic control of vehicles, the method comprises the steps that when it is determined that a target loading machine meets a first preset condition, the rotating speed of the hydraulic working motor of the loading machine is determined to be a first preset idle speed value; when it is determined that the target loader meets the second preset condition, it is determined that the rotating speed of the hydraulic working motor of the loader is a second preset idle speed value; and when it is determined that the target loader does not meet the first preset condition and does not meet the second preset condition, a third idle speed value of the hydraulic working motor is obtained based on the steering wheel angular speed, the brake liquid level real-time pressure, the brake depth signal, the first preset idle speed value and the second preset idle speed value. Different idling speeds are used by controlling different driving intentions in a three-section mode, and therefore the energy-saving effect of the whole vehicle can be taken into account under the condition that the normal driving requirement is met.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of vehicles, and in particular to a method and device for determining the idle speed of a hydraulic working motor of a loader. Background Art

[0002] The hydraulic working motor of a loader refers to the motor used to provide power and control in the loader's hydraulic system, mainly including a hydraulic pump and a hydraulic motor.

[0003] The hydraulic working motor of the current loader consumes a large proportion of energy under the entire operating conditions. When high-speed transfer or low-speed travel occurs, which does not require shoveling, the hydraulic working motor only needs to meet the normal braking needs of the entire vehicle. The existing solution basically allows the hydraulic working motor to meet the driving needs of the entire vehicle at the highest idle speed. This solution will result in high energy consumption of the loader and poor energy-saving effect. Summary of the Invention

[0004] In view of this, it is necessary to provide a method for determining the idle speed of a hydraulic working motor of a loader, so as to solve the problem of high energy consumption and poor energy saving effect of the loader in the prior art.

[0005] In order to solve the above problems, in a first aspect, the present invention provides a method for determining the idle speed of a hydraulic working motor of a loader, comprising: When it is determined that the target loader meets a first preset condition, determining that the rotation speed of the loader hydraulic working motor is a first preset idle value, wherein the first preset condition is that the EPS signal of the target loader is lost and the brake state of the target loader is abnormal; When it is determined that the target loader meets the second preset condition, determining the speed of the loader hydraulic working motor to be a second preset idle value, the second preset condition being that the turn signal is not on, the brake state is not braked and the brake depth signal is zero, the steering wheel angle is less than a first preset threshold, the steering wheel angular velocity is less than a second preset threshold, the steering wheel torque is less than a third preset threshold, and the brake fluid pressure influence coefficient is greater than a fourth preset threshold; When it is determined that the target loader does not meet the first preset condition and does not meet the second preset condition, a third idle speed value of the hydraulic working motor is obtained based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value, and the second preset idle speed value; The first preset idle speed value is greater than the third idle speed value, and the third idle speed value is greater than the second preset idle speed value.

[0006] In one possible implementation, obtaining the third idle speed value of the hydraulic working motor based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value, and the second preset idle speed value includes: determining a degree of sharpness of the steering wheel based on the steering wheel angular velocity; determining a brake fluid level pressure influence coefficient based on the brake fluid level real-time pressure; determining a brake sharpness degree based on the brake depth signal; determining a third idle speed value of the hydraulic working motor based on the degree of sharpness of the steering wheel, the brake fluid level pressure influence coefficient, the brake sharpness degree, a first preset idle speed value and a second preset idle speed value.

[0007] In a possible implementation, the degree of sharpness of the steering wheel is expressed as:

[0008] wherein, represents the degree of sharpness of the steering wheel, represents an average angular velocity of the steering wheel, represents the steering wheel angular velocity, represents a steering wheel angular acceleration, represents a driver expected weight coefficient, represents a weight coefficient of actual operation results of the driver.

[0009] In a possible implementation, the brake fluid level pressure influence coefficient is expressed as:

[0010] wherein, represents the brake fluid level pressure influence coefficient, represents a minimum brake fluid level pressure when the driver steps on the brake, represents the brake fluid level real-time pressure, represents a time from an initial to a maximum of the brake fluid level when the working motor works at a highest speed, represents a highest speed of the target loader working motor, represents a maximum brake fluid level pressure, represents an initial brake fluid level pressure.

[0011] In a possible implementation, the brake sharpness degree is expressed as:

[0012] wherein, represents the brake sharpness degree, represents a proportion of how fast the driver steps on the brake, represents a feed-forward proportion of an average brake depth of the driver, represents the brake depth signal.

[0013] In one possible implementation, obtaining the third idle speed value of the hydraulic working motor based on the steering wheel urgency, the brake fluid level pressure influence coefficient, the braking urgency, the first preset idle speed value, and the second preset idle speed value includes: determining a first increment of the third idle speed value based on the degree of slop in the steering wheel; determining a second increment of the third idle speed value based on the brake fluid level pressure influence coefficient; determining a third increment of the third idle speed value based on the degree of braking severity; A third idle speed value of the hydraulic working motor is obtained based on the first increment, the second increment, the third increment, the first preset idle speed value, and the second preset idle speed value.

[0014] In a possible implementation, the expression of the first increment is:

[0015] Where, represents the first increment, Indicates the degree of urgency of the steering wheel. express The corresponding restriction ratio is Indicates the limit ratio at different vehicle speeds, Indicates the feedforward speed increase when the turn signal is on.

[0016] In a possible implementation, the expression of the second increment is:

[0017] Where, represents the second increment, represents the proportional parameter of the PID algorithm, represents the integral parameter of the PID algorithm, represents the differential parameter of the PID algorithm, Indicates the brake fluid level pressure influence coefficient.

[0018] In a possible implementation, the expression of the third idle speed value is:

[0019] Where, Indicates the third idle speed value, Indicates the second preset idle speed value, Indicates the first preset idle speed value, represents the first increment, represents the second increment, Indicates the third increment.

[0020] In a second aspect, the present application provides a loader hydraulic working motor idle speed determination device, comprising: A first preset idle speed value determination module is configured to determine a first preset idle speed value of the loader hydraulic working motor when it is determined that the target loader meets a first preset condition, wherein the first preset condition is that the EPS signal of the target loader is lost and the brake state of the target loader is abnormal. A second preset idle speed value determination module is configured to determine a second preset idle speed value of the loader hydraulic working motor when it is determined that the target loader meets a second preset condition, wherein the second preset condition is that the opening state of the steering lamp is not opened, the brake state is not braked and the brake depth signal is zero, the steering wheel angle is less than a first preset threshold value, the steering wheel angular velocity is less than a second preset threshold value, the steering wheel torque is less than a third preset threshold value, and the brake hydraulic pressure influence coefficient is greater than a fourth preset threshold value. A third idle speed value determination module is configured to obtain a third idle speed value of the hydraulic working motor based on the steering wheel angular velocity, the brake hydraulic pressure, the brake depth signal, the first preset idle speed value and the second preset idle speed value when it is determined that the target loader does not meet the first preset condition and does not meet the second preset condition. Wherein, the first preset idle speed value is greater than the third idle speed value, and the third idle speed value is greater than the second preset idle speed value.

[0021] The beneficial effects of the present invention are as follows: the idle speed determination method of the hydraulic working motor of a loader provided by the present invention includes determining that the rotation speed of the hydraulic working motor of the loader is a first preset idle speed value when it is determined that the target loader meets the first preset condition, the first preset condition is that the EPS signal of the target loader is lost, and the brake state of the target loader is abnormal, so that the target loader adopts a high idle speed to avoid the risk when it is identified that there is a safety risk, and when it is determined that the target loader meets the second preset condition, the rotation speed of the hydraulic working motor of the loader is determined to be a second preset idle speed value, the second preset condition is that the turn signal is not turned on, and the brake state is not braked and the brake depth signal is not braked. is zero, and the steering wheel angle is less than the first preset threshold, and the steering wheel angular velocity is less than the second preset threshold, and the steering wheel torque is less than the third preset threshold, and the brake fluid pressure influence coefficient is greater than the fourth preset threshold, so that low idle speed energy saving can be adopted under the linear acceleration condition without steering and braking. When it is determined that the target loader does not meet the first preset condition and does not meet the second preset condition, the third idle speed value of the hydraulic working motor is obtained based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value and the second preset idle speed value, and the idle speed of the hydraulic motor is continuously adjusted according to the driver's steering and braking operations to achieve a balance between energy saving and driving experience. The present invention uses different idle speeds for different driving intentions through three-stage control, so that the energy saving effect of the entire vehicle can be taken into account while meeting normal driving needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A flowchart of an embodiment of a method for determining the idle speed of a hydraulic working motor of a loader provided by the present invention; Figure 2 A schematic flow chart of an embodiment of a method for determining the idle speed of a hydraulic working motor of a loader provided by the present invention; Figure 3 A schematic diagram of determining the idle speed of a hydraulic working motor of a loader according to an embodiment of a method for determining the idle speed of the hydraulic working motor of the loader provided by the present invention; Figure 4 For the present invention Figure 1 A schematic flow chart of an embodiment of S103; Figure 5 A schematic flow chart of an embodiment of a device for determining the idle speed of a hydraulic working motor of a loader provided by the present invention; Figure 6 This is a schematic structural diagram of an embodiment of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0024] In the description of the embodiments of the present invention, unless otherwise specified, "plurality" means two or more. "And / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone.

[0025] The terms "first," "second," and so on, used in the embodiments of the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, technical features designated as "first" or "second" may explicitly or implicitly include at least one such feature.

[0026] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0027] Before presenting the embodiments, the following terms are explained.

[0028] Idle speed refers to the state in which an internal combustion engine operates at its lowest stable speed under no-load conditions. In this state, with the accelerator pedal depressed, the engine maintains minimal throttle to power the vehicle's accessory systems, such as the cooling and electrical systems. Idle speed is typically low to ensure smooth engine operation and proper functioning of accessories. The engine's speed at idle is called idle speed. This speed can be adjusted by adjusting the air damper, for example. Idle speed means the engine is "not producing any power."

[0029] When the engine is running, if you completely release the accelerator pedal, the engine will be in idle state. When adjusting the idle speed, the speed should not be suddenly increased or decreased, otherwise it will cause premature wear of the engine. It is best to have it adjusted by a car repair department.

[0030] The open-loop table lookup method is a technique used in open-loop control systems. It converts the relationship between input and output into a two-dimensional or multi-dimensional table (MAP), and then interpolates the input to obtain the output. This method is particularly useful in resource-constrained environments because it can reduce the CPU's computational burden and improve execution efficiency.

[0031] The present invention provides a method and device for determining the idle speed of a hydraulic working motor of a loader, which are described below.

[0032] Figure 1 A flow chart of an embodiment of a method for determining the idle speed of a hydraulic working motor of a loader provided by the present invention is shown as follows: Figure 1 As shown, the method for determining the idle speed of the hydraulic working motor of a loader includes: S101: When it is determined that the target loader meets a first preset condition, determining that the rotational speed of the loader's hydraulic working motor is a first preset idle value, wherein the first preset condition is that the EPS signal of the target loader is lost and the brake state of the target loader is abnormal; The first preset condition is that the EPS signal of the target loader is lost, and the brake status of the target loader is abnormal, indicating that the target loader has a safety risk, and high idle speed is used to avoid the risk.

[0033] S102. When it is determined that the target loader meets a second preset condition, determining that the speed of the loader's hydraulic working motor is a second preset idle value, wherein the second preset condition is that the turn signal is not on, the brake state is not braking, the brake depth signal is zero, the steering wheel angle is less than a first preset threshold, the steering wheel angular velocity is less than a second preset threshold, the steering wheel torque is less than a third preset threshold, and the brake fluid pressure influence coefficient is greater than a fourth preset threshold; The second preset condition indicates that the target loader uses low idle speed to save energy in a straight-line acceleration condition without steering or braking.

[0034] S103, when it is determined that the target loader does not meet the first preset condition and does not meet the second preset condition, obtaining a third idle speed value of the hydraulic working motor based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value, and the second preset idle speed value; The first preset idle speed value is greater than the third idle speed value, and the third idle speed value is greater than the second preset idle speed value.

[0035] When the target loader does not meet the first preset condition and the second preset condition, it indicates that the target loader is in linear idle mode, and the idle speed of the hydraulic motor is continuously adjusted according to the driver's steering and braking operations to achieve a balance between energy saving and driving experience.

[0036] Compared with the prior art, the idle speed determination method of the hydraulic working motor of a loader provided in this embodiment includes determining that the rotation speed of the hydraulic working motor of the loader is a first preset idle speed value when it is determined that the target loader meets the first preset condition, the first preset condition is that the EPS signal of the target loader is lost, and the brake state of the target loader is abnormal, so that the target loader adopts a high idle speed to avoid the risk when it is identified that there is a safety risk, and when it is determined that the target loader meets the second preset condition, the rotation speed of the hydraulic working motor of the loader is determined to be a second preset idle speed value, the second preset condition is that the turn signal is not turned on, and the brake state is not braked and the brake depth signal is Zero, and the steering wheel angle is less than the first preset threshold, and the steering wheel angular velocity is less than the second preset threshold, and the steering wheel torque is less than the third preset threshold, and the brake fluid pressure influence coefficient is greater than the fourth preset threshold, so that low idle speed energy saving can be adopted under the linear acceleration condition without steering and braking. When it is determined that the target loader does not meet the first preset condition and does not meet the second preset condition, the third idle speed value of the hydraulic working motor is obtained based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value and the second preset idle speed value. The idle speed of the hydraulic motor is continuously adjusted according to the driver's steering and braking operations to achieve a balance between energy saving and driving experience. The present invention uses different idle speeds for different driving intentions through three-stage control, so that the energy saving effect of the entire vehicle can be taken into account while meeting normal driving needs.

[0037] In a specific embodiment of the present invention, Figure 2 The figure shows a flow chart. After confirming the driver's intention, the hydraulic working motor is divided into three speed levels: low idle, linear idle, and high idle. Low idle corresponds to no steering and no braking conditions, high idle corresponds to abnormal steering or abnormal braking conditions, and linear idle is a common working condition. The algorithm calculates the driver's speed demand and braking demand in real time to obtain the target idle speed, which has the effect of predicting the driver's intention in advance.

[0038] like Figure 3 The figure shows the idle speed judgment diagram and the specific judgment logic of high idle speed. If any of the following conditions are met, the system will enter the high idle speed control stage: EPS-related signal loss; The brake status is abnormal; The specific judgment logic of low idle speed is that if the following conditions are met, the system will enter the low idle speed control stage: The turn signal indicator is not turned on; The brake is not pressed, the brake depth signal =0; Steering wheel angle | |< and steering wheel angular velocity | |< and the steering wheel torque | |< ; Brake fluid level pressure influence coefficient > ; in 、 、 Indicates that the driver has no need to steer the wheel (steering wheel vibration needs to be filtered out). Indicates the expected feeling of the driver stepping on the accelerator; Neither high idle speed nor low idle speed meets the requirement to enter the linear idle control stage.

[0039] In some embodiments of the present invention, Figure 4 As shown, in step S103, the third idle speed value of the hydraulic working motor is obtained based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value and the second preset idle speed value, including: S401, determining the urgency of the steering wheel based on the steering wheel angular velocity; S402, determining a brake fluid level pressure influence coefficient based on the real-time brake fluid level pressure; S403, determining the braking urgency based on the braking depth signal; S404: Obtain a third idle speed value of the hydraulic working motor based on the steering wheel's urgency, the brake fluid level pressure influence coefficient, the braking urgency, the first preset idle speed value, and the second preset idle speed value.

[0040] In a specific embodiment of the present invention, the degree of urgency of the driver's steering wheel movement is determined by the steering wheel angle θ, the steering wheel angular velocity ω, and the steering wheel torque M. The steering wheel torque M reflects the driver's intended action, while the steering wheel angle θ and the steering wheel angular velocity ω reflect the result of the driver's intended action:

[0041] Where M is the steering wheel torque, I is the moment of inertia, and β is the angular acceleration.

[0042]

[0043] Moment of inertia and steering wheel mass and steering wheel radius Related ( and is the basic parameter of the steering wheel) average steering wheel angular velocity :

[0044] in It is the angle difference of the driver’s steering at time t. Time t is a calibrable quantity and is calibrated according to the actual operation of the driver. Perform filtering to remove the influence of steering wheel vibration. In some embodiments of the present invention, the expression of the degree of urgency of the steering wheel is:

[0045] Where, Indicates the degree of steering wheel speed. represents the average angular velocity of the steering wheel, represents the steering wheel angular velocity, represents the steering wheel angular acceleration, represents the driver's expected weight coefficient, The weight coefficient representing the driver's actual operation results.

[0046] In a specific embodiment of the present invention, the real-time pressure P of the brake fluid level affects the driver's feeling when braking. The smaller the pressure, the harder the brake. After the working motor works, the real-time pressure P of the brake fluid level will gradually increase, but the value does not exceed :

[0047]

[0048] in is the real-time pressure of the brake fluid level, Refers to the initial pressure of the brake fluid level, Refers to the time when the working motor starts working. Refers to the time when the working motor stops working, j represents the ratio of the speed to the pressure, The calculation expression of j is:

[0049] in It indicates the time it takes for the working motor to work at the highest speed and the brake fluid level to increase from the initial level to the maximum level. Indicates the maximum speed, brake fluid level pressure influence coefficient .

[0050] In some embodiments of the present invention, the expression of the brake fluid level pressure influence coefficient is:

[0051] Where, Indicates the brake fluid level pressure influence coefficient, Indicates the minimum brake fluid level pressure required for the driver to step on the brakes. Indicates the real-time pressure of the brake fluid level. It indicates the time it takes for the working motor to work at the highest speed and the brake fluid level to increase from the initial level to the maximum level. Indicates the maximum speed of the target loader's working motor. Indicates the maximum pressure of the brake fluid level. Indicates the initial pressure of the brake fluid level.

[0052] In some embodiments of the present invention, the driver's intention to brake is determined based on the brake depth signal. The expression for judging the braking urgency is:

[0053] Where, Indicates the braking speed. Indicates the ratio of how fast the driver brakes. The feedforward ratio representing the average braking depth of the driver, Indicates the brake depth signal.

[0054] In some embodiments of the present invention, obtaining the third idle speed value of the hydraulic working motor based on the urgency of the steering wheel, the brake fluid level pressure influence coefficient, the braking urgency, the first preset idle speed value, and the second preset idle speed value includes: determining a first increment of the third idle speed value based on the degree of slop in the steering wheel; determining a second increment of the third idle speed value based on a brake fluid level pressure influence coefficient; determining a third increment of the third idle speed value based on the degree of braking severity; A third idle speed value of the hydraulic working motor is obtained based on the first increment, the second increment, the third increment, the first preset idle speed value, and the second preset idle speed value.

[0055] In some embodiments of the present invention, the expression of the first increment is:

[0056] Where, represents the first increment, Indicates the degree of steering wheel speed. express The corresponding restriction ratio is Indicates the limit ratio at different vehicle speeds, Indicates the feedforward speed increase when the turn signal is on.

[0057] In some embodiments of the present invention, the expression of the second increment is:

[0058] Where, represents the second increment, represents the proportional parameter of the PID algorithm, represents the integral parameter of the PID algorithm, represents the differential parameter of the PID algorithm, Indicates the brake fluid level pressure influence coefficient.

[0059] In some embodiments of the present invention, the expression of the third idle speed value is:

[0060] Where, Indicates the third idle speed value, Indicates the second preset idle speed value, Indicates the first preset idle speed value, represents the first increment, represents the second increment, represents the third increment. It changes linearly.

[0061] In a specific embodiment of the present invention, the specific control logic under each idle speed control is as follows: Under high idle and low idle conditions, the brake hydraulic working motor is required to have a fixed speed, which is and ; Linear idle control: Steering wheel affects the target motor speed increment The influence of vehicle speed and the need of the driver to turn the steering wheel in advance should be considered. In high-speed conditions, the speed limit of the hydraulic working motor should be increased for safety reasons. Correction processing is performed and calculation is performed using an open-loop proportional lookup table.

[0062]

[0063] in, is the feedforward speed that increases according to the turn signal on state, where is based on The limit ratio is obtained by looking up the table, Table 1 is and Correspondence table; Table 1: and Correspondence table

[0064] High speed limit ratio It is obtained by looking up the table based on the actual vehicle speed v. Table 2 is and Correspondence table; Table 2 is: and corresponding table

[0065] brake fluid level pressure impact target motor speed increment related to the current motor actual speed duration, the calculation is carried out in PID mode.

[0066]

[0067] wherein , , the calculation parameters of PID, according to look-up table; brake degree of urgency impact target motor speed the calculation is carried out in open-loop look-up table, table 3 is corresponding table.

[0068]

[0069]

[0070] linear idle speed control speed the calculation logic is as follows:

[0071] respectively the steering wheel degree of urgency brake fluid level pressure impact coefficient brake degree of urgency the increment of target motor speed obtained by calculation; , respectively the low idle speed and high idle speed speed value. To Schmidt filter mode processing.

[0072] ​The application identifies the power demand of the current hydraulic motor by recognizing the intention of the driver, distinguishes the output power of the hydraulic motor in different scenes by using a three-stage control mode, and compares the existing control scheme. If the existing single control mode cannot consider energy consumption and driving feeling (or driving safety), if the idle speed of the hydraulic motor is reduced for energy consumption, the flow demand of the steering cannot be met when the driver urgently turns the steering wheel, thereby causing the safety risk of heavy steering. The three-stage control mode can specifically identify the demand of each scene. In the straight-line acceleration working condition without steering and without braking, low idle speed energy saving can be used. When a safety risk is identified, high idle speed is used to avoid risks. The main control interval is in the linear idle speed control region. The idle speed of the hydraulic motor is continuously adjusted according to the steering and braking operations of the driver, so as to achieve the effect of considering energy saving and driving feeling.

[0073] In order to better implement the idle speed determination method of the hydraulic working motor of the loader in the embodiment of the application, on the basis of the idle speed determination method of the hydraulic working motor of the loader, corresponding to Figure 5 As shown in the figure, the embodiment of the application also provides an idle speed determination device of a hydraulic working motor of a loader. The idle speed determination device 500 of the hydraulic working motor of the loader comprises: A first preset idle speed value determination module 501 is configured to determine the speed of the hydraulic working motor of the loader as a first preset idle speed value when it is determined that the target loader meets a first preset condition, wherein the first preset condition is that the EPS signal of the target loader is lost and the brake state of the target loader is abnormal. A second preset idle speed value determination module 502 is configured to determine the speed of the hydraulic working motor of the loader as a second preset idle speed value when it is determined that the target loader meets a second preset condition, wherein the second preset condition is that the opening state of the steering lamp is not opened, the brake state is not braked, the brake depth signal is zero, the steering wheel angle is less than a first preset threshold value, the steering wheel angular velocity is less than a second preset threshold value, the steering torque of the steering wheel is less than a third preset threshold value, and the brake hydraulic pressure influence coefficient is greater than a fourth preset threshold value. A third idle speed value determination module 503 is configured to obtain a third idle speed value of the hydraulic working motor based on the steering wheel angular velocity, the brake hydraulic pressure, the brake depth signal, the first preset idle speed value and the second preset idle speed value when it is determined that the target loader does not meet the first preset condition and does not meet the second preset condition. Wherein, the first preset idle speed value is greater than the third idle speed value, and the third idle speed value is greater than the second preset idle speed value.

[0074] The idle speed determination device 500 of the hydraulic working motor of a loader provided in the above embodiment can implement the technical solution described in the above embodiment of the idle speed determination method of the hydraulic working motor of a loader. The specific implementation principles of the above modules or units can refer to the corresponding contents in the above embodiment of the idle speed determination method of the hydraulic working motor of a loader, and will not be repeated here.

[0075] like Figure 6 As shown, the present invention also provides an electronic device 600. The electronic device 600 includes a processor 601, a memory 602 and a display 603. Figure 6 Only some of the components of the electronic device 600 are shown, but it should be understood that implementation of all of the shown components is not required, and more or fewer components may be implemented instead.

[0076] In some embodiments, the processor 601 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 602 , such as a method for determining the idle speed of a hydraulic working motor of a loader in the present invention.

[0077] In some embodiments, processor 601 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, processor 601 may be local or remote. In some embodiments, processor 601 may be implemented on a cloud platform. In some embodiments, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, multiple clouds, or any combination thereof.

[0078] In some embodiments, the memory 602 may be an internal storage unit of the electronic device 600, such as a hard disk or memory of the electronic device 600. In other embodiments, the memory 602 may also be an external storage device of the electronic device 600, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device 600.

[0079] Furthermore, the memory 602 may include both an internal storage unit of the electronic device 600 and an external storage device. The memory 602 is used to store application software installed in the electronic device 600 and various data.

[0080] In some embodiments, the display 603 can be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 603 is used to display information on the electronic device 600 and to display a visual user interface. Components 601-603 of the electronic device 600 communicate with each other via a system bus.

[0081] In one embodiment, when the processor 601 executes an idle speed determination program for a loader hydraulic working motor in the memory 602, the following steps may be implemented: When it is determined that the target loader meets a first preset condition, determining that the rotation speed of the loader hydraulic working motor is a first preset idle value, wherein the first preset condition is that the EPS signal of the target loader is lost and the brake state of the target loader is abnormal; When it is determined that the target loader meets the second preset condition, determining the speed of the loader hydraulic working motor to be a second preset idle value, the second preset condition being that the turn signal is not on, the brake state is not braked and the brake depth signal is zero, the steering wheel angle is less than a first preset threshold, the steering wheel angular velocity is less than a second preset threshold, the steering wheel torque is less than a third preset threshold, and the brake fluid pressure influence coefficient is greater than a fourth preset threshold; When it is determined that the target loader does not meet the first preset condition and the second preset condition, a third idle speed value of the hydraulic working motor is obtained based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value and the second preset idle speed value.

[0082] It should be understood that, when the processor 601 executes an idle speed determination program for a loader hydraulic working motor in the memory 602 , in addition to the above functions, it can also implement other functions. For details, please refer to the description of the corresponding method embodiment above.

[0083] Furthermore, the embodiment of the present invention does not specifically limit the type of the electronic device 600 mentioned. The electronic device 600 may be a portable electronic device such as a mobile phone, a tablet computer, a personal digital assistant (PDA), a wearable device, a laptop computer, or the like. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with IOS, Android, Microsoft, or other operating systems. The above-mentioned portable electronic devices may also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the present invention, the electronic device 600 may not be a portable electronic device, but a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0084] Those skilled in the art will appreciate that all or part of the process steps of the above-described embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, such as a magnetic disk, an optical disk, a read-only memory, or a random access memory.

[0085] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A method for determining the idle speed of a hydraulic working motor of a loader, characterized in that: include: When it is determined that the target loader meets a first preset condition, determining that the rotation speed of the loader hydraulic working motor is a first preset idle value, wherein the first preset condition is that the EPS signal of the target loader is lost and the brake state of the target loader is abnormal; When it is determined that the target loader meets the second preset condition, determining the speed of the loader hydraulic working motor to be a second preset idle value, the second preset condition being that the turn signal is not on, the brake state is not braked and the brake depth signal is zero, the steering wheel angle is less than a first preset threshold, the steering wheel angular velocity is less than a second preset threshold, the steering wheel torque is less than a third preset threshold, and the brake fluid pressure influence coefficient is greater than a fourth preset threshold; When it is determined that the target loader does not meet the first preset condition and does not meet the second preset condition, a third idle speed value of the hydraulic working motor is obtained based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value, and the second preset idle speed value; The first preset idle speed value is greater than the third idle speed value, and the third idle speed value is greater than the second preset idle speed value.

2. The idle speed determination method of the hydraulic working motor of a loader according to claim 1, characterized in that: The method of obtaining the third idle speed value of the hydraulic working motor based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value, and the second preset idle speed value includes: determining a degree of urgency of the steering wheel based on the steering wheel angular velocity; Determine a brake fluid level pressure influence coefficient based on the real-time brake fluid level pressure; Determine the degree of braking based on the braking depth signal; The third idle speed value of the hydraulic working motor is obtained based on the urgency of the steering wheel, the brake fluid level pressure influence coefficient, the braking urgency, the first preset idle speed value and the second preset idle speed value.

3. The idle speed determination method of the hydraulic working motor of a loader according to claim 1, characterized in that: The expression of the urgency of the steering wheel is: Where, Indicates the degree of urgency of the steering wheel. represents the average angular velocity of the steering wheel, represents the steering wheel angular velocity, represents the steering wheel angular acceleration, represents the driver's expected weight coefficient, The weight coefficient representing the driver's actual operation results.

4. The method for determining the idle speed of a hydraulic working motor of a loader according to claim 1, characterized in that: The expression of the brake fluid level pressure influence coefficient is: Where, Indicates the brake fluid level pressure influence coefficient, Indicates the minimum brake fluid level pressure required for the driver to step on the brakes. Indicates the real-time pressure of the brake fluid level. It indicates the time it takes for the working motor to work at the highest speed and the brake fluid level to increase from the initial level to the maximum level. Indicates the maximum speed of the target loader's working motor. Indicates the maximum pressure of the brake fluid level. Indicates the initial pressure of the brake fluid level.

5. The idle speed determination method of the hydraulic working motor of a loader according to claim 1, characterized in that: The expression of the braking severity is: Where, Indicates the braking speed. Indicates the ratio of how fast the driver brakes. The feedforward ratio representing the average braking depth of the driver, Indicates the brake depth signal.

6. The method for determining the idle speed of a hydraulic working motor of a loader according to claim 1, characterized in that: The method of obtaining the third idle speed value of the hydraulic working motor based on the urgency of the steering wheel, the brake fluid level pressure influence coefficient, the urgency of the brake, the first preset idle speed value, and the second preset idle speed value includes: determining a first increment of the third idle speed value based on the degree of slop in the steering wheel; determining a second increment of the third idle speed value based on a brake fluid level pressure influence coefficient; determining a third increment of the third idle speed value based on the degree of braking severity; A third idle speed value of the hydraulic working motor is obtained based on the first increment, the second increment, the third increment, the first preset idle speed value, and the second preset idle speed value.

7. The method for determining the idle speed of a hydraulic working motor of a loader according to claim 6, characterized in that: The expression of the first increment is: Where, represents the first increment, Indicates the degree of urgency of the steering wheel. express The corresponding restriction ratio is Indicates the limit ratio at different vehicle speeds, Indicates the feedforward speed increase when the turn signal is on.

8. The method for determining the idle speed of a hydraulic working motor of a loader according to claim 6, characterized in that: The expression of the second increment is: Where, represents the second increment, represents the proportional parameter of the PID algorithm, represents the integral parameter of the PID algorithm, represents the differential parameter of the PID algorithm, Indicates the brake fluid level pressure influence coefficient.

9. The method for determining the idle speed of a hydraulic working motor of a loader according to claim 6, characterized in that: The expression of the third idle speed value is: Where, Indicates the third idle speed value, Indicates the second preset idle speed value, Indicates the first preset idle speed value, represents the first increment, represents the second increment, Indicates the third increment.

10. A device for determining the idle speed of a hydraulic working motor of a loader, characterized in that: include: a first preset idle value determining module, configured to determine the rotational speed of the loader's hydraulic working motor to be the first preset idle value when it is determined that the target loader satisfies a first preset condition, wherein the first preset condition is that the EPS signal of the target loader is lost and the brake state of the target loader is abnormal; a second preset idle value determination module, configured to determine the rotational speed of the loader's hydraulic working motor to be the second preset idle value when it is determined that the target loader satisfies a second preset condition, wherein the second preset condition is that the turn signal is not on, the brake state is not braked and the brake depth signal is zero, the steering wheel angle is less than a first preset threshold, the steering wheel angular velocity is less than a second preset threshold, the steering wheel torque is less than a third preset threshold, and the brake fluid pressure influence coefficient is greater than a fourth preset threshold; a third idle speed value determination module, configured to obtain a third idle speed value of the hydraulic working motor based on the steering wheel angular velocity, the real-time pressure of the brake fluid level, the brake depth signal, the first preset idle speed value, and the second preset idle speed value when it is determined that the target loader does not meet the first preset condition and does not meet the second preset condition; The first preset idle speed value is greater than the third idle speed value, and the third idle speed value is greater than the second preset idle speed value.

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