Axle control method and device, computer device and storage medium

Abstract

The application relates to an axle control method and device, computer equipment, a storage medium and a computer program product. The method comprises the following steps: in response to an axle extension request of a vehicle, controlling an axle of the vehicle to perform an extension operation corresponding to the axle extension request; the axle extension request comprises an axle expansion request and an axle contraction request; the lengths of front and rear axles of the vehicle are obtained, and the length difference of the front and rear axles of the vehicle is calculated; the length difference of the front and rear axles of the vehicle is compared with a preset difference value; if the length difference of the front and rear axles of the vehicle is greater than the preset difference value, the axle to be adjusted is determined according to the length difference and the axle extension request, and the extension speed of the axle to be adjusted is adjusted until the axle to be adjusted is extended to a target length corresponding to the axle extension request. The method can significantly improve the synchronization and stability during the expansion and contraction of the axle.

Description

Technical Field

[0001] This application relates to the field of mechanical engineering technology, and in particular to a vehicle axle control method, device, computer equipment, storage medium, and computer program product. Background Technology

[0002] In the design of aerial work platforms, chassis control is crucial. To balance ease of transport and stability during operation, the tire span needs to be adjusted according to different working conditions. Specifically, in transport mode, the tire span should be reduced to improve relocation flexibility and minimize site occupation; while in operation mode, the tire span needs to be increased to enhance overall vehicle stability and prevent tipping.

[0003] In existing technologies, telescopic axles are a common solution for adjusting the span. However, during axle reduction or expansion, precise control of the synchronous extension and retraction of the front and rear axles is crucial; any asynchrony can affect the stability of the work platform. Traditional axle synchronization control often relies on manual operation. Operators manually adjust the control by observing the extension and retraction lengths of the front and rear axles. This method has significant limitations: relying solely on manual observation makes true synchronization difficult, and the extension and retraction speeds and positions of the front and rear axles are hard to match precisely. Furthermore, a large difference in length between the front and rear axles can cause the vehicle's center of gravity to shift, posing a potential risk of tipping over and seriously threatening the safety of the operators. Summary of the Invention

[0004] Therefore, it is necessary to provide a vehicle axle control method, device, computer equipment, computer-readable storage medium, and computer program product to address the aforementioned technical problems.

[0005] Firstly, this application provides a vehicle axle control method. The method includes:

[0006] In response to a vehicle axle extension / retraction request, the vehicle axle is controlled to perform an extension / retraction operation corresponding to the axle extension / retraction request; wherein; the axle includes a front axle and a rear axle; the axle extension / retraction request includes an axle expansion request and an axle contraction request;

[0007] Obtain the lengths of the front and rear axles of the vehicle, and calculate the length difference between the front and rear axles of the vehicle;

[0008] The length difference between the front axle and the rear axle of the vehicle is compared with a preset difference.

[0009] If the length difference between the front axle and the rear axle of the vehicle is greater than a preset difference, then based on the length difference and the axle extension / retraction request, the axle to be adjusted is determined, and the extension / retraction speed of the axle to be adjusted is adjusted until the axle to be adjusted extends / retracts to the target length corresponding to the axle extension / retraction request.

[0010] In one embodiment, determining the axle to be adjusted based on the length difference and the axle extension / retraction request, and adjusting the extension / retraction speed of the axle to be adjusted, includes:

[0011] If the axle extension / retraction request is an axle expansion request, then the length difference is compared with the first sub-preset difference and the second sub-preset difference.

[0012] If the length difference is greater than the first preset difference, then the extension and retraction speed of the rear axle is increased;

[0013] If the length difference is less than the second preset difference, then the extension and retraction speed of the front axle is increased;

[0014] If the axle extension / retraction request is an axle reduction / retraction request, then the length difference is compared with the first sub-preset difference and the second sub-preset difference.

[0015] If the length difference is greater than the first preset difference, then the extension and retraction speed of the front axle is increased;

[0016] If the length difference is less than the second sub-preset difference, the extension speed of the rear axle is increased; wherein the first sub-preset difference and the second sub-preset difference are opposite numbers.

[0017] In one embodiment, the method further includes:

[0018] Real-time acquisition of axle length during axle extension and retraction;

[0019] When the axle length reaches a preset length, the extension / retraction speed of the corresponding axle is reduced; the preset length is a preset percentage of the target length.

[0020] In one embodiment, when the axle length reaches a preset length, the extension / retraction speed of the corresponding axle is reduced, including:

[0021] The reduction ratio is determined based on the ratio of the length of the axle to be adjusted in the deceleration range to the deceleration range itself. The deceleration range is the position interval between the preset length position and the target length position;

[0022] The extension and retraction speed of the axle to be adjusted is controlled in the following manner:

[0023]

[0024]

[0025] In the above formula, PWM is the current that controls the extension and retraction speed of the axle to be adjusted, PWM2 is the preset proportional valve current corresponding to the extension and retraction speed of the axle to be adjusted before reaching the deceleration range, and K is the preset minimum extension and retraction speed coefficient, with K being greater than 0 and less than 1.

[0026] In one embodiment, reducing the extension / retraction speed of the corresponding axle when the axle length reaches a preset length includes:

[0027] When the lengths of the front axle and the rear axle reach the preset lengths, the deceleration length is obtained by using the target length of the telescopic request and the preset length;

[0028] By utilizing the deceleration length and the speeds of the front and rear axles when they reach the preset lengths, the acceleration that reduces the telescopic speed is obtained;

[0029] The acceleration is used to reduce the extension and retraction speed of the front and rear axles.

[0030] In one embodiment, determining the axle to be adjusted includes selecting an axle with a relatively slow extension / retraction speed as the axle to be adjusted, and adjusting the extension / retraction speed of the axle to be adjusted includes:

[0031] Modify the current of the axle to be adjusted to the preset initial value plus the first increment, and set the current of other axles to the preset initial value;

[0032] When the length difference is reduced to a preset deviation, the current of the axle to be adjusted is set to a preset initial value plus a second increment.

[0033] The first and second increments are obtained in the following manner:

[0034]

[0035]

[0036] Where u(t)1 represents the first increment; u(t)2 represents the second increment; Kp1 represents the integral coefficient; Ki1 and Ki2 represent different differential coefficients; Kd1 and Kd2 represent different integral coefficients; e(t) is the deviation between the given value r(t) and the actual value c(t), where r(t) represents the preset maximum deviation between the front and rear axles, and c(t) represents the actual deviation between the front and rear axles.

[0037] In one embodiment, after obtaining the lengths of the front and rear axles of the vehicle, the method further includes:

[0038] Real-time calculation of the difference between every two axles;

[0039] Identify the two candidate axles corresponding to the largest difference among the stated differences;

[0040] The step of determining the axle to be adjusted includes: based on the relationship between the lengths of the candidate axles, determining the candidate axle with a relatively longer length as the axle to be adjusted.

[0041] The adjustment of the extension and retraction speed of the axle to be adjusted includes: determining the adjustment range of the extension and retraction speed of the axle to be adjusted based on the maximum difference, wherein the adjustment range is positively correlated with the maximum difference; and adjusting the extension and retraction speed of the axle to be adjusted based on the adjustment range.

[0042] Secondly, this application also provides an axle control device. The device includes:

[0043] An axle telescopic module is used to control the axle of a vehicle to perform a telescopic operation corresponding to the axle telescopic request in response to the axle telescopic request of the vehicle. The axle includes a front axle and a rear axle, and the axle telescopic request includes an axle expansion request and an axle contraction request.

[0044] The length acquisition module is used to acquire the lengths of the front axle and the rear axle of the vehicle, and to calculate the length difference between the front axle and the rear axle of the vehicle.

[0045] The difference comparison module is used to compare the length difference between the front axle and the rear axle of the vehicle with a preset difference.

[0046] The speed adjustment module is used to determine the axle to be adjusted based on the length difference and the axle extension / retraction request if the length difference between the front axle and the rear axle of the vehicle is greater than a preset difference, and to adjust the extension / retraction speed of the axle to be adjusted until the axle to be adjusted extends / retracts to the target length corresponding to the axle extension / retraction request.

[0047] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the axle control method as described in any one of the embodiments of this disclosure.

[0048] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, implements the axle control method as described in any one of the embodiments of this disclosure.

[0049] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the axle control method as described in any one of the embodiments of this disclosure.

[0050] The aforementioned axle control method, device, computer equipment, storage medium, and computer program product, by accurately measuring the actual lengths of the vehicle's front and rear axles, determines which axle needs adjustment when the length difference between the front and rear axles exceeds a preset threshold, based on the length difference and the axle extension / retraction type. Subsequently, the system automatically adjusts the extension / retraction speed of that axle section, continuously adjusting until the axle extends or retracts to the precise length matching the extension / retraction request. This process ensures precise control of the extension / retraction movements of the vehicle's front and rear axles, significantly improving the synchronization and stability during axle extension / retraction. In this way, the stability and safety of the vehicle under various operating conditions are further enhanced, ensuring the smoothness and reliability of the vehicle during axle extension / retraction. Attached Figure Description

[0051] Figure 1 This is a flowchart illustrating a vehicle axle control method in one embodiment;

[0052] Figure 2 This is a schematic diagram illustrating the variation in the axle length difference in one embodiment;

[0053] Figure 3 This is a schematic diagram illustrating the process of determining the axle to be adjusted and the speed adjustment in one embodiment;

[0054] Figure 4 This is a schematic diagram of the process for slowing down the extension and retraction of the axle in one embodiment;

[0055] Figure 5 This is a schematic diagram of the axle deceleration zone in one embodiment;

[0056] Figure 6 This is a flowchart illustrating the process of determining the current increment in one embodiment;

[0057] Figure 7 This is a schematic diagram illustrating the process of determining the deceleration length and reduction speed in one embodiment;

[0058] Figure 8 This is a schematic diagram illustrating the process of determining the wheel to be adjusted and the extension / retraction speed in one embodiment;

[0059] Figure 9 This is a structural block diagram of the axle control device in one embodiment;

[0060] Figure 10 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0061] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0062] In one embodiment, such as Figure 1 As shown, a vehicle axle control method is provided. The embodiments provided in this disclosure can be applied to a vehicle axle control center. This control center is typically a controller capable of operating and adjusting the mechanical equipment or electronic parameters of a vehicle to achieve adjustment control of the vehicle axle. The method can be implemented on a terminal device on one side of the vehicle, or it can be applied to a remote server. The server acquires data, processes it, and then sends control commands to the vehicle to achieve axle control. It can also be applied to a system including a terminal and a server, and axle control is achieved through the interaction between the terminal and the server. Some embodiments provided in this disclosure are illustrated using a vehicle control center as an example. The method may include the following steps:

[0063] Step S102: In response to a vehicle axle extension / retraction request, control the vehicle axle to perform an extension / retraction operation corresponding to the axle extension / retraction request; wherein; the axle includes a front axle and a rear axle; the axle extension / retraction request includes an axle expansion request and an axle contraction request.

[0064] The axle extension / retraction request is typically a control command issued to the vehicle to extend or retract the axle. Generally, this request can be issued by an operator at the vehicle's control center; in other embodiments, it can be issued by a remote server to the vehicle for execution. In one exemplary embodiment, upon receiving the extension / retraction request, the control center can parse the extension / retraction category (i.e., whether it's an axle expansion or axle contraction request) and execute the corresponding extension / retraction operation based on the category. If the request is for axle expansion, the control center can control the front and rear axles of the vehicle to extend outwards; if it's for axle contraction, the control center can control the front and rear axles of the vehicle to contract inwards. In this way, the vehicle can flexibly adjust the chassis and tire span according to actual needs to adapt to different working conditions.

[0065] In one exemplary embodiment, the axle extension / retraction request may also carry a target extension / retraction length. After parsing the axle extension / retraction request, the control center can obtain the target length and precisely control the extension / retraction operations of the front and rear axles based on the target length. For example, in an axle expansion request, the control center can control the front and rear axles to extend outward to the target length; in an axle contraction request, the control center can control the front and rear axles to contract inward to the target length. In this way, the accuracy and stability of axle extension / retraction can be further improved, ensuring the stability and safety of the vehicle under different operating conditions. In another exemplary embodiment, the axle extension / retraction request may also include an instruction to extend the axle to its maximum or shorten it to its minimum, and the control center performs the corresponding extension / retraction operation on the axle according to the received axle extension / retraction request.

[0066] Step S104: Obtain the lengths of the front axle and rear axle of the vehicle, and calculate the length difference between the front axle and rear axle of the vehicle.

[0067] In one exemplary embodiment, the length of the axle can be determined by installing length displacement sensors in the cylinders of the front and rear axles, and obtaining the length displacement values ​​of the front and rear axles through the sensors.

[0068] In one exemplary embodiment, sensors can be used to acquire data such as the length of the front and rear axles and the amount of length change in real time when the front and rear axles extend or retract.

[0069] In one exemplary embodiment, the length difference can be the difference between the front axle and the rear axle; that is, if the length difference is positive, it indicates that the front axle is longer than the rear axle; if the length difference is negative, it indicates that the front axle is shorter than the rear axle, etc. In another exemplary embodiment, the length difference can also be the absolute difference between the lengths of the front axle and the rear axle, used to determine whether the lengths of the front axle and the rear axle are balanced. If the length difference exceeds a preset difference, it indicates that the lengths of the front axle and the rear axle are unbalanced and need to be adjusted to ensure the stability and safety of vehicle operation.

[0070] Step S106: Compare the length difference between the front axle and the rear axle of the vehicle with a preset difference.

[0071] The length difference between the front and rear axles exceeding a preset threshold can include either the difference between the lengths of the front and rear axles exceeding a preset threshold, or the difference between the lengths of the rear and front axles exceeding a preset threshold. In other words, the absolute value of the length difference exceeds a safety threshold. In this case, the length difference can be eliminated by adjusting the speeds of the front and rear axles. Of course, in other embodiments of this disclosure, the length difference may not use an absolute value and can have positive or negative values.

[0072] The length difference can be obtained by subtracting the length of the rear axle from the length of the front axle, or vice versa. If the result is negative, the absolute value can be used as the length difference. In some embodiments of this disclosure, the default calculation method can be set as the length difference between the front axle and the rear axle. Comparing the length difference with a preset difference can include the current operating conditions, the lengths of the front and rear axles, or a comparison between them, such as the front axle being longer than or shorter than the rear axle.

[0073] In one exemplary embodiment, the preset difference can be set according to factors such as vehicle type, operating conditions, and axle design requirements. For example, for heavy-duty vehicles, due to their higher requirements for stability and safety, the preset difference can be set smaller to ensure that the lengths of the front and rear axles are closer, thereby improving vehicle driving stability. For vehicles with lower stability requirements, the preset difference can be appropriately increased to reduce frequent adjustments to the axle extension / retraction control and improve control efficiency. After comparing the length difference with the preset difference, if the length difference is greater than the preset difference, it indicates that the length difference between the front and rear axles exceeds the allowable range and adjustment is required. Next, the control system will determine the axle section that needs adjustment based on the length difference and the axle extension / retraction request, and adjust the extension / retraction speed of that axle to achieve a balance between the lengths of the front and rear axles.

[0074] In one exemplary embodiment, the preset difference can also be a fixed value, such as a preset difference of 10 centimeters. If the length difference between the front axle and the rear axle is greater than 10 centimeters, adjustment is required. This approach simplifies the decision logic of the control system and improves control efficiency.

[0075] Step S108: If the length difference between the front axle and the rear axle of the vehicle is greater than a preset difference, then based on the length difference and the axle extension / retraction request, the axle to be adjusted is determined, and the extension / retraction speed of the axle to be adjusted is adjusted until the axle to be adjusted extends / retracts to the target length corresponding to the axle extension / retraction request.

[0076] Specifically, when the length difference between the front and rear axles exceeds a preset value, the axle requiring adjustment can be determined based on the telescopic type and the length relationship between the front and rear axles. For example, if the telescopic type is axle expansion, and the front axle length is greater than the rear axle length based on the aforementioned relationship, then the front axle expansion speed is greater than the rear axle expansion speed. In this case, the expansion speed of either the front or rear axle needs to be controlled, thus identifying the rear axle as the axle to be adjusted, allowing for subsequent increases in the rear axle expansion speed or decreases in the front axle expansion speed. Conversely, if the telescopic type is axle expansion, and the front axle length is less than the rear axle length based on the aforementioned relationship, then the front axle expansion speed is less than the rear axle expansion speed. In this case, the expansion speed of either the front or rear axle needs to be controlled, thus identifying the front or rear axle as the axle to be adjusted, allowing for subsequent increases in the front axle expansion speed or decreases in the rear axle expansion speed. Similarly, in the case of axle reduction, referring to the case of axle expansion, either the front or rear axle can be selected as the axle to be adjusted.

[0077] The selection of the front or rear axle as the axle to be adjusted can be random or arbitrary, or it can be determined based on at least one of the following: the extension / retraction speed of the front or rear axle under current operating conditions, the current length of the front or rear axle, the length difference, or other requirements of the applied operation. For example, in some implementation scenarios, during the axle expansion process, if the extension / retraction speed of the front axle is determined to be greater than that of the rear axle based on the length difference, and the length of the front axle is already close to the target length, then based on the principle of safety and stability, the extension / retraction speed of the front axle can be reduced, and in this case, the front axle can be selected as the axle to be adjusted. Of course, in other implementation scenarios, depending on the operating conditions, if the extension / retraction operation needs to be completed quickly, then the subsequent extension / retraction speed can be increased, and in this case, the rear axle can be selected as the axle to be adjusted.

[0078] In actual use, the speed of the front or rear axle can be controlled and adjusted. For example, if the length difference is greater than the preset difference, the axle with a slower telescopic speed can be increased or the axle with a faster telescopic speed can be decreased. Therefore, the axle to be adjusted can be determined by the length difference between the front and rear axles and the telescopic type, thereby increasing or decreasing the corresponding axle to be adjusted.

[0079] Adjusting the extension / retraction speed of the axle to be adjusted can include increasing or decreasing the extension / retraction speed of the axle. After determining the axle to be adjusted, the extension / retraction speed of the axle can be adjusted until the axle of the vehicle extends or retracts to the target length corresponding to the extension / retraction request.

[0080] The adjustment of the extension and retraction speed of the axle to be adjusted can be specifically controlled by pre-set rules. For example, in some embodiments, the pre-set rules can be to increase the extension and retraction speed of the axle with a slower extension and retraction speed or to decrease the extension and retraction speed of the axle with a faster extension and retraction speed.

[0081] For example, in some implementations, the pre-set rule is to increase the extension / retraction speed of the axle with the slower extension / retraction speed. Then, in cases of length difference, it can be further determined whether the front axle extension / retraction speed is faster or slower than the rear axle extension / retraction speed. If the former, the rear axle extension / retraction speed is increased; if the latter, the front axle extension / retraction speed is increased, and so on. Of course, in other implementations, a reference value for the extension / retraction speed can be set. When the adjusted extension / retraction speed of the front or rear axle exceeds the reference value, the increase in extension / retraction speed is stopped, and the extension / retraction speed of the opposite axle is slowed down, thereby preventing the axle extension / retraction speed from becoming too fast and ensuring the stability and safety of the axle extension / retraction operation.

[0082] In one exemplary embodiment, the length difference between the front axle and the rear axle can be as follows: Figure 2 As shown in the example, in one specific instance, because the front axle expansion speed is greater than the rear axle expansion speed, in the first quadrant, the difference between the lengths of the front and rear axles is less than a preset difference, resulting in a gradual increase in the difference between their lengths. When the difference between the front and rear axle lengths reaches the preset difference (max), the rear axle expansion speed can be increased or the front axle expansion speed can be decreased, causing the difference between the front and rear axle lengths to decrease further in the second quadrant. This continues until the third quadrant, where the front axle length is less than the rear axle length, and the difference between the rear and front axle lengths gradually increases until the rear axle length exceeds the preset difference between the front and rear axle lengths. At this point, the front axle expansion speed can be increased to slow down the later expansion speeds, resulting in the fourth quadrant, where the difference between the rear and front axle lengths gradually decreases, and so on.

[0083] The aforementioned combination Figure 2 This example illustrates how the axle extension / retraction speed is dynamically adjusted based on the length difference during axle expansion. Similarly, the dynamic adjustment of axle contraction is similar to the expansion process and will not be elaborated upon here. When the deviation between the front and rear axles reaches the preset maximum value (max), the expansion speed of the rear axle can be increased by increasing the current in the rear axle, or the contraction speed of the front axle can be increased by increasing the current in the front axle, thereby reducing the deviation between the front and rear axles. This ensures real-time, dynamic, efficient, and precise dynamic adjustment of axle extension / retraction.

[0084] The aforementioned method of dynamically adjusting the extension and retraction speed of the axles can utilize a PID (Proportional-Integral-Differential) controller to achieve automated control of the front and rear axle expansion and contraction. The proportional-integral-derivative controller is used to calculate and control the extension and retraction speeds of the front and rear axles of the vehicle based on their lengths.

[0085] In one exemplary embodiment, a proportional-integral-derivative (PID) controller, as a classic control algorithm, can precisely adjust the extension and retraction speeds of the front and rear axles by outputting appropriate control signals based on the deviation between the actual and desired lengths of the front and rear axles through proportional, integral, and derivative operations. In practical applications, the parameters of the PID controller (proportional coefficient Kp, integral coefficient Ki, and derivative coefficient Kd) can be flexibly adjusted according to the characteristics of the axles, operating conditions, and actual control effects to achieve optimal control performance. Specifically, the proportional component can quickly adjust the extension and retraction speed based on the magnitude of the length deviation between the front and rear axles, reducing the deviation; the integral component compensates for the cumulative effect of the deviation, eliminating static errors and improving control accuracy; and the derivative component predicts the trend of deviation changes and adjusts in advance, enhancing system stability and response speed. Through the synergistic effect of these three components, the PID controller can achieve precise, rapid, and stable control of the axle extension and retraction speed. When using a PID controller for axle extension and retraction control, the system first monitors the actual lengths of the front and rear axles in real time and compares them with the desired lengths to obtain the length deviation. Then, the PID controller calculates a suitable control signal based on preset parameters and algorithms, and outputs it to the actuator to adjust the extension and retraction speeds of the front and rear axles. This process is continuous and dynamic, ensuring that the axles maintain optimal extension and retraction under any operating conditions.

[0086] In this embodiment, a proportional-integral-derivative (PID) controller is introduced into the control center of the axle, and the PID controller is used to calculate and control the axle's extension and retraction speed. By utilizing the advantages of the PID controller, such as strong adaptability and good robustness, the axle's expansion and contraction can cope with various complex working conditions and external disturbances, maintaining the stability and reliability of the axle's extension and retraction control.

[0087] In the axle control method disclosed herein, by accurately measuring the actual lengths of the vehicle's front and rear axles, when the length difference between the front and rear axles exceeds a preset threshold, the system determines the axle section requiring adjustment based on the length difference and the axle extension / retraction type. Subsequently, the system automatically adjusts the extension / retraction speed of that axle section, continuously adjusting until the axle extends / retracts to a precise length matching the extension / retraction request. This process ensures precise control of the extension / retraction movements of the vehicle's front and rear axles, significantly improving the synchronization and stability during axle extension / retraction. In this way, the stability and safety of the vehicle under various operating conditions are further enhanced, ensuring the smoothness and reliability of the vehicle during axle extension / retraction.

[0088] In one embodiment, such as Figure 3As shown, determining the axle to be adjusted based on the length difference and the axle extension / retraction request, and adjusting the extension / retraction speed of the axle to be adjusted includes:

[0089] Step S201: If the axle extension / retraction request is an axle expansion request, then the length difference is compared with the first sub-preset difference and the second sub-preset difference.

[0090] Step S202: If the length difference is greater than the first preset difference, then increase the extension speed of the rear axle.

[0091] Step S203: If the length difference is less than the second preset difference, then increase the extension speed of the front axle.

[0092] Step S204: If the axle extension / retraction request is an axle reduction / retraction request, then the length difference is compared with the first sub-preset difference and the second sub-preset difference.

[0093] Step S205: If the length difference is greater than the first preset difference, then increase the extension speed of the front axle.

[0094] Step S206: If the length difference is less than the second sub-preset difference, then increase the extension speed of the rear axle; wherein the first sub-preset difference and the second sub-preset difference are opposite numbers.

[0095] In one exemplary embodiment, the length difference between the front axle and the rear axle can be obtained by subtracting the length of the rear axle from the length of the front axle. Therefore, when the length difference is positive, it can be considered that the length of the front axle is greater than the length of the rear axle, and when the length difference is negative, it can be considered that the length of the front axle is less than the length of the rear axle, and so on.

[0096] In one exemplary embodiment, reference is made to Figure 2 The first sub-preset difference (max) and the second sub-preset difference (-max) are opposites, meaning the first sub-preset difference is a preset difference where the front axle length is greater than the rear axle length, and the second sub-preset difference is a preset difference where the rear axle length is greater than the front axle length, etc. In another exemplary embodiment, the first and second preset differences can be set based on different vehicle environments, ensuring that the axle can achieve consistency in axle extension and contraction under different working conditions. In another exemplary embodiment, the first and second sub-preset differences can be dynamically adjusted based on historical extension and contraction data and road conditions to adapt to different road conditions and needs. For example, when the vehicle is on a bumpy road, the preset difference can be appropriately increased to reduce instability caused by frequent axle adjustments; when the vehicle is on a smooth road, the preset difference can be decreased to improve the response speed and synchronization of axle extension and contraction. In this way, the intelligence and adaptability of axle extension and contraction control can be further improved, providing vehicles with more stable and safer axle extension and contraction.

[0097] In one exemplary embodiment, the length difference between the front and rear axles is still collected after adjusting the axle extension / retraction speed, and further adjustments may be made. Therefore, it is possible to either increase or decrease the axle extension / retraction speed to avoid excessively rapid speed increases, thus ensuring the overall stability of the vehicle during axle adjustment, or to avoid slow speed decreases, thereby improving axle extension / retraction efficiency.

[0098] In one exemplary embodiment, such as Figure 2 As shown, when the axle extension / retraction request is an axle expansion request and the length difference is greater than the first sub-preset difference (greater than max), it can be considered that the front axle expansion speed is greater than the rear axle expansion speed. Therefore, the extension / retraction speed of the rear axle can be increased, thereby shortening the length difference between the front and rear axles. When the axle extension / retraction request is an axle expansion request and the length difference is less than the second sub-preset difference (less than -max), it can be considered that the rear axle expansion speed is greater than the front axle expansion speed. Therefore, the extension / retraction speed of the front axle can be increased, thereby shortening the length difference between the front and rear axles. The processing method for the axle extension / retraction request being a axle contraction request is similar to the axle expansion processing method and will not be elaborated here.

[0099] In this embodiment, the synchronization and stability of the axle extension and retraction process are ensured by flexibly adjusting the extension and retraction speeds of the front and rear axles. During the extension and retraction process, the system not only considers the type of extension and retraction request but also monitors the actual length and changes of the front and rear axles in real time, thereby enabling precise control of the axle extension and retraction actions. This precise control method allows the vehicle to maintain stability and safety under various operating conditions, greatly improving the vehicle's adaptability and reliability. In addition, this method also achieves intelligent and dynamic adjustment of the axle extension and retraction speed through preset rules and thresholds, avoiding the problem of asynchronous extension and retraction caused by excessive length differences, further enhancing the vehicle's stability and safety. Furthermore, this embodiment uses the method of increasing the extension and retraction speed to adjust the axle length difference, avoiding the impact of repeatedly reducing the extension and retraction speed on the axle extension and retraction efficiency, thereby improving the response speed and overall efficiency of the axle extension and retraction.

[0100] In other embodiments provided in this disclosure, when the axle to be adjusted extends or retracts to near the target length, the extension or retraction speed of the axle to be adjusted can be slowed down, thereby making the extension or retraction of the axle to the target length smoother and more stable, and improving the stability of the axle extension or retraction operation of the entire vehicle. Specifically, in one embodiment provided in this disclosure, such as Figure 4 As shown, the method further includes:

[0101] Step S301: Obtain the axle length in real time during the axle extension / retraction process;

[0102] Step S302: When the axle length reaches the preset length, reduce the extension speed of the corresponding axle; the preset length is a preset percentage of the target length.

[0103] In one exemplary embodiment, the preset length can be adjusted based on the target length of the extension / retraction request, for example, it can be set to 85% or 90% of the target length. When the length of the front or rear axle reaches the preset length, the extension / retraction speed of the corresponding axle is reduced, thereby ensuring smoother and more precise extension / retraction control, thus avoiding a reduction in the lifespan of the vehicle axles due to excessive instantaneous changes in the extension / retraction speed. For example, in an example, during axle expansion operations, the preset length can be set to 90% of the target length L. When the length of the axle to be adjusted reaches 90% of the target length L, the expansion speed of the axle to be adjusted is reduced, so that the length of the axle to be adjusted slowly expands from 90% of L to the target length L. In axle reduction operations, the preset length can be set to 110% of the target length L. When the length of the axle to be adjusted reaches the target length L, the reduction speed of the axle to be adjusted is reduced, so that the length of the axle to be adjusted slowly shortens from 110% of L to the target length L. Of course, in specific situations, such as during bridge reduction, if the bridge needs to be reduced to a length of 0, then the preset length can be set to a fixed length, such as 20 centimeters, or 10% of the longest length of the bridge.

[0104] When the lengths of the front and rear axles reach the extension length corresponding to the extension request, the system can immediately stop the extension control operation of the front and rear axles. This step ensures the accuracy and stability of axle extension and retraction, avoiding over-extension or under-extension. For example, in an axle expansion request, when the front and rear axles are extended to the target length, the control center will immediately stop the expansion operation; in an axle reduction request, when the front and rear axles are retracted to the target length, the control center will also immediately stop the retraction operation. In this way, the stability and safety of the vehicle under various operating conditions can be further guaranteed.

[0105] In this embodiment, the precision and stability of axle extension and retraction are achieved through precise control of the axle extension and retraction speed and real-time monitoring and adjustment of the axle length. When the preset length is reached, the extension and retraction speed is reduced in a timely manner to ensure the smoothness of the process and avoid potential damage to the axle caused by sudden speed changes. Furthermore, the extension and retraction control operation is immediately stopped when the target extension and retraction length is reached, further ensuring the precision and safety of the axle extension and retraction. This series of intelligent control measures not only improves the vehicle's adaptability and reliability but also significantly enhances its stability and safety under various complex operating conditions.

[0106] In some embodiments provided in this disclosure, the telescopic speed is controlled by controlling the current of the front and rear axles. In an exemplary embodiment, precise control of the telescopic speed can be achieved by adjusting the magnitude and direction of the current supplied to the front and rear axles. Specifically, the magnitude of the current determines the speed of telescopic movement, while the direction of the current determines the direction of axle expansion and contraction. In practical applications, the system calculates a suitable current value based on the telescopic request and the actual operating conditions of the vehicle, and outputs it to the actuator, thereby achieving precise control of the telescopic speed of the front and rear axles. This process is continuous and dynamic, ensuring that the axle maintains its optimal telescopic state under any operating conditions. Furthermore, to further improve the accuracy and stability of telescopic control, a closed-loop control system can be used. This system monitors the actual telescopic speed of the axle in real time and compares it with the desired speed to obtain the speed deviation. Then, the system adjusts the current in real time based on the speed deviation to eliminate the deviation and achieve precise control of the axle telescopic speed. In this way, the efficiency and accuracy of axle telescopic movement can be further improved, providing a stronger guarantee for the safe operation of the vehicle.

[0107] As mentioned above, the expansion and contraction speeds of the front and rear bridges can be controlled by adjusting the front and rear bridge currents. Taking a bridge contraction scenario as an example, the initial proportional valve current PWM1 (Pulse Width Modulation, a method for digitally encoding analog signal levels) for the front and rear bridge contraction can be preset, which is the starting current value for bridge expansion. The preset proportional valve current for the front and rear bridge contraction can also be preset to PWM2, used to control the expansion and contraction speeds of the front and rear bridges when initiating the bridge contraction operation. Of course, the aforementioned current PWM can also be applied during the expansion process, or a different current can be used during bridge expansion compared to bridge contraction; the specific settings can be configured according to the operational requirements.

[0108] In other embodiments provided in this disclosure, when the axle to be adjusted reaches a preset length but has not reached a target length, the region between the preset length and the target length can be set as a deceleration zone. Within the deceleration zone, corresponding PWM3 or PWM4 currents can be applied to the corresponding front or rear axle. Specifically, in some embodiments of the method provided in this disclosure, when the length of the front axle or the length of the rear axle reaches the preset length, reducing the extension / retraction speed of the corresponding axle includes:

[0109] The reduction ratio is determined based on the ratio of the length of the axle to be adjusted in the deceleration range to the deceleration range itself. The deceleration range is the position interval between the preset length position and the target length position;

[0110] The extension and retraction speed of the axle to be adjusted is controlled in the following manner:

[0111] (1)

[0112] (2)

[0113] In the above formula, PWM is the current controlling the extension and retraction speed of the axle to be adjusted, PWM2 is the preset proportional valve current corresponding to the extension and retraction speed of the axle to be adjusted before reaching the deceleration range, and K is the preset minimum extension and retraction speed coefficient, which is used to maintain a certain extension and retraction speed when the axle to be adjusted continues to approach the target length position. It can usually be set to a value greater than 0 and less than 1, such as a value of 0.2, so that the extension and retraction speed can be significantly reduced while maintaining a low speed to continuously reach the target length.

[0114] In this embodiment of the disclosure, a deceleration range parameter configuration is added, and the extension / retraction speed of the axle is dynamically adjusted by the ratio of the length of the axle to be adjusted in the deceleration range to the length of the deceleration range. For example... Figure 5 As shown, for example, during the front axle expansion process, the deceleration interval length is L. When the front axle just enters the deceleration interval, its length within the interval is 0, and the reduction ratio is 0. The extension / retraction speed of the front axle is still controlled by the original preset proportional valve current PWM2, and the axle expands at the original speed. As the length of the front axle within the deceleration interval increases, the reduction ratio increases, but the PWM decreases instead. Therefore, the extension / retraction speed of the front axle decreases as it approaches the target length. When PWM ≤ K * PWM2 (when the length of the axle within the deceleration interval is greater than or equal to L', 1- If the length is less than or equal to K, the scaling speed will not be reduced, and the bridge will be expanded to the target length at a continuous and stable application speed.

[0115] Through the embodiments disclosed herein, the axle can be extended and retracted slowly when reaching the deceleration range, further ensuring the accuracy and stability of the axle extension and retraction, and achieving more precise control of the axle extension and retraction speed.

[0116] In other embodiments of this disclosure, during the expansion or reduction of the axle, if the current of the axle with a slower reduction speed is increased, the expansion / reduction speed of that axle may be greater than that of the other axles. Although this can continuously reduce the length difference between different axles, it may also cause the expansion / reduction speed of the axle to be adjusted to exceed that of the other axles after a period of adjustment. Therefore, in other embodiments provided by this disclosure, such as... Figure 6 As shown, determining the axle to be adjusted includes selecting axles with relatively slow telescopic speeds as the axles to be adjusted, and adjusting the telescopic speed of the axles to be adjusted includes:

[0117] Step S501: Modify the current of the axle to be adjusted to the preset initial value plus the first increment value, and the current of other axles is the preset initial value;

[0118] Step S502: When the length difference is reduced to a preset deviation, the current of the axle to be adjusted is set to a preset initial value plus a second increment.

[0119] For example, during bridge reduction, if the front axle reduces slower than the rear axle, the deviation between the front and rear axles gradually increases. In this case, a retraction current can be added to the front axle. Specifically, this can involve modifying the front axle retraction current to a preset initial value plus a first increment; the rear axle retraction current remains at the preset initial value, thereby increasing the front axle's reduction speed and reducing the deviation between the front and rear axles. Once the difference is reduced to a preset deviation, the front axle retraction current is set to the preset initial value plus a second increment to prevent further deviation between the front and rear axles (adding the first increment causes the front axle speed to be greater than the rear axle speed; not adding the first increment causes the rear axle speed to be greater than the front axle speed, both of which lead to increased deviation between the front and rear axles; therefore, a second increment needs to be generated and added to prevent increased deviation between the front and rear axles). Specifically, the first and second increments can be obtained using the following formula:

[0120] (3)

[0121] (4)

[0122] Where u(t)1 represents the first increment; u(t)2 represents the second increment; Kp1 represents the integral coefficient; Ki1 and Ki2 represent different differential coefficients; Kd1 and Kd2 represent different integral coefficients; e(t) is the deviation between the given value r(t) and the actual value c(t), where r(t) represents the preset maximum deviation between the front and rear axles, and c(t) represents the actual deviation between the front and rear axles.

[0123] Similar to bridge reduction, during bridge expansion, if the front axle expands more slowly than the rear axle, the deviation between the front and rear axles gradually increases. In this case, the expansion current of the front axle can be increased. Specifically, this can involve modifying the front axle expansion current to a preset initial value plus a first increment; the rear axle expansion current remains at the preset initial value, thereby increasing the expansion speed of the front axle and reducing the deviation between the front and rear axles. Once the difference is reduced to a preset deviation, the front axle expansion current is set to the preset initial value plus a second increment to prevent further increases in the deviation between the front and rear axles (adding the first increment causes the front axle speed to be greater than the rear axle speed; not adding the first increment causes the rear axle speed to be greater than the front axle speed; both of these situations lead to an increase in the deviation between the front and rear axles. Therefore, it is necessary to generate and add a second increment to prevent an increase in the deviation between the front and rear axles).

[0124] In one embodiment, such as Figure 7As shown, reducing the extension / retraction speed of the corresponding axle when the lengths of the front and rear axles reach a preset length includes:

[0125] Step S601: When the lengths of the front axle and the rear axle reach the preset lengths, the deceleration length is obtained using the target length of the telescopic request and the preset length.

[0126] Step S602: Using the deceleration length and the speeds of the front and rear axles when they reach the preset length, the acceleration that reduces the telescopic speed is obtained;

[0127] Step S603: Using the acceleration, reduce the extension and retraction speed of the front axle and the rear axle.

[0128] In one exemplary embodiment, the deceleration length can be calculated based on the difference between the target length of the extension / retraction request and a preset length. This difference reflects the distance the axle needs to reduce from its current preset length to the target length. The selection of the preset length and target length must consider the actual operating conditions and characteristics of the axle to ensure the smoothness and accuracy of the deceleration process. After obtaining the deceleration length, the acceleration required to reduce the extension / retraction speed can be calculated by combining the speeds of the front and rear axles when they reach the preset length. This acceleration value determines the rate at which the axle extension / retraction speed decreases and needs to be set reasonably according to actual needs to avoid potential damage to the axle caused by excessively rapid or slow speed changes. In actual operation, the system automatically adjusts the axle extension / retraction speed based on the real-time monitored lengths of the front and rear axles and the preset deceleration logic. When the axle length approaches the preset length, the system begins to execute a deceleration operation, gradually reducing the axle extension / retraction speed until the axle length reaches the target length, at which point the extension / retraction control operation stops. This process ensures the smoothness and accuracy of the axle extension / retraction, improving the stability and safety of the vehicle.

[0129] In this embodiment, by introducing the concepts of deceleration length and acceleration, and by precisely controlling the axle extension and retraction speed, smooth deceleration during the axle extension and retraction process is achieved. This intelligent control measure not only improves the vehicle's adaptability and reliability but also further enhances its stability and safety under various complex working conditions. In practical applications, this solution can significantly improve the efficiency and accuracy of axle extension and retraction, providing strong protection for the safe expansion and contraction of the vehicle's axle.

[0130] In one embodiment, the method may further include:

[0131] Obtain basic vehicle information and environmental information.

[0132] Using the aforementioned basic and environmental information, a model of the vehicle is established.

[0133] Using the vehicle model, the extension and retraction speeds of the front and rear axles calculated by the proportional-integral-derivative controller are simulated, and simulation results are obtained.

[0134] Based on the simulation results, the telescopic speed is optimized, and the telescopic operation of the front and rear axles of the vehicle is controlled based on the optimized telescopic speed.

[0135] In one exemplary embodiment, basic vehicle information may include vehicle model, weight, axle type, etc., while environmental information may include road conditions, weather conditions, etc. This information is crucial for accurately controlling the axle extension and retraction speed. By establishing a vehicle model, the extension and retraction behavior of the axle under different operating conditions can be simulated more accurately, thus providing strong support for optimizing the extension and retraction speed. During the simulation, the system comprehensively considers factors such as the vehicle's basic information, environmental information, and extension / retraction requests, and finely adjusts the extension and retraction speeds of the front and rear axles calculated by the proportional-integral-derivative controller. The simulation results will reflect the axle extension and retraction effects under different operating conditions, including the smoothness, accuracy, and safety of the extension and retraction. Based on the simulation results, the system will further optimize the extension and retraction speed to ensure that the axle maintains the optimal extension and retraction state in actual operation. The optimized extension and retraction speed will better meet the actual needs of the vehicle and maintain the stability and reliability of axle extension and retraction control under various complex operating conditions. In this way, the efficiency and accuracy of axle extension and retraction can be further improved, providing stronger protection for the safe operation of the vehicle.

[0136] In one exemplary embodiment, a predictive model can also be established for the vehicle model to preset the future expansion and contraction of the axle and the length difference between the front and rear axles. Based on the prediction results, the parameters of the proportional-integral-derivative (PID) controller are adjusted in advance to achieve predictive control of the axle expansion and contraction speed. The predictive model can be established based on historical data, vehicle operating patterns, and environmental change trends, and can accurately predict the future expansion and contraction state of the axle and the length difference between the front and rear axles. By monitoring the vehicle's operating status and environmental information in real time and inputting this data into the predictive model, the predicted results of the axle expansion and contraction over a future period can be obtained. Then, based on the prediction results, the system will adjust the parameters of the PID controller in advance, such as the proportional coefficient, integral coefficient, and derivative coefficient, to achieve precise predictive control of the axle expansion and contraction speed.

[0137] In this embodiment, by acquiring basic vehicle and environmental information and using this information to build a vehicle model, the system simulates and optimizes the axle's extension and retraction speed, achieving intelligent and refined axle extension and retraction control. During the simulation, the system can more accurately predict and evaluate the axle's extension and retraction behavior under different operating conditions. Based on the simulation results, the system further optimizes the extension and retraction speed, enabling the axle to maintain its optimal extension and retraction state in actual operation, thus improving the stability and reliability of the extension and retraction control.

[0138] The front and rear axles described in this disclosure can be support legs located in the area in front of the vehicle's center point and the area in the area behind the vehicle, respectively, when the vehicle is traveling in the normal forward direction. In other embodiments provided in this disclosure, either the front or rear axle may include one or more axle support legs, such as H- or X-type telescopic axles, with each axle containing two support legs. During the implementation of some embodiments, one or more axles can be adjusted dynamically in real time. However, different axle adjustments may result in asynchronous or significantly different axle extension / retraction speeds.

[0139] Based on this, in other embodiments provided by this disclosure, after acquiring the length of each axle in real time, the lengths of each axle (e.g., four axles in an H-type telescopic axle) are compared, the differences between them are calculated, and then the two axles with the largest differences are identified. The two axles with the largest differences can represent the largest differences in telescopic speed, with one axle having the fastest telescopic speed and the other the slowest. In other embodiments provided by this disclosure, adjustments can be made to the axle with the fastest or slowest telescopic speed according to the telescopic category, keeping its telescopic speed synchronized with that of the other axles, minimizing or even eliminating the need to adjust the telescopic speeds of other axles. Specifically, in another embodiment of the method provided by this disclosure, such as... Figure 8 As shown, after obtaining the length of the vehicle's axle, the method further includes:

[0140] Step S801: Calculate the difference between every two axles in real time;

[0141] Step S802: Determine the two candidate axles corresponding to the largest difference among the differences;

[0142] Step S803, determining the axle to be adjusted includes: determining the candidate axle with a relatively longer length as the axle to be adjusted based on the relationship between the lengths of the candidate axles;

[0143] Step S804, adjusting the extension speed of the axle to be adjusted includes: determining the adjustment range of the extension speed of the axle to be adjusted based on the maximum difference, wherein the adjustment range is positively correlated with the maximum difference; and adjusting the extension speed of the axle to be adjusted based on the adjustment range.

[0144] In this embodiment, the two candidate axles with the largest differences are obtained. During the axle expansion process, the candidate axle with the relatively longer length has the fastest expansion speed among all axles. Conversely, during the axle contraction process, the candidate axle with the relatively longer length has the slowest contraction speed among all axles. Therefore, this application adjusts the axle with the fastest or slowest contraction speed (the longest axle identified based on the maximum difference) to keep its expansion and contraction speed as consistent as possible with or close to the average expansion and contraction speed of other axles.

[0145] In this scheme, the adjustment range of the axle to be adjusted can also be determined based on the maximum difference. Here, the maximum difference can also characterize the difference in extension and retraction speed between the axle to be adjusted and other axles (such as another candidate axle). The larger the maximum difference, the greater the difference in extension and retraction speed, and the larger the adjustment range of the extension and retraction speed of the axle to be adjusted (positively correlated), increasing the speed change trend of the axle to be adjusted and making it synchronized with the extension and retraction speed of other axles as soon as possible. In this way, through the scheme of this embodiment, the length of each axle can be obtained in real time, the difference between the lengths of each axle can be calculated, and the axle to be adjusted with the longest length corresponding to the maximum difference can be found. This axle to be adjusted is the one with the fastest extension speed during the axle expansion process or the slowest reduction speed during the axle reduction process. At this time, the extension and retraction speed of the axle to be adjusted can be decreased or increased based on the maximum difference. The larger the maximum difference, the larger the adjustment range of the axle to be adjusted. This allows for faster, more accurate, and synchronized adjustment of the axle extension and retraction speed. Meanwhile, since this solution can adjust only the longest axle corresponding to the maximum difference in some implementation scenarios, it can reduce the adjustment steps of other axles, improve the synchronization of axle adjustment, and reduce power consumption (for example, in the process of expanding an H-type axle, reducing the expansion speed of the axle with the fastest expansion speed as soon as possible reduces power consumption compared to increasing the expansion speed of the other three axles).

[0146] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0147] Based on the same inventive concept, this application also provides an axle control device for implementing the axle control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more axle control device embodiments provided below can be found in the limitations of the axle control method described above, and will not be repeated here.

[0148] In one embodiment, such as Figure 9 As shown, an axle control device 100 is provided, including: an axle telescopic module 101, a length acquisition module 102, a difference comparison module 103, and a speed adjustment module 104, wherein:

[0149] An axle telescopic module is used to control the axle of a vehicle to perform a telescopic operation corresponding to the axle telescopic request in response to the axle telescopic request of the vehicle. The axle includes a front axle and a rear axle, and the axle telescopic request includes an axle expansion request and an axle contraction request.

[0150] The length acquisition module is used to acquire the lengths of the front axle and the rear axle of the vehicle, and to calculate the length difference between the front axle and the rear axle of the vehicle.

[0151] The difference comparison module is used to compare the length difference between the front axle and the rear axle of the vehicle with a preset difference.

[0152] The speed adjustment module is used to determine the axle to be adjusted based on the length difference and the axle extension / retraction request if the length difference between the front axle and the rear axle of the vehicle is greater than a preset difference, and to adjust the extension / retraction speed of the axle to be adjusted until the axle to be adjusted extends / retracts to the target length corresponding to the axle extension / retraction request.

[0153] In one embodiment, the speed adjustment module includes:

[0154] The difference comparison submodule is used to compare the length difference with a first sub-preset difference and a second sub-preset difference if the axle extension request is an axle expansion request.

[0155] The speed adjustment submodule is used to increase the extension speed of the rear axle if the length difference is greater than the first preset difference.

[0156] The speed adjustment submodule is also used to increase the extension speed of the front axle if the length difference is less than the second preset difference.

[0157] The difference comparison submodule is further configured to compare the length difference with a first sub-preset difference and a second sub-preset difference if the axle extension request is an axle reduction request.

[0158] The speed adjustment submodule is also used to increase the extension speed of the front axle if the length difference is greater than the first preset difference.

[0159] The speed adjustment submodule is further configured to increase the extension speed of the rear axle if the length difference is less than the second sub-preset difference; wherein the first sub-preset difference and the second sub-preset difference are opposite numbers.

[0160] In one embodiment, the length acquisition module is further configured to acquire the axle length in real time during the axle extension and retraction process; the speed adjustment module is further configured to reduce the extension and retraction speed of the corresponding axle when the axle length reaches a preset length; the preset length is a preset percentage of the target length.

[0161] In one embodiment, the speed adjustment module further includes:

[0162] The reduction ratio acquisition submodule is used to determine the reduction ratio based on the ratio of the length of the axle to be adjusted in the reduction range to the reduction range itself. The deceleration range is the position interval between the preset length position and the target length position;

[0163] The speed adjustment submodule is used to control the extension and retraction speed of the axle to be adjusted in the following manner:

[0164] (5)

[0165] (6)

[0166] In the above formula, PWM is the current that controls the extension and retraction speed of the axle to be adjusted, PWM2 is the preset proportional valve current corresponding to the extension and retraction speed of the axle to be adjusted before reaching the deceleration range, and K is the preset minimum extension and retraction speed coefficient, with K being greater than 0 and less than 1.

[0167] In one embodiment, the speed adjustment module further includes:

[0168] The deceleration length acquisition submodule is used to obtain the deceleration length by using the target length of the telescopic request and the preset length when the lengths of the front axle and the rear axle reach the preset lengths.

[0169] An acceleration acquisition submodule is used to obtain the acceleration that reduces the extension speed by utilizing the deceleration length and the speeds of the front and rear axles when they reach a preset length.

[0170] A speed adjustment submodule is used to reduce the extension and retraction speeds of the front and rear axles using the acceleration.

[0171] In one embodiment, the speed adjustment module further includes an increment determination submodule, used for:

[0172] Modify the current of the axle to be adjusted to the preset initial value plus the first increment, and set the current of other axles to the preset initial value;

[0173] When the length difference is reduced to a preset deviation, the current of the axle to be adjusted is set to a preset initial value plus a second increment.

[0174] The first and second increments are obtained in the following manner:

[0175] (7)

[0176] (8)

[0177] Where u(t)1 represents the first increment; u(t)2 represents the second increment; Kp1 represents the integral coefficient; Ki1 and Ki2 represent different differential coefficients; Kd1 and Kd2 represent different integral coefficients; e(t) is the deviation between the given value r(t) and the actual value c(t), where r(t) represents the preset maximum deviation between the front and rear axles, and c(t) represents the actual deviation between the front and rear axles.

[0178] In one embodiment, the length acquisition module further includes:

[0179] The difference calculation submodule is used to calculate the difference between every two axles in real time;

[0180] The candidate determination submodule is used to determine the two candidate axles corresponding to the largest difference among the differences;

[0181] The step of determining the axle to be adjusted includes: based on the relationship between the lengths of the candidate axles, determining the candidate axle with a relatively longer length as the axle to be adjusted.

[0182] The adjustment of the extension and retraction speed of the axle to be adjusted includes: determining the adjustment range of the extension and retraction speed of the axle to be adjusted based on the maximum difference, wherein the adjustment range is positively correlated with the maximum difference; and adjusting the extension and retraction speed of the axle to be adjusted based on the adjustment range.

[0183] Each module in the aforementioned axle control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0184] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 10 As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores speed data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a vehicle axle control method.

[0185] Those skilled in the art will understand that Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0186] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0187] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0188] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0189] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A vehicle axle control method, characterized in that, The method, applied to a control center for vehicle axles, includes: In response to a vehicle axle extension / retraction request, the vehicle axle is controlled to perform an extension / retraction operation corresponding to the axle extension / retraction request; wherein: the axle includes a front axle and a rear axle; the axle extension / retraction request includes an axle expansion request and an axle contraction request. Obtain the lengths of the front and rear axles of the vehicle, and calculate the length difference between the front and rear axles of the vehicle; The length difference between the front axle and the rear axle of the vehicle is compared with a preset difference. If the length difference between the front axle and the rear axle of the vehicle is greater than a preset difference, then based on the length difference and the axle extension / retraction request, the axle to be adjusted is determined, and the extension / retraction speed of the axle to be adjusted is adjusted until the axle to be adjusted extends / retracts to the target length corresponding to the axle extension / retraction request. Real-time acquisition of axle length during axle extension and retraction; When the axle length reaches the preset length, the deceleration ratio is determined based on the ratio of the length of the axle to be adjusted in the deceleration range to the deceleration range itself. The deceleration range is the position interval between the preset length position and the target length position; the preset length is a preset percentage of the target length; The extension and retraction speed of the axle to be adjusted is controlled in the following manner: In the above formula, PWM is the current that controls the extension and retraction speed of the axle to be adjusted, PWM2 is the preset proportional valve current corresponding to the extension and retraction speed of the axle to be adjusted before reaching the deceleration range, and K is the preset minimum extension and retraction speed coefficient, with K being greater than 0 and less than 1.

2. The method according to claim 1, characterized in that, The step of determining the axle to be adjusted based on the length difference and the axle extension / retraction request, and adjusting the extension / retraction speed of the axle to be adjusted, includes: If the axle extension / retraction request is an axle expansion request, then the length difference is compared with the first sub-preset difference and the second sub-preset difference. If the length difference is greater than the first preset difference, then the extension and retraction speed of the rear axle is increased; If the length difference is less than the second preset difference, then the extension and retraction speed of the front axle is increased; If the axle extension / retraction request is an axle reduction / retraction request, then the length difference is compared with the first sub-preset difference and the second sub-preset difference. If the length difference is greater than the first preset difference, then the extension and retraction speed of the front axle is increased; If the length difference is less than the second sub-preset difference, the extension speed of the rear axle is increased; wherein the first sub-preset difference and the second sub-preset difference are opposite numbers.

3. The method according to claim 1, characterized in that, The step of reducing the extension / retraction speed of the corresponding axle when the axle length reaches a preset length includes: When the lengths of the front axle and the rear axle reach a preset length, the deceleration length is obtained by using the target length of the telescopic request and the preset length; By utilizing the deceleration length and the speeds of the front and rear axles when they reach the preset lengths, the acceleration that reduces the telescopic speed is obtained; The acceleration is used to reduce the extension and retraction speed of the front and rear axles.

4. The method according to claim 1, characterized in that, The step of determining the axle to be adjusted includes selecting axles with relatively slow extension / retraction speeds as the axles to be adjusted, and adjusting the extension / retraction speed of the axles to be adjusted includes: Modify the current of the axle to be adjusted to the preset initial value plus the first increment, and set the current of other axles to the preset initial value; When the length difference is reduced to a preset deviation, the current of the axle to be adjusted is set to a preset initial value plus a second increment. The first and second increments are obtained in the following manner: Where u(t)1 represents the first increment; u(t)2 represents the second increment; Kp1 represents the integral coefficient; Ki1 and Ki2 represent different differential coefficients; Kd1 and Kd2 represent different integral coefficients; e(t) is the deviation between the given value r(t) and the actual value c(t), where r(t) represents the preset maximum deviation between the front and rear axles, and c(t) represents the actual deviation between the front and rear axles.

5. The method according to claim 1, characterized in that, After obtaining the lengths of the front and rear axles of the vehicle, the method further includes: Real-time calculation of the difference between every two axles; Identify the two candidate axles corresponding to the largest difference among the differences; The step of determining the axle to be adjusted includes: based on the relationship between the lengths of the candidate axles, determining the candidate axle with a relatively longer length as the axle to be adjusted. The adjustment of the extension and retraction speed of the axle to be adjusted includes: determining the adjustment range of the extension and retraction speed of the axle to be adjusted based on the maximum difference, wherein the adjustment range is positively correlated with the maximum difference; and adjusting the extension and retraction speed of the axle to be adjusted based on the adjustment range.

6. A vehicle axle control device, characterized in that, The device includes: An axle telescopic module is used to control the axle of a vehicle to perform a telescopic operation corresponding to the axle telescopic request in response to the axle telescopic request of the vehicle. The axle includes a front axle and a rear axle, and the axle telescopic request includes an axle expansion request and an axle contraction request. The length acquisition module is used to acquire the lengths of the front axle and the rear axle of the vehicle, and to calculate the length difference between the front axle and the rear axle of the vehicle. The difference comparison module is used to compare the length difference between the front axle and the rear axle of the vehicle with a preset difference. The speed adjustment module is used to determine the axle to be adjusted based on the length difference and the axle extension / retraction request if the length difference between the front axle and the rear axle of the vehicle is greater than a preset difference, and to adjust the extension / retraction speed of the axle to be adjusted until the axle to be adjusted extends / retracts to the target length corresponding to the axle extension / retraction request. The length acquisition module is also used to acquire the axle length in real time during the axle extension and retraction process; The speed adjustment module is also used to reduce the extension speed of the corresponding axle when the axle length reaches a preset length; the preset length is a preset percentage of the target length; The speed adjustment module also includes: The reduction ratio acquisition submodule is used to determine the reduction ratio based on the ratio of the length of the axle to be adjusted in the reduction range to the reduction range itself. The deceleration range is the position interval between the preset length position and the target length position; The speed adjustment submodule is used to control the extension and retraction speed of the axle to be adjusted in the following manner: In the above formula, PWM is the current that controls the extension and retraction speed of the axle to be adjusted, PWM2 is the preset proportional valve current corresponding to the extension and retraction speed of the axle to be adjusted before reaching the deceleration range, and K is the preset minimum extension and retraction speed coefficient, with K being greater than 0 and less than 1.

7. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 5.

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