Control method and device for driving system of engineering machinery vehicle and engineering machinery vehicle

Abstract

The invention relates to the technical field of engineering machinery control, and discloses a control method and device for an engineering machinery vehicle driving system and an engineering machinery vehicle, and the driving system comprises an electric driving branch which comprises a walking motor and is connected with a first walking mechanism of the engineering machinery vehicle, and a second driving branch which comprises a walking motor and is connected with a second walking mechanism of the engineering machinery vehicle. The method comprises the following steps: acquiring a current driving mode of the engineering machinery vehicle; connecting or disconnecting an electric driving branch and / or a hydraulic driving branch according to the current driving mode; and the walking motor is controlled to work based on the electric driving branch so as to drive the first walking mechanism, and / or the walking motor is controlled to work based on the hydraulic driving branch so as to drive the second walking mechanism. The energy-saving advantage of the walking motor and the power performance advantage of the walking motor can be integrated, the energy utilization rate and the energy recovery rate of the driving system are guaranteed, the overall operation performance of the walking system is improved, and the working efficiency of the engineering machinery vehicle is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery vehicle technology, specifically to a control method, device, and engineering machinery vehicle for a drive system. Background Technology

[0002] In the field of construction machinery, excavators and other construction machinery vehicles are widely used as important equipment for infrastructure construction, including highways, railways, ports, earthwork construction, water conservancy and hydropower construction, and mining and energy development. With the rise and advancement of new energy sources, new energy applications of construction machinery vehicles are appearing in more and more fields.

[0003] Based on traditional engines, existing electrification solutions for construction machinery vehicles include: ① directly replacing traditional engines with batteries and motors, while the walking system is still driven by hydraulic motors. However, this approach suffers from low energy utilization and the inability to recover energy. ② replacing hydraulic motors with electric motors, which can save energy and recover energy to some extent, but electric motors cannot fully achieve the performance of hydraulic motors under conditions such as hill climbing and heavy-load driving, thus affecting the operating efficiency of construction machinery vehicles. Summary of the Invention

[0004] This invention provides a control method, device, and engineering machinery vehicle drive system to solve the problems of energy utilization and energy recovery in engineering machinery vehicles.

[0005] In a first aspect, the present invention provides a control method for a drive system of an engineering machinery vehicle. The drive system of the engineering machinery vehicle includes an electric drive branch and a hydraulic drive branch. The electric drive branch includes a travel motor and is connected to a first travel mechanism of the engineering machinery vehicle. The hydraulic drive branch includes a travel motor and is connected to a second travel mechanism of the engineering machinery vehicle. The method includes: acquiring the current drive mode of the engineering machinery vehicle; turning the electric drive branch and / or the hydraulic drive branch on or off according to the current drive mode; controlling the travel motor to operate based on the electric drive branch to drive the first travel mechanism; and / or controlling the travel motor to operate based on the hydraulic drive branch to drive the second travel mechanism.

[0006] The control method for the drive system of construction machinery vehicles provided by this invention sets up electric and hydraulic dual drive subsystems and combines the drive mode to realize the on-off control of the two systems, thereby coordinating the control of the travel motor and the travel motor to drive the front and rear drive of the construction machinery vehicle. It can integrate the energy-saving advantages of the travel motor and the power performance advantages of the travel motor, solve the technical shortcomings of the traditional single electric or single hydraulic travel scheme, and at the same time ensure the energy utilization rate and energy recovery rate of the drive system, improve the working condition adaptability of the travel system of construction machinery vehicles, greatly improve the overall operating performance of the travel system, and ensure the working efficiency of construction machinery vehicles.

[0007] In one optional embodiment, the electric drive branch further includes: a battery pack, a power distributor, a first switching mechanism, and a first reduction mechanism, wherein the battery pack is connected to the power distributor, the power distributor is electrically connected to the travel motor, the travel motor is driven by the first switching mechanism and the first reduction mechanism, and the first reduction mechanism is driven by the first travel mechanism; the hydraulic drive branch further includes: a hydraulic motor, a hydraulic pump, a hydraulic valve, a second switching mechanism, and a second reduction mechanism, wherein the power distributor is electrically connected to the hydraulic motor, the hydraulic motor is driven by the hydraulic pump, the hydraulic pump is hydraulically connected to the travel motor through the hydraulic valve, the travel motor is driven by the second switching mechanism and the second reduction mechanism, and the second reduction mechanism is driven by the second travel mechanism; switching the electric drive branch and / or the hydraulic drive branch on or off according to the current drive mode includes: closing or opening the first switching mechanism and / or the second switching mechanism according to the current drive mode to switch the power transmission path between the travel motor and the first reduction mechanism, and / or to switch the transmission path between the travel motor and the second reduction mechanism.

[0008] This invention clarifies the complete component composition and connection relationship of the dual-drive subsystem. By directly controlling the power transmission path of the travel motor and the corresponding reduction mechanism through the on / off mechanism, the control method is more precise and the mechanical loss is lower. Thus, the reduction mechanism realizes the reduction and torque increase of the power, matching the torque and speed requirements of the construction machinery vehicle, improving the power transmission efficiency. The setting of the power distributor and hydraulic valve respectively realizes the precise power regulation of the electric and hydraulic branches, further ensuring the stable operation of the dual-drive subsystem.

[0009] In an optional embodiment, if the engineering machinery vehicle includes an upper frame and a lower frame, the electric drive branch further includes: an electric slip ring, through which the power distributor and the travel motor are electrically connected; the hydraulic drive branch further includes: a rotary joint, through which the hydraulic valve and the travel motor are hydraulically connected; the hydraulic valve is also hydraulically connected to the hydraulic actuator of the upper frame; wherein, the first on / off mechanism, the travel motor, the first reduction mechanism and the first travel mechanism, the second on / off mechanism, the travel motor, the second reduction mechanism and the second travel mechanism belong to the lower frame, and the battery pack, the power distributor, the hydraulic motor, the hydraulic pump and the hydraulic valve belong to the upper frame; the electric slip ring is used to transmit the electrical energy of the upper frame to the lower frame, and the rotary joint is used to transmit the hydraulic energy of the upper frame to the lower frame; the method further includes: obtaining the upper frame action command, and adjusting the hydraulic valve according to the upper frame action command, distributing the hydraulic energy generated by the hydraulic motor driving the hydraulic pump to the hydraulic actuator of the upper frame, so as to provide hydraulic energy to the upper frame and perform the upper frame action.

[0010] This invention targets engineering machinery vehicles with upper and lower frames. By using electric slip rings and rotary joints, it enables continuous and stable transmission of electrical and hydraulic energy between the upper and lower frames, ensuring uninterrupted power transmission during relative rotation of the upper and lower frames and reducing power transmission path losses. At the same time, hydraulic valves are used to achieve on-demand distribution of hydraulic energy between the travel motor and the hydraulic actuator of the upper frame, allowing the hydraulic energy generated by the hydraulic pump to be used for both travel and upper frame operations, greatly improving the utilization rate of hydraulic energy. There is no need to set up a separate hydraulic power source for upper frame operations, simplifying the system structure.

[0011] In one optional implementation, the driving modes of the construction machinery vehicle include at least: hydraulic drive mode, electric drive mode, heavy-duty mode, and trailer mode. Depending on the current driving mode, the first on / off mechanism and / or the second on / off mechanism are closed or opened to connect or disconnect the power transmission path between the travel motor and the first reduction mechanism, and / or to connect or disconnect the transmission path between the travel motor and the second reduction mechanism. This includes: if the current driving mode is hydraulic drive mode, the first on / off mechanism is opened, and the second on / off mechanism is closed to disconnect the power transmission path between the travel motor and the first reduction mechanism, and connect the power transmission path between the travel motor and the second reduction mechanism; if the current driving mode is electric drive mode... If the current driving mode is heavy-load mode, the first on / off mechanism is closed and the second on / off mechanism is closed to connect the power transmission path between the travel motor and the first reduction mechanism, and disconnect the power transmission path between the travel motor and the second reduction mechanism; if the current driving mode is trailer mode, the first on / off mechanism is closed and the second on / off mechanism is closed to connect the power transmission path between the travel motor and the first reduction mechanism, and disconnect the power transmission path between the travel motor and the second reduction mechanism.

[0012] This invention, by setting four targeted drive modes—hydraulic drive, electric drive, heavy-duty, and trailer—can achieve precise adaptation to different working conditions and meet the actual operational needs of construction machinery vehicles. Simultaneously, by disconnecting the power transmission path of non-working branches in a single mode, it avoids energy loss caused by the passive dragging of the travel motor or travel motor, improving system energy efficiency. Specifically, in heavy-duty mode, simultaneous activation of both branches enables four-wheel drive, significantly improving the driving force and traversing complex road conditions of the construction machinery vehicle; in trailer mode, both branches are disconnected, releasing wheel constraints and making towing the entire machine more convenient while preventing damage to the power components during towing.

[0013] In an optional implementation, in the hydraulic drive mode, the method further includes: when vehicle braking is detected, closing the first on / off mechanism to cause the vehicle travel mechanism to drive the travel motor to rotate in the opposite direction, the travel motor generating electrical energy and storing it in the battery pack, or driving the hydraulic motor.

[0014] This invention adds a braking energy recovery function in hydraulic drive mode, and combines it with the braking energy recovery function that exists in electric drive mode and heavy load mode. It can utilize the power generation characteristics of the travel motor to convert the mechanical energy of the vehicle during braking into electrical energy, realize the recovery and reuse of energy, and greatly improve the energy utilization rate of construction machinery vehicles.

[0015] In one alternative implementation, in heavy-load mode, the travel motor is controlled to operate based on the electric drive branch to drive the first travel mechanism, and the travel motor is controlled to operate based on the hydraulic drive branch to drive the second travel mechanism, including: acquiring working condition data and determining the current working condition type based on the working condition data; controlling the hydraulic valve and power distributor according to the working condition type to enable the travel motor and the travel motor to operate in coordination.

[0016] This invention enables intelligent coordinated control of the travel motor and travel motor in heavy-load mode, ensuring that the output of the dual power sources is precisely matched with the actual working conditions, achieving conflict-free coordinated operation of the dual power sources, improving the stability and smoothness of power output, and avoiding ineffective output of the dual power sources. While ensuring heavy-load driving force, it also improves energy efficiency and enhances the adaptability of the whole machine to complex working conditions.

[0017] In one optional implementation, the operating conditions include at least three types: stable operating condition, complex operating condition, and specific operating condition. The hydraulic valve and power distributor are controlled according to the operating condition type to enable the travel motor and travel motor to operate in coordination. This includes: if the current operating condition is stable, a constant oil supply command is issued to the hydraulic valve, and a zero output command is issued to the power distributor, so that the travel motor outputs a constant base torque and the travel motor is in standby mode; if the current operating condition is complex, a constant oil supply command is issued to the hydraulic valve, and a synchronous output command is issued to the power distributor, so that the travel motor outputs a constant base torque, and the travel motor outputs a first additional torque with the same speed and torque value as the constant base torque; if the current operating condition is specific, a constant oil supply command is issued to the hydraulic valve, and an additional output command is issued to the power distributor based on the operating condition data, so that the travel motor outputs a constant base torque, and the travel motor outputs a second additional torque with a different speed and torque value than the constant base torque.

[0018] This invention subdivides the heavy-load mode into three types of working conditions: stable, complex, and specific. This enables more refined power coordination control: In stable working conditions, only the travel motor outputs power, while the travel motor remains in standby mode, minimizing energy loss. In complex working conditions, both power sources output power at the same speed and torque, achieving torque superposition and significantly improving the overall driving force and ground grip, easily handling harsh road surfaces and heavy-load uphill climbs. In specific working conditions, the travel motor outputs differentiated additional torque to meet the differentiated power requirements of turning, U-turns, and mud evacuation, improving the overall steering flexibility and evacuation capability. In heavy-load mode, the travel motor always serves as the basic power source, outputting constant torque, while the travel motor provides additional torque as needed. This fully leverages the stability of the hydraulic motor's low-speed, high-torque characteristics and the flexibility of the electric motor's fast response and adjustable torque, maximizing the advantages of the dual power sources.

[0019] Secondly, the present invention provides a control device for a drive system of an engineering machinery vehicle. The drive system of the engineering machinery vehicle includes an electric drive branch and a hydraulic drive branch. The electric drive branch includes a travel motor and is connected to a first travel mechanism of the engineering machinery vehicle. The hydraulic drive branch includes a travel motor and is connected to a second travel mechanism of the engineering machinery vehicle. The device includes: a mode determination module for obtaining the current drive mode of the engineering machinery vehicle; an on / off control module for connecting or disconnecting the electric drive branch and / or the hydraulic drive branch according to the current drive mode; and a drive control module for controlling the travel motor to operate based on the electric drive branch to drive the first travel mechanism, and / or controlling the travel motor to operate based on the hydraulic drive branch to drive the second travel mechanism.

[0020] Thirdly, the present invention provides an engineering machinery vehicle, comprising: a whole machine controller, a whole vehicle running mechanism, and a drive system. The whole vehicle running mechanism includes a first running mechanism and a second running mechanism. The whole machine controller includes: a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the control method of the engineering machinery vehicle drive system of the first aspect or any corresponding embodiment described above.

[0021] In one alternative implementation, the construction machinery vehicle is a wheeled excavator, which includes an upper frame and an underframe.

[0022] The engineering machinery vehicle provided by this invention is a wheeled excavator, specifically adapted to the structural characteristics and operational requirements of wheeled excavators, which involve upper frame operation and lower frame travel. Power transmission between the upper and lower frames is achieved through electric slip rings and slewing joints, ensuring uninterrupted power for travel and hydraulic operations during slewing. The four-wheel drive system with dual drive subsystems significantly improves the wheeled excavator's passability on unpaved and muddy roads, solving the problem of insufficient heavy-load travel power in traditional wheeled excavators. Braking energy recovery and refined heavy-load coordinated control significantly improve the energy utilization rate of the wheeled excavator, reducing the operating cost of electric wheeled excavators. Simultaneously, it retains the original hydraulic system's operational performance, ensuring that the overall operating efficiency is no lower than that of traditional fuel-powered wheeled excavators, achieving a balance between new energy and operational performance. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a structural schematic diagram of an engineering machinery vehicle according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the hydraulic system of an engineering machinery vehicle according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a wheeled excavator according to an embodiment of the present invention; Figure 4 This is a schematic flowchart of a first method for controlling a drive system of an engineering machinery vehicle according to an embodiment of the present invention. Figure 5 This is a second flowchart illustrating the control method for the drive system of engineering machinery vehicles according to an embodiment of the present invention; Figure 6 This is a third flowchart illustrating the control method for the drive system of engineering machinery vehicles according to an embodiment of the present invention. Figure 7 This is a structural block diagram of the control device for the drive system of engineering machinery vehicles according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the hardware structure of the whole machine controller according to an embodiment of the present invention.

[0025] Explanation of reference numerals in the attached figures: 1-Construction machinery vehicle; 10-Machine controller; 20-Vehicle travel mechanism; 201-First travel mechanism; 202-Second travel mechanism; 30-Drive system; 301-Electric drive branch; 3011-Travel motor; 3012-Battery pack; 3013-Power distributor; 3014-First switching mechanism; 3015-First reduction mechanism; 3016-Electric slip ring; 302-Hydraulic drive branch; 3021-Travel motor; 3022-Hydraulic motor; 3023-Hydraulic pump; 3024-Hydraulic valve; 3025-Second switching mechanism; 3026-Second reduction mechanism; 3027-Rotary joint; 40-Hydraulic actuator. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to 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 creative effort are within the scope of protection of the present invention.

[0027] It is understood that before using the technical solutions disclosed in the various embodiments of the present invention, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in the present invention and their authorization should be obtained in accordance with relevant laws and regulations through appropriate means.

[0028] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] As an optional application scenario of this invention, such as Figure 1 As shown, the construction machinery vehicle 1 includes a machine controller 10, a vehicle travel mechanism 20, and a drive system 30. The vehicle travel mechanism 20 includes a first travel mechanism 201 and a second travel mechanism 202. The first travel mechanism 201 corresponds to the front travel mechanism (front wheels) or rear travel mechanism (rear wheels) of the construction machinery vehicle, and the second travel mechanism 202 corresponds to the rear travel mechanism (rear wheels) or front travel mechanism (front wheels) of the construction machinery vehicle. The drive system 30 includes an electric drive branch 301 and a hydraulic drive branch 302. The electric drive branch 301 includes a travel motor 3011 and is connected to the first travel mechanism 201 of the construction machinery vehicle 1. The hydraulic drive branch 302 includes a travel motor 3021 and is connected to the second travel mechanism 202 of the construction machinery vehicle 1.

[0030] Furthermore, such as Figure 2 As shown, the electric drive branch 301 also includes: a battery pack 3012, a power distributor 3013, a first switching mechanism 3014, and a first reduction mechanism 3015. The battery pack 3012 is connected to the power distributor 3013, the power distributor 3013 is electrically connected to the walking motor 3011, the walking motor 3011 is driven by the first switching mechanism 3014 and the first reduction mechanism 3015, and the first reduction mechanism 3015 is driven by the first walking mechanism 201.

[0031] The hydraulic drive branch 302 also includes: a hydraulic motor 3022, a hydraulic pump 3023, a hydraulic valve 3024, a second on / off mechanism 3025, and a second reduction mechanism 3026. The power distributor 3013 is electrically connected to the hydraulic motor 3022, the hydraulic motor 3022 is drivenly connected to the hydraulic pump 3023, the hydraulic pump 3023 is hydraulically connected to the travel motor 3021 through the hydraulic valve 3024, the travel motor 3021 is drivenly connected to the second reduction mechanism 3026 through the second on / off mechanism 3025, and the second reduction mechanism 3026 is drivenly connected to the second travel mechanism 202.

[0032] In some alternative implementations, if the construction machinery vehicle 1 includes an upper frame and a lower frame, such as Figure 3The wheeled excavator shown includes an electric drive branch 301 that further includes an electric slip ring 3016, which electrically connects the power distributor 3013 to the travel motor 3011. The hydraulic drive branch 302 further includes a rotary joint 3027, which hydraulically connects the hydraulic valve 3024 to the travel motor 3021. The hydraulic valve 3024 is also hydraulically connected to the hydraulic actuator 40 of the upper frame.

[0033] Among them, the first switching mechanism 3014, the travel motor 3011, the first reduction mechanism 3015 and the first travel mechanism 201, the second switching mechanism 3025, the travel motor 3021, the second reduction mechanism 3026 and the second travel mechanism 202 belong to the lower frame, the battery pack 3012, the power distributor 3013, the hydraulic motor 3022, the hydraulic pump 3023 and the hydraulic valve 3024 all belong to the upper frame, the electric slip ring 3016 is used to transmit the electrical energy of the upper frame to the lower frame, and the rotary joint 3027 is used to transmit the hydraulic energy of the upper frame to the lower frame.

[0034] Specifically, the battery pack 3012 is the power source for the entire vehicle and is charged via the power grid; the power distributor 3013 is a power distribution unit (PDU) and integrates motor drive functions, which can drive the travel motor 3011 (corresponding to M1) and the hydraulic motor 3022 (corresponding to M2) respectively; the electric slip ring 3016 transfers electrical energy from the upper frame to the lower frame, and the electrical path is not interrupted when the upper and lower frames rotate relative to each other; M1 is physically connected to the hydraulic pump 3023 to provide power for the movement of the upper frame (boom, stick, bucket, swing, etc.); M2 is connected to the first travel mechanism 201 through the first on / off mechanism 3014, the first reduction mechanism 3015, and the first travel mechanism 201. The motor is physically connected to the vehicle. After being reduced in speed by the reducer, it directly drives the front (rear) walking mechanism to provide power for walking. The hydraulic pump 3023 provides hydraulic power for the entire vehicle. The rotary joint 3027 transmits the hydraulic energy of the upper frame to the lower frame, and the hydraulic passage is not interrupted when the upper and lower frames rotate relative to each other. The walking motor 3021 is physically connected to the walking mechanism through the second on / off mechanism 3025 and the second reduction mechanism 3026. After being reduced in speed by the reducer, the walking motor 3021 directly drives the rear (front) walking mechanism to provide power for walking.

[0035] Based on the transmission structure of the drive system 30 described above, this embodiment of the invention provides a control method for the drive system of engineering machinery vehicles. By integrating the energy-saving advantages of the travel motor with the power performance advantages of the travel motor, it can simultaneously ensure the energy utilization rate and energy recovery rate of the drive system, improve the overall operating performance of the travel system, and ensure the working efficiency of the engineering machinery vehicles.

[0036] According to an embodiment of the present invention, a control method embodiment for a drive system of engineering machinery vehicles is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0037] This embodiment provides a control method for a drive system of construction machinery vehicles, which can be used in the overall controller 10 of the aforementioned construction machinery vehicles, such as wheeled excavators, rotary drilling excavators, loaders, etc. Figure 4 This is a flowchart of a control method for a drive system of engineering machinery vehicles according to an embodiment of the present invention, such as... Figure 4 As shown, the process includes the following steps: Step S401: Obtain the current drive mode of the construction machinery vehicle.

[0038] Specifically, in this embodiment of the invention, to adapt to different operating scenarios and preset power output modes, at least four drive modes are pre-set, including hydraulic drive mode (hydraulic drive only), electric drive mode (electric drive only), heavy load mode (electric + hydraulic dual drive), and trailer mode (no power output). These modes are selected by the operator through the control panel of the construction machinery vehicle 1, or automatically identified by the whole machine controller 10 according to the working conditions. For example, when the operator is moving short distances on a flat road, they select "electric drive mode" through the buttons in the cab; before heavy-load uphill operations, they select "heavy load mode"; and when the vehicle breaks down and needs to be towed, they select "trailer mode".

[0039] For example, when the operator presses the "hydraulic drive mode" button in the cab, the electrical signal generated by the button is transmitted to the whole machine controller 10 via the CAN bus. The whole machine controller 10 determines that the current drive mode is the hydraulic drive mode; or, if the whole machine controller 10 detects that the data of the slope sensor is greater than 15° and the data of the load sensor is greater than the rated value, it will automatically determine that heavy load drive is required and thus determine that the current drive mode is the heavy load mode.

[0040] Step S402: Connect or disconnect the electric drive branch and / or hydraulic drive branch according to the current drive mode.

[0041] Specifically, in this embodiment of the invention, a determination criterion is set for connecting or disconnecting the electric drive branch 301 and / or the hydraulic drive branch 302 according to the current driving mode, and a preset on / off control logic is executed. The electric drive branch 301 is an electric power transmission system centered on the battery pack 3012 and the travel motor 3011, while the hydraulic drive branch 302 is a hydraulic power transmission system centered on the hydraulic motor 3022, the hydraulic pump 3023, and the travel motor 3021. "Connecting" or "disconnecting" does not involve physically cutting off power or hydraulic pressure, but rather controlling the on / off of the subsystem's power transmission path through corresponding on / off mechanisms. Closing the on / off mechanism connects the corresponding subsystem, and opening the on / off mechanism disconnects the corresponding subsystem.

[0042] In this embodiment of the invention, the electric drive branch 301 and / or the hydraulic drive branch 302 are switched on or off according to the current driving mode, including: switching on or off only the electric drive branch 301, switching on or off only the hydraulic drive branch 302, and switching on or off both subsystems simultaneously. For example, in hydraulic drive mode, only the hydraulic drive branch 302 is switched on and the electric drive branch 301 is switched off; in heavy-duty mode, both subsystems are switched on simultaneously; and in trailer mode, both subsystems are switched off simultaneously. This is only an example and is not limited thereto.

[0043] Step S403: Control the walking motor to work based on the electric drive branch to drive the first walking mechanism, and / or control the walking motor to work based on the hydraulic drive branch to drive the second walking mechanism.

[0044] Specifically, in this embodiment of the invention, controlling the walking motor 3011 to drive the first walking mechanism 201 based on the electric drive branch 301 and controlling the walking motor 3021 to drive the second walking mechanism 202 based on the hydraulic drive branch 302 means that the whole machine controller 10 uses the connected drive subsystem as the power source to drive the walking mechanism based on electric drive and / or hydraulic drive.

[0045] Among them, the travel motor 3011 is the power output core of the electric drive branch 301, which can convert electrical energy into mechanical energy. The travel motor 3021 is the power output core of the hydraulic drive branch 302, which can convert hydraulic energy into mechanical energy. The first travel mechanism 201 and the second travel mechanism 202 are the travel execution components of the construction machinery vehicle, such as the front and rear wheel sets of a wheeled excavator. They receive power from the travel motor 3011 and the travel motor 3021 respectively. Therefore, the power transmission paths of the electric drive branch 301 and the hydraulic drive branch 302 are different.

[0046] The power transmission path of the electric drive branch 301 is as follows: the electrical energy output by the battery pack 3012 is distributed to the travel motor 3011 via the power distributor 3013. The travel motor 3011 converts the electrical energy into mechanical energy and outputs rotational power. After being decelerated and increased in torque by the closed first on / off mechanism 3014 and the first reduction mechanism 3015, the power is transmitted to the first travel mechanism 201. The power transmission path of the hydraulic drive branch 302 is as follows: the power distributor 3013 supplies power to the hydraulic motor 3022. The hydraulic motor 3022 drives the hydraulic pump 3023 to convert mechanical energy into hydraulic energy. The output high-pressure hydraulic oil is regulated by the hydraulic valve 3024 and then delivered to the travel motor 3021. The travel motor 3021 converts the hydraulic energy into mechanical energy and outputs rotational power. After being decelerated and increased in torque by the closed second on / off mechanism 3025 and the second reduction mechanism 3026, the power is transmitted to the second travel mechanism 202.

[0047] Furthermore, controlling the travel motor 3011 or travel motor 3021 means that the whole machine controller 10 regulates the travel motor 3011 through the power distributor 3013 and regulates the speed, torque and other parameters of the travel motor 3021 through the hydraulic valve 3024. The mechanical energy generated is transmitted to the corresponding travel mechanism through the power transmission path, driving it to move and realize the vehicle movement. This includes three scenarios: only the travel motor 3011 drives the first travel mechanism 201, only the travel motor 3021 drives the second travel mechanism 202, and the travel motor 3011 and the travel motor 3021 drive the two travel mechanisms at the same time. If one travel mechanism is driven, the other travel mechanism is linked to realize the vehicle movement.

[0048] The control method for the drive system of construction machinery vehicles provided by this invention sets up dual electric and hydraulic drive subsystems and combines them with drive modes to achieve on / off control of the two systems. This allows for coordinated control of the travel motor and the travel motor to drive the construction machinery vehicle forward and backward. It integrates the energy-saving advantages of the travel motor and the power performance advantages of the travel motor, overcoming the technical shortcomings of traditional single electric or single hydraulic travel solutions. Simultaneously, it ensures the energy utilization and energy recovery rate of the drive system, improves the adaptability of the construction machinery vehicle's travel system to different operating conditions, significantly enhances the overall operating performance of the travel system, and guarantees the working efficiency of the construction machinery vehicle. Furthermore, the vehicle contains two drive power sources; when one drive fails, the other can provide power, thus ensuring the continued operation of the entire machine.

[0049] This embodiment provides a control method for a drive system of construction machinery vehicles, which can be used in the overall controller 10 of the aforementioned construction machinery vehicles, such as wheeled excavators, rotary drilling excavators, loaders, etc. Figure 5 This is a flowchart of a control method for a drive system of engineering machinery vehicles according to an embodiment of the present invention, such as... Figure 5 As shown, the process includes the following steps: Step S501: Obtain the current drive mode of the construction machinery vehicle. For details, please refer to [link / reference]. Figure 4 Step S401 of the illustrated embodiment will not be described again here.

[0050] Step S502: Connect or disconnect the electric drive branch and / or hydraulic drive branch according to the current drive mode.

[0051] Specifically, step S502 includes: Step S5021: According to the current driving mode, close or open the first on / off mechanism and / or the second on / off mechanism to connect or disconnect the power transmission path between the travel motor and the first reduction mechanism, and / or connect or disconnect the transmission path between the travel motor and the second reduction mechanism.

[0052] Specifically, in embodiments of the present invention, such as Figure 2 As shown, relying on two core mechanical control components, the first on / off mechanism 3014 and the second on / off mechanism 3025, and based on the current drive mode of the engineering machinery vehicle, the system performs physical actions of "closing" or "opening" the first on / off mechanism 3014 and the second on / off mechanism 3025 to achieve precise on / off control of the power transmission path between the power output core and the reduction mechanism in the electric and hydraulic drive branches. This enables the switching of the working states of the electric drive branch 301 and the hydraulic drive branch 302. The first on / off mechanism 3014 and the second on / off mechanism 3025 can be any type of clutch or coupler, such as an electromagnetic clutch, a friction clutch, or a hydraulic clutch, and are not limited here.

[0053] The first on / off mechanism 3014 is a dedicated on / off control component for the electric drive branch 301, corresponding to the power transmission path between the travel motor 3011 and the first reduction mechanism 3015; the second on / off mechanism 3025 is a dedicated on / off control component for the hydraulic drive branch 302, corresponding to the power transmission path between the travel motor 3021 and the second reduction mechanism 3026. The two are independently controlled and do not interfere with each other, and can operate individually or in coordination according to the requirements of the drive mode.

[0054] When any on / off mechanism is closed, the transmission components inside the corresponding drive branch form a rigid connection, allowing power to be transmitted uninterruptedly from the power output core to the reduction mechanism along the transmission path, thus connecting the corresponding path. When any on / off mechanism is open, the transmission components inside the corresponding drive branch are completely separated, preventing power transmission between the power output core and the reduction mechanism, thus disconnecting the corresponding path. This on / off control only affects the mechanical transmission links between the travel motor 3011, travel motor 3021, and the corresponding reduction mechanism, without affecting the normal operation of other components in the drive branch, thus preventing energy loss or component damage caused by passive dragging of power components in non-working branches.

[0055] In some optional implementations, step S5021 above includes: Step a1: If the current drive mode is hydraulic drive mode, disconnect the first on / off mechanism and close the second on / off mechanism to disconnect the power transmission path between the travel motor and the first reduction mechanism, and connect the power transmission path between the travel motor and the second reduction mechanism.

[0056] Step a2: If the current driving mode is electric drive mode, close the first on / off mechanism and disconnect the second on / off mechanism to connect the power transmission path between the travel motor and the first reduction mechanism, and disconnect the power transmission path between the travel motor and the second reduction mechanism.

[0057] Step a3: If the current driving mode is heavy load mode, close the first on / off mechanism and close the second on / off mechanism to connect the power transmission path between the travel motor and the first reduction mechanism, and connect the power transmission path between the travel motor and the second reduction mechanism.

[0058] Step a4: If the current drive mode is trailer mode, disconnect the first on / off mechanism and disconnect the second on / off mechanism to disconnect the power transmission path between the travel motor and the first reduction mechanism, and disconnect the power transmission path between the travel motor and the second reduction mechanism.

[0059] Specifically, in this embodiment of the invention, in actual control, the whole machine controller 10 will issue corresponding action commands to the first on / off mechanism 3014 and the second on / off mechanism 3025 according to the current driving mode obtained. After receiving the command, each on / off mechanism will complete the corresponding closing or opening action, thereby realizing the on / off of the corresponding path.

[0060] In some optional implementations, if the current mode is electric drive, the controller 10 will send a closing command to the first on / off mechanism 3014 and a closing command to the second on / off mechanism 3025. At this time, the power transmission path between the travel motor 3011 and the first reduction mechanism 3015 is connected, while the power transmission path between the travel motor 3021 and the second reduction mechanism 3026 is disconnected. The electric drive branch 301 can transmit power normally, while the power transmission of the hydraulic drive branch 302 is interrupted. The rotation of the wheels will not drive the travel motor 3021 to rotate, thus avoiding reverse drag and reducing energy loss. Furthermore, in electric drive mode, when the entire machine brakes, the wheels drag the travel motor 3011 to rotate. At this time, the travel motor 3011 is in a power generation state, and the generated electricity can be stored in the battery pack 3012 or directly used to drive the hydraulic motor 3022, realizing energy recovery.

[0061] In some optional implementations, if the current mode is hydraulic drive, the whole machine controller 10 will send a disconnect command to the first on / off mechanism 3014 and a close command to the second on / off mechanism 3025. At this time, the path between the travel motor 3011 and the first reduction mechanism 3015 is disconnected, the path between the travel motor 3021 and the second reduction mechanism 3026 is connected, the hydraulic drive branch 302 transmits power normally, and the power transmission of the electric drive branch 301 is interrupted.

[0062] Furthermore, in hydraulic drive mode, the path between the travel motor 3011 and the first reduction mechanism 3015 is disconnected, and the rotation of the wheels will not drive the travel motor 3011 to rotate, thus avoiding the reverse drag force of the travel motor 3011 and reducing energy loss. However, if the vehicle braking is detected, the first on / off mechanism 3014 is closed, causing the vehicle travel mechanism to drive the travel motor 3011 to rotate in the opposite direction. The travel motor 3011 can also generate electrical energy and store it in the battery pack 3012, or drive the hydraulic motor 3022 to achieve energy recovery.

[0063] In some optional implementations, if the current mode is heavy load, the overall controller 10 will simultaneously issue closing commands to the first on / off mechanism 3014 and the second on / off mechanism 3025. Both power transmission paths remain connected, and the electric drive branch 301 and the hydraulic drive branch 302 can transmit power simultaneously, achieving dual-power coordinated output. Correspondingly, in heavy load mode, the path between the travel motor 3011 and the first reduction mechanism 3015 is closed, so energy recovery can also be achieved during vehicle braking.

[0064] In some optional implementations, if the current mode is trailer mode, the whole machine controller 10 will simultaneously send disconnect commands to the first on / off mechanism 3014 and the second on / off mechanism 3025. Both power transmission paths are disconnected, and the travel motor 3011 and travel motor 3021 are completely disengaged from the corresponding reduction mechanism. The whole vehicle travel mechanism has no power constraint, and safe towing can be achieved.

[0065] In summary, the on / off control of the switching mechanisms under various driving modes of the drive system is shown in the table below. After determining the current driving mode, the overall controller 10 implements on / off control of each switching mechanism based on the table below:

[0066] Step S5022: Obtain the upper frame action command, and adjust the hydraulic valve according to the upper frame action command to distribute the hydraulic energy generated by the hydraulic pump driven by the hydraulic motor to the hydraulic actuator of the upper frame, so as to provide hydraulic energy for the upper frame and execute the upper frame action.

[0067] Specifically, in embodiments of the present invention, such as Figure 2As shown, if the construction machinery vehicle includes an upper frame and a lower frame, such as a wheeled excavator, then when the lower frame is driven to move based on the electric drive branch 301 and / or the hydraulic drive branch 302, regardless of whether the hydraulic drive branch 302 is connected, the hydraulic energy of the hydraulic drive branch 302 can be used to drive the boom, stick, bucket, and slewing of the upper frame. The drive control of the upper and lower frames based on the hydraulic drive branch 302 relies on the precise regulation function of the hydraulic valve 3024 to distribute the high-pressure hydraulic energy generated by the hydraulic pump 3023 to the hydraulic actuator 40 of the upper frame as needed, achieving precise execution of the upper frame's movements. This embodiment of the invention allows the hydraulic energy generated by the hydraulic pump 3023 to meet the dual needs of both lower frame movement and upper frame operation, thereby improving the overall utilization rate of hydraulic energy.

[0068] In some optional implementations, the upper frame action command is an action signal issued by the operator through the control components such as levers and buttons in the cab of the construction machinery vehicle, based on operational needs. This encompasses all upper frame operation commands, including boom lifting / lowering, stick extension / retraction / digging, bucket digging / unloading, and left / right rotation of the upper frame. This command can be transmitted to the machine controller 10 via the vehicle control bus or hydraulic control lines in the form of electrical or hydraulic signals. The machine controller 10, as the core execution unit, completes the real-time reception and recognition of the upper frame action commands, accurately determining the specific upper frame action and range of motion required by the operator. For example, when the operator moves the boom lifting control lever, the machine controller can obtain the upper frame action command of "boom lifting," identify the range of lever movement, and determine the required boom lifting speed and height.

[0069] Furthermore, the hydraulic valve 3024, as the core control component of the vehicle's hydraulic system, integrates multiple functions such as reversing, throttling, and pressure regulation. It serves as the main control console for hydraulic energy distribution, and its internal components include valve cores and oil passages corresponding to various operating actions of the upper frame. After recognizing the upper frame's action commands, the overall controller 10 issues precise control commands to the hydraulic valve 3024 based on the action type and amplitude corresponding to the commands. Upon receiving the commands, the hydraulic valve 3024 changes the oil passage on / off state and adjusts the oil passage flow area by moving its internal valve core, thereby achieving precise control over the hydraulic oil flow direction, flow rate, and pressure.

[0070] For example, depending on the type of action, hydraulic valve 3024 controls the flow direction of hydraulic oil through valve core reversal to match the power requirements of different operating actions. For instance, when the boom is raised, it regulates the flow of hydraulic oil into the rodless chamber of the boom hydraulic cylinder; when the boom is lowered, it regulates the flow of hydraulic oil into the rod chamber. Regarding the range of motion, hydraulic valve 3024 changes the flow area by adjusting the valve core movement distance, thereby controlling the flow rate of hydraulic oil and thus controlling the execution speed of the upper frame's movements. For example, when the lever is moved significantly, the hydraulic valve increases the flow area to increase the hydraulic oil flow, achieving rapid boom lifting; when the lever is moved slightly, it decreases the flow area to reduce the flow, achieving slow boom lifting. Simultaneously, hydraulic valve 3024 can stabilize the hydraulic oil pressure through its pressure regulating function, ensuring the smooth execution of the upper frame's movements and preventing actions from stalling or impacting due to load changes. This is merely an example and not a limitation.

[0071] Furthermore, the generation of hydraulic energy originates from the coordinated work of the hydraulic motor 3022 and the hydraulic pump 3023. The power distributor 3013 supplies power to the hydraulic motor 3022, and the hydraulic motor 3022 outputs rotational mechanical energy to drive the hydraulic pump 3023 to run at high speed. The hydraulic pump 3023 draws low-pressure hydraulic oil from the hydraulic oil tank and converts it into high-pressure, high-energy pressurized oil through compression, thus completing the conversion of mechanical energy into hydraulic energy. This part of the hydraulic energy is the only power source for all the working actions of the upper frame.

[0072] The hydraulic actuator 40 of the upper frame is the core actuator that converts hydraulic energy into mechanical motion. For example, based on the type of upper frame movement, it is divided into two categories: hydraulic cylinders and hydraulic motors. The linear swinging motion of the boom, stick, and bucket is achieved by double-acting hydraulic cylinders, while the slewing motion of the upper frame is achieved by a slewing hydraulic motor. Each working action corresponds to an independent hydraulic actuator 40, without interference. After adjustment, the hydraulic valve 3024 delivers the high-pressure hydraulic energy generated by the hydraulic pump 3023 to the hydraulic actuator 40 matched with the upper frame's movement commands via a dedicated high-pressure hydraulic pipeline, in a directional and quantitative manner. For example, upon receiving a bucket digging command, the hydraulic valve 3024 precisely distributes high-pressure hydraulic oil to the bucket hydraulic cylinder; upon receiving a right turn command, it precisely distributes high-pressure hydraulic oil to the slewing hydraulic motor, achieving precise on-demand distribution of hydraulic energy. Simultaneously, the hydraulic valve 3024 can achieve independent distribution of multiple hydraulic energy paths, supporting the coordinated execution of multiple upper frame movements, such as the synchronous operation of boom lifting and stick retraction.

[0073] Step S503: Control the travel motor based on the electric drive branch to drive the first travel mechanism, and / or control the travel motor based on the hydraulic drive branch to drive the second travel mechanism. See details below. Figure 4 Step S403 of the illustrated embodiment will not be described again here.

[0074] The control method for the drive system of construction machinery vehicles provided by this invention sets up electric and hydraulic dual drive subsystems and combines the drive mode to realize the on-off control of the two systems, thereby coordinating the control of the travel motor and the travel motor to drive the front and rear drive of the construction machinery vehicle. It can integrate the energy-saving advantages of the travel motor and the power performance advantages of the travel motor, solve the technical shortcomings of the traditional single electric or single hydraulic travel scheme, and at the same time ensure the energy utilization rate and energy recovery rate of the drive system, improve the working condition adaptability of the travel system of construction machinery vehicles, greatly improve the overall operating performance of the travel system, and ensure the working efficiency of construction machinery vehicles.

[0075] This embodiment provides a control method for a drive system of construction machinery vehicles, which can be used in the overall controller 10 of the aforementioned construction machinery vehicles, such as wheeled excavators, rotary drilling excavators, loaders, etc. Figure 6 This is a flowchart of a control method for a drive system of engineering machinery vehicles according to an embodiment of the present invention, such as... Figure 6 As shown, the process includes the following steps: Step S601: Obtain the current drive mode of the construction machinery vehicle. For details, please refer to [link / reference]. Figure 5 Step S501 of the illustrated embodiment will not be described again here.

[0076] Step S602: Connect or disconnect the electric drive branch and / or hydraulic drive branch according to the current drive mode. See details below. Figure 5 Step S502 of the illustrated embodiment will not be described again here.

[0077] Step S603: Control the walking motor to work based on the electric drive branch to drive the first walking mechanism, and / or control the walking motor to work based on the hydraulic drive branch to drive the second walking mechanism.

[0078] Specifically, step S603 includes: Step S6031: Obtain working condition data and determine the current working condition type based on the working condition data.

[0079] Specifically, in this embodiment of the invention, under each driving mode, the hydraulic valve 3024 and / or power distributor 3013 are differentiated and precisely controlled based on operating condition data. This ensures that the outputs of the electric drive branch 301 and the hydraulic drive branch 302 are highly adapted to the real-time operating conditions, fully leveraging the core advantages of each driving mode while achieving a balance between energy efficiency, power performance, and operational stability. The control logic under different driving modes has its own emphasis. The operating condition data includes speed, torque, gradient, road surface friction, braking signals, etc., acquired through corresponding onboard sensors.

[0080] The heavy-load mode is not a single high-load scenario, but encompasses various sub-scenarios such as heavy-load constant-speed driving on smooth roads, heavy-load driving on rough roads, heavy-load climbing, turning / U-turning / muddy extrication, etc. Different scenarios have significantly different requirements for torque, speed, and output form. Therefore, in the heavy-load mode of this invention, the current working condition type is first determined based on the acquired working condition data. The working condition types include: stable working condition, complex working condition, and specific working condition.

[0081] For example, a stable operating condition corresponds to the machine driving on a flat road surface. In this scenario, only a stable basic torque is required to meet the needs, and no additional power is needed. A complex operating condition corresponds to the machine driving on uneven, slippery, muddy or other harsh road surfaces, or driving conditions such as heavy-load climbing. In these scenarios, a large driving force with the superposition of dual power torque is required to cope with driving resistance. A specific operating condition corresponds to the machine turning, U-turn, mud extrication or other scenarios, which require the front and rear drive units to output power differently. This is just an example and is not a limitation.

[0082] Step S6032: Control the hydraulic valve and power distributor according to the working condition type so that the travel motor and travel motor can operate in coordination.

[0083] Specifically, in this embodiment of the invention, by differentially and precisely controlling the hydraulic valve and the power distributor, the travel motor 3021 is used as the main hydraulic drive and the travel motor 3011 is used as the auxiliary electric drive. This makes the power output highly compatible with the real-time working conditions, achieving the coordinated operation effect of the hydraulic motor's fixed-base output and the motor's on-demand power replenishment. This fully leverages the advantages of the hydraulic motor's low-speed, high-torque, and stable output, while also utilizing the travel motor's fast response and adjustable torque characteristics to meet the power requirements of different working conditions under heavy load mode, while simultaneously taking into account both power performance and energy saving.

[0084] In some optional implementations, step S6032 above includes: Step b1: If the current operating condition is stable, a constant oil supply command is sent to the hydraulic valve and a zero output command is sent to the power distributor to make the travel motor output a constant base torque and the travel motor is in standby mode.

[0085] Step b2: If the current working condition is complex, a constant oil supply command is sent to the hydraulic valve and a synchronous output command is sent to the power distributor so that the travel motor outputs a constant base torque and the travel motor outputs a first additional torque with the same speed and torque value as the constant base torque.

[0086] Step b3: If the current working condition is specific, a constant oil supply command is issued to the hydraulic valve, and an additional output command is issued to the power distributor according to the working condition data, so that the travel motor outputs a constant base torque and the travel motor outputs a second additional torque with a different speed and a different torque value than the constant base torque.

[0087] Specifically, in this embodiment of the invention, when the overall controller 10 determines that the current operating condition is stable, that is, the heavy-duty vehicle is traveling at a constant speed on a flat and hardened road surface with a small gradient, a road surface friction coefficient that meets the standard, and no fluctuation in wheel torque / speed, it first issues a constant oil supply command to the hydraulic valve 3024. This command clearly specifies the core parameters of the hydraulic valve 3024, such as the flow area and oil supply pressure. After receiving the command, the hydraulic valve 3024 keeps the internal valve core position fixed and supplies high-pressure hydraulic oil with stable flow and pressure to the travel motor 3021, ensuring that the travel motor 3021 outputs a constant basic torque. This torque value is preset to meet the minimum torque required for the stable driving of the heavy-duty vehicle, which can fully bear the heavy load of the entire vehicle, avoid the ineffective waste of hydraulic energy, and ensure the stability of the vehicle's driving.

[0088] Meanwhile, the overall controller 10 sends a zero-output command to the power distributor 3013. Upon receiving the command, the power distributor 3013 cuts off all power supply to the travel motor 3011. The travel motor 3011 receives no power input and passively rotates only with the first travel mechanism 201, remaining in a completely standby state. It neither outputs any torque nor generates additional energy consumption, minimizing energy loss and mechanical wear in the electric drive circuit 301. Therefore, under stable operating conditions in heavy-load mode, the vehicle's travel power is entirely provided by the constant base torque of the travel motor 3021, enabling energy-saving control of "just enough" in heavy-load stable driving scenarios. At the same time, the hydraulic valve 3024 does not require frequent parameter adjustments, reducing the regulation losses of the hydraulic system.

[0089] In some alternative implementations, when the overall controller 10 determines that the current working condition is complex, such as the heavy-duty vehicle is driving on a muddy / slippery / uneven road surface, or is performing heavy-duty climbing / acceleration, the slope exceeds the threshold, the road surface friction coefficient is low, and the wheel torque increases sharply, it still issues a constant oil supply command to the hydraulic valve 3024. The hydraulic valve 3024 maintains the same oil supply parameters as the stable working condition, and the travel motor 3021 continuously outputs the same constant base torque to provide a stable basic driving force for the whole vehicle. Relying on the advantages of the hydraulic motor in low speed, high torque, and shock resistance, the basic stability of heavy-duty driving is guaranteed, and the problems of slippage and jamming caused by fluctuations in the output of the power core are avoided.

[0090] Under stable operating conditions, the machine controller 10 sends a synchronization output command to the power distributor 3013 under complex operating conditions. This command carries control parameters that precisely match the real-time output parameters of the walking motor 3021, explicitly requiring that the output speed and torque of the walking motor 3011 be completely consistent with those of the walking motor 3021. After receiving the command, the power distributor 3013 precisely adjusts the power and output frequency of the electrical energy supplied from the battery pack 3012 to the walking motor 3011 based on the constant base torque value and real-time speed of the walking motor 3021. It precisely controls the rotor rotation speed of the walking motor 3011 to be completely synchronized with the output speed of the walking motor 3021, and simultaneously drives the walking motor 3011 to output a first additional torque equal to the constant base torque value.

[0091] Therefore, under the complex working conditions of heavy-duty mode, the hydraulic power of the travel motor 3021 and the electric power of the travel motor 3011 are transmitted to the corresponding travel mechanism through their respective transmission paths. The two power sources achieve precise coordinated output with the same speed and torque, and the torque is directly superimposed. The whole vehicle enters the four-wheel drive mode, and the travel mechanism obtains a strong driving force twice the base torque, which greatly improves the ground grip, anti-slip ability and driving traction of the whole machine. It can easily overcome the ground resistance of bad roads, the viscous resistance of muddy roads and the gravity load of heavy-duty climbing, and completely solve the problem of insufficient power and poor passability of single hydraulic drive in such scenarios. At the same time, because the speed and torque of the two power sources are perfectly matched and there is no output difference, it can effectively avoid problems such as wheel vibration and transmission mechanism impact caused by power conflict, and ensure the smoothness of the whole machine driving and the operational safety of mechanical components under four-wheel drive.

[0092] In some alternative implementations, when the overall controller 10 determines that it is currently in a specific working condition, such as a heavy-duty vehicle performing operations such as turning / U-turn / getting out of mud / crushing obstacles, and the vehicle body has a steering action, a sudden increase in wheel torque on one side / abnormal speed, it still sends a constant oil supply command to the hydraulic valve 3024, and the travel motor 3021 maintains a constant basic torque output to ensure that the whole vehicle has a stable basic power and avoids the impact of power core fluctuations on work safety.

[0093] In complex operating conditions, the overall controller 10, based on real-time collected differential operating condition data such as steering angle, single-side wheel load, and wheel speed fluctuations, issues additional output commands to the power distributor 3013. These commands have no fixed parameters but are dynamically bound to the real-time operating condition data. The power distributor 3013 must flexibly adjust the power output to the travel motor according to the command requirements, controlling the travel motor 3011 to output a second additional torque with different speeds and torque values ​​than the travel motor 3021.

[0094] For example, in a turning situation, the whole machine controller 10 instructs the power distributor 3013 to reduce the speed of the travel motor 3011 based on the steering angle data, and outputs a second additional torque slightly lower than the base torque to meet the differential steering requirements of the whole vehicle and avoid wheel slippage or mechanism jamming during turning; in a muddy traction situation, the whole machine controller 10 instructs the power distributor 3013 to output a peak second additional torque much higher than the base torque to the travel motor 3011 on the side with a sudden increase in load based on the load data of one side wheel, and works with the base torque of the travel motor 3021 to achieve strong traction on one side; in a U-turn situation, the travel motor 3011 is adjusted to output a small torque opposite to that of the travel motor 3021 to assist the whole vehicle in quickly completing the U-turn action.

[0095] Therefore, under specific working conditions in heavy-duty mode, the differentiated output of the 3011 travel motor can fully leverage the advantages of fast motor response and adjustable torque / speed, thereby compensating for the shortcomings of the hydraulic motor's difficult differentiated control and enabling the dual power sources to work together to adapt to customized heavy-duty operation requirements.

[0096] In summary, the control logic of the present invention under the three working conditions of heavy load mode is based on the stable basic torque provided by the walking motor 3021. The standby, synchronous output or differentiated output of the walking motor 3011 is realized only through the differentiated control of the power distributor 3013. This ensures the stability of power output under heavy load mode and allows the performance advantages of dual power sources to be accurately exerted in different scenarios. At the same time, through the on-demand energy replenishment control method, energy loss is minimized while meeting the power requirements of various heavy load working conditions, thus achieving a unity of power, stability and energy saving.

[0097] The control method for the drive system of construction machinery vehicles provided by this invention sets up electric and hydraulic dual drive subsystems and combines the drive mode to realize the on-off control of the two systems, thereby coordinating the control of the travel motor and the travel motor to drive the front and rear drive of the construction machinery vehicle. It can integrate the energy-saving advantages of the travel motor and the power performance advantages of the travel motor, solve the technical shortcomings of the traditional single electric or single hydraulic travel scheme, and at the same time ensure the energy utilization rate and energy recovery rate of the drive system, improve the working condition adaptability of the travel system of construction machinery vehicles, greatly improve the overall operating performance of the travel system, and ensure the working efficiency of construction machinery vehicles.

[0098] This embodiment also provides a control device for a drive system of engineering machinery vehicles. This device is used to implement the above embodiments and preferred embodiments, and details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0099] This embodiment provides a control device for the drive system of engineering machinery vehicles, such as... Figure 7 As shown, it includes: The mode determination module 701 is used to obtain the current driving mode of the construction machinery vehicle.

[0100] The on / off control module 702 is used to connect or disconnect the electric drive branch and / or the hydraulic drive branch according to the current drive mode.

[0101] The drive control module 703 is used to control the operation of the walking motor based on the electric drive branch to drive the first walking mechanism, and / or to control the operation of the walking motor based on the hydraulic drive branch to drive the second walking mechanism.

[0102] In some alternative implementations, the on / off control module 702 includes: The first on / off mechanism control unit is used to close or open the first on / off mechanism according to the current driving mode, so as to connect or disconnect the power transmission path between the travel motor and the first reduction mechanism.

[0103] The second on / off mechanism control unit is used to close or open the second on / off mechanism according to the current drive mode, so as to connect or disconnect the power transmission path between the travel motor and the second reduction mechanism.

[0104] In some optional embodiments, the first switching mechanism control unit and the second switching mechanism control unit include: The hydraulic drive mode on / off control subunit is used to disconnect the first on / off mechanism and close the second on / off mechanism if the current drive mode is hydraulic drive mode, so as to disconnect the power transmission path between the travel motor and the first reduction mechanism and connect the power transmission path between the travel motor and the second reduction mechanism.

[0105] The electric drive mode on / off control subunit is used to close the first on / off mechanism and open the second on / off mechanism if the current drive mode is electric drive mode, so as to connect the power transmission path between the travel motor and the first reduction mechanism and disconnect the power transmission path between the travel motor and the second reduction mechanism.

[0106] The heavy-load mode on / off control subunit is used to close the first on / off mechanism and the second on / off mechanism if the current drive mode is heavy-load mode, so as to connect the power transmission path between the travel motor and the first reduction mechanism, and connect the power transmission path between the travel motor and the second reduction mechanism.

[0107] The trailer mode on / off control subunit is used to disconnect the first on / off mechanism and the second on / off mechanism if the current drive mode is trailer mode, so as to disconnect the power transmission path between the travel motor and the first reduction mechanism, and disconnect the power transmission path between the travel motor and the second reduction mechanism.

[0108] In some alternative implementations, in the liquid-driven mode on / off control subunit, the device further includes: The energy recovery control subunit is used to close the first on / off mechanism when the vehicle braking is detected, so that the vehicle travel mechanism drives the travel motor to rotate in the opposite direction. The travel motor generates electrical energy and stores it in the battery pack, or drives the hydraulic motor.

[0109] In some optional embodiments, the device further includes: a hydraulic distribution device for acquiring upper frame movement commands and adjusting hydraulic valves according to the upper frame movement commands to distribute the hydraulic energy generated by the hydraulic pump driven by the hydraulic motor to the hydraulic actuator of the upper frame, so as to provide hydraulic energy to the upper frame and perform the upper frame movement.

[0110] In some alternative implementations, in heavy-load mode, the drive control module 703 includes: The operating condition determination unit is used to acquire operating condition data and determine the current operating condition type based on the operating condition data.

[0111] The cooperative drive unit is used to control the hydraulic valves and power distributor according to the working condition so that the travel motor and the travel motor can operate in coordination.

[0112] In some alternative implementations, the collaborative driving unit includes: The stable operating condition coordinated drive subunit is used to send a constant oil supply command to the hydraulic valve and a zero output command to the power distributor if the current operating condition is stable, so that the travel motor outputs a constant base torque and the travel motor is in standby mode.

[0113] The complex working condition cooperative drive subunit is used to send a constant oil supply command to the hydraulic valve and a synchronous output command to the power distributor if the current working condition is complex, so that the travel motor outputs a constant base torque and the travel motor outputs a first additional torque with the same speed and torque value as the constant base torque.

[0114] The specific working condition coordinated drive subunit is used to issue a constant oil supply command to the hydraulic valve and issue an additional output command to the power distributor according to the working condition data if the current working condition is specific, so that the travel motor outputs a constant base torque and the travel motor outputs a second additional torque with a different speed and a different torque value than the constant base torque.

[0115] The control device for the drive system of construction machinery vehicles provided in this embodiment of the invention can execute the control method for the drive system of construction machinery vehicles provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing the method. Further functional descriptions of the above modules and units are the same as those in the corresponding embodiments described above, and will not be repeated here.

[0116] Figure 8 This is a schematic diagram of the structure of a whole machine controller 10 provided in an embodiment of the present invention.

[0117] The following is a detailed reference. Figure 8 The diagram illustrates a suitable structural schematic for implementing a system controller in an embodiment of the present invention. The system controller may include a processor (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from memory 808 into random access memory (RAM) 803. The RAM 803 also stores various programs and data required for the operation of the system controller. The processor 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0118] Typically, the following devices can be connected to I / O interface 805: input devices 806 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 807 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; memory devices 808 including, for example, magnetic tapes, hard disks, etc.; and communication devices 809. Communication device 809 allows the controller to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 8 The complete controller with various devices is shown, but it should be understood that it is not required to implement or have all of the devices shown, and more or fewer devices may be implemented or have instead.

[0119] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 809, or installed from a memory 808, or installed from a ROM 802. When the computer program is executed by the processor 801, it performs the functions defined in the control method of the engineering machinery vehicle drive system of the embodiments of the present invention.

[0120] Figure 8 The illustrated controller is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0121] This invention also provides a computer-readable storage medium. The methods described above according to embodiments of the invention can be implemented in hardware or firmware, or implemented as computer code that can be recorded on a storage medium, or implemented as computer code downloaded via a network and originally stored on a remote storage medium or a non-transitory machine-readable storage medium and then stored on a local storage medium. Thus, the methods described herein can be processed by software stored on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. The storage medium can be a magnetic disk, optical disk, read-only memory, random access memory, flash memory, hard disk, or solid-state drive, etc.; further, the storage medium can also include combinations of the above types of memory. It is understood that computers, processors, microprocessor controllers, or programmable hardware include storage components capable of storing or receiving software or computer code. When the software or computer code is accessed and executed by the computer, processor, or hardware, the control method of the engineering machinery vehicle drive system shown in the above embodiments is implemented.

[0122] A portion of this invention can be applied as a computer program product, such as computer program instructions, which, when executed by a computer, can invoke or provide the methods and / or technical solutions according to the invention through the operation of the computer. Those skilled in the art will understand that the forms in which computer program instructions exist in a computer-readable medium include, but are not limited to, source files, executable files, installation package files, etc. Correspondingly, the ways in which computer program instructions are executed by a computer include, but are not limited to: the computer directly executing the instructions, or the computer compiling the instructions and then executing the corresponding compiled program, or the computer reading and executing the instructions, or the computer reading and installing the instructions and then executing the corresponding installed program. Here, the computer-readable medium can be any available computer-readable storage medium or communication medium accessible to a computer.

[0123] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and all such modifications and variations fall within the scope defined by the appended claims.

Claims

1. A control method for a drive system of engineering machinery vehicles, characterized in that, The drive system of the construction machinery vehicle includes an electric drive circuit and a hydraulic drive circuit. The electric drive circuit includes a travel motor and is connected to a first travel mechanism of the construction machinery vehicle. The hydraulic drive circuit includes a travel motor and is connected to a second travel mechanism of the construction machinery vehicle. The method includes: Obtain the current drive mode of the construction machinery vehicle; The electric drive branch and / or the hydraulic drive branch are switched on or off according to the current drive mode. The electric drive branch controls the operation of the walking motor to drive the first walking mechanism, and / or the hydraulic drive branch controls the operation of the walking motor to drive the second walking mechanism.

2. The method according to claim 1, characterized in that, The electric drive circuit further includes: a battery pack, a power distributor, a first switching mechanism, and a first reduction mechanism, wherein the battery pack is connected to the power distributor, the power distributor is electrically connected to the walking motor, the walking motor is driven to the first reduction mechanism through the first switching mechanism, and the first reduction mechanism is driven to the first walking mechanism. The hydraulic drive branch also includes: a hydraulic motor, a hydraulic pump, a hydraulic valve, a second on / off mechanism, and a second reduction mechanism. The power distributor is electrically connected to the hydraulic motor, the hydraulic motor is drivenly connected to the hydraulic pump, the hydraulic pump is hydraulically connected to the travel motor through the hydraulic valve, the travel motor is drivenly connected to the second reduction mechanism through the second on / off mechanism, and the second reduction mechanism is drivenly connected to the second travel mechanism. The step of connecting or disconnecting the electric drive branch and / or the hydraulic drive branch according to the current drive mode includes: According to the current driving mode, the first on / off mechanism and / or the second on / off mechanism are closed or opened to connect or disconnect the power transmission path between the travel motor and the first reduction mechanism, and / or connect or disconnect the transmission path between the travel motor and the second reduction mechanism.

3. The method according to claim 2, characterized in that, If the engineering machinery vehicle includes an upper frame and a lower frame, the electric drive branch further includes: an electric slip ring, and the power distributor is electrically connected to the travel motor through the electric slip ring. The hydraulic drive branch further includes: a rotary joint, and the hydraulic valve is hydraulically connected to the travel motor through the rotary joint. The hydraulic valve is also hydraulically connected to the hydraulic actuator of the upper frame. The method comprises the following components: the first switching mechanism, the travel motor, the first reduction mechanism and the first travel mechanism, the second switching mechanism, the travel motor, the second reduction mechanism and the second travel mechanism, all belonging to the lower frame; the battery pack, the power distributor, the hydraulic motor, the hydraulic pump and the hydraulic valve, all belonging to the upper frame; the electric slip ring, used to transmit electrical energy from the upper frame to the lower frame; and the rotary joint, used to transmit hydraulic energy from the upper frame to the lower frame. Obtain the upper frame action command, and adjust the hydraulic valve according to the upper frame action command to distribute the hydraulic energy generated by the hydraulic pump driven by the hydraulic motor to the hydraulic actuator of the upper frame, so as to provide the hydraulic energy to the upper frame and perform the upper frame action.

4. The method according to claim 2, characterized in that, The driving modes of the construction machinery vehicle include at least: hydraulic drive mode, electric drive mode, heavy-duty mode, and trailer mode. The step of closing or opening the first on / off mechanism and / or the second on / off mechanism according to the current driving mode to connect or disconnect the power transmission path between the travel motor and the first reduction mechanism, and / or connecting or disconnecting the transmission path between the travel motor and the second reduction mechanism, includes: If the current driving mode is the hydraulic drive mode, then the first on / off mechanism is disconnected and the second on / off mechanism is closed to disconnect the power transmission path between the walking motor and the first reduction mechanism, and connect the power transmission path between the walking motor and the second reduction mechanism. If the current driving mode is electric drive mode, then the first on / off mechanism is closed and the second on / off mechanism is opened to connect the power transmission path between the walking motor and the first reduction mechanism, and disconnect the power transmission path between the walking motor and the second reduction mechanism. If the current driving mode is heavy load mode, then the first on / off mechanism is closed and the second on / off mechanism is closed to connect the power transmission path between the walking motor and the first reduction mechanism. If the current driving mode is trailer mode, then the first on / off mechanism is disconnected, and the second on / off mechanism is disconnected, so as to disconnect the power transmission path between the travel motor and the first reduction mechanism, and disconnect the power transmission path between the travel motor and the second reduction mechanism.

5. The method according to claim 4, characterized in that, In the liquid-driven mode, the method further includes: When the vehicle brakes are detected, the first on / off mechanism is closed, causing the vehicle's traveling mechanism to drive the traveling motor to rotate in the opposite direction. The traveling motor generates electrical energy and stores it in the battery pack, or drives the hydraulic motor.

6. The method according to claim 4, characterized in that, In the heavy-load mode, controlling the walking motor based on the electric drive branch to drive the first walking mechanism, and controlling the walking motor based on the hydraulic drive branch to drive the second walking mechanism, includes: Acquire operating condition data and determine the current operating condition type based on the operating condition data; The hydraulic valve and the power distributor are controlled according to the operating condition type so that the travel motor and the travel motor can operate in coordination.

7. The method according to claim 6, characterized in that, The operating condition types include at least: stable operating condition, complex operating condition, and specific operating condition. The step of controlling the hydraulic valve and the power distributor according to the operating condition type to enable the travel motor and travel generator to operate in coordination includes: If the current operating condition is stable, a constant oil supply command is sent to the hydraulic valve and a zero output command is sent to the power distributor so that the travel motor outputs a constant base torque and the travel motor is in standby mode. If the current working condition is as described, a constant oil supply command is sent to the hydraulic valve and a synchronous output command is sent to the power distributor so that the travel motor outputs the constant base torque and the travel motor outputs a first additional torque with the same speed and torque value as the constant base torque. If the current operating condition is as described, a constant oil supply command is issued to the hydraulic valve, and an additional output command is issued to the power distributor based on the operating condition data, so that the travel motor outputs the constant base torque, and the travel motor outputs a second additional torque with a different speed and a different torque value than the constant base torque.

8. A control device for a drive system of engineering machinery vehicles, characterized in that, The drive system of the construction machinery vehicle includes: an electric drive circuit and a hydraulic drive circuit. The electric drive circuit includes a travel motor and is connected to a first travel mechanism. The hydraulic drive circuit includes a travel motor and is connected to a second travel mechanism. The device includes: The mode determination module is used to obtain the current driving mode of the construction machinery vehicle; An on / off control module is used to connect or disconnect the electric drive branch and / or the hydraulic drive branch according to the current drive mode. A drive control module is used to control the walking motor to operate based on the electric drive branch to drive the first walking mechanism, and / or to control the walking motor to operate based on the hydraulic drive branch to drive the second walking mechanism.

9. An engineering machinery vehicle, characterized in that, include: The system includes a complete controller, a vehicle travel mechanism, and a drive system, wherein the vehicle travel mechanism includes a first travel mechanism and a second travel mechanism. The overall controller includes a memory and a processor, which are interconnected. The memory stores computer instructions, and the processor executes the computer instructions to perform the control method of the engineering machinery vehicle drive system according to any one of claims 1 to 7.

10. The engineering machinery vehicle according to claim 9, characterized in that, The engineering machinery vehicle is a wheeled excavator, which includes an upper frame and a lower frame.

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