A speed increasing control method and device applied to a road roller

Abstract

The application relates to the field of engineering machinery control technology, in particular to a speed-up control method and device applied to a road roller. The method comprises the following steps: determining a target vehicle speed according to the acceleration interaction operation between an operator and the road roller; comparing the target vehicle speed with a pre-determined reference vehicle speed to obtain a vehicle speed comparison result; when the vehicle speed comparison result represents that the target vehicle speed is greater than the reference vehicle speed, calibrating a speed-up control parameter according to the target vehicle speed and a pre-set combined displacement control curve to obtain a target speed-up control parameter, and controlling the working of a hydraulic pump and a motor of the road roller according to the target speed-up control parameter to control the speed-up process of the road roller; and the combined displacement control curve comprises a semi-S type pump displacement control curve and a complete S type motor displacement control curve. The semi-S type pump displacement control curve and the complete S type motor displacement control curve are used to realize fine speed-up control in a high-speed section, can cover more comprehensive road roller working conditions, and improve the accuracy of the speed-up control of the road roller.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery control technology, specifically relating to a speed increase control method and device for road rollers. Background Technology

[0002] As the core equipment for road compaction, the speed increase control of road rollers directly determines the compaction quality and construction progress. Road roller speed increase control often employs constant acceleration control or PID-based closed-loop speed control: a target speed is given via an operating handle, and the speed is adjusted by regulating the opening of the solenoid valves of the travel pump and motor, based on feedback signals from the speed sensor. Currently, the effectiveness of road roller speed increase control is mainly adjusted manually by fine-tuning the single-cycle step current.

[0003] However, in practice, it has been found that manually adjusting the single-cycle step current requires repeatedly testing and recording the current value corresponding to the steady-state vehicle speed. This method can only cover the steady-state working conditions at specific speed points and cannot reflect the complex working conditions in the actual operation process, resulting in low accuracy of overall speed control in the actual process.

[0004] Therefore, improving the accuracy of speed control for road rollers is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide a speed increase control method and device for road rollers, which can improve the accuracy of speed increase control for road rollers.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a speed increase control method for road rollers, the method comprising: The target speed is determined based on the operator's interaction with the road roller to accelerate. The target vehicle speed is compared with a predetermined reference vehicle speed to obtain a vehicle speed comparison result; the reference vehicle speed is the vehicle speed corresponding to the maximum displacement of the hydraulic pump when the road roller is controlled by a pure hydraulic pump. When the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the speed increase control parameter is calibrated according to the target vehicle speed and the preset combined displacement control curve to obtain the target speed increase control parameter. The hydraulic pump and motor of the road roller are controlled according to the target speed increase control parameter to control the speed increase process of the road roller. The combined displacement control curve includes a half-S-type pump displacement control curve and a complete S-type motor displacement control curve.

[0007] As an optional implementation, in the first aspect of the present invention, when the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the acceleration control parameter is calibrated according to the target vehicle speed and a preset combined displacement control curve to obtain the target acceleration control parameter, including: When the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the acceleration duration range is determined based on the target vehicle speed and pre-stored historical acceleration time data; the acceleration duration range includes multiple consecutive initial acceleration durations. Based on the speed increase duration range and the predetermined pump response characteristic data, the hydraulic pump of the road roller is allocated a speed adjustment duration to obtain the pump speed increase control duration range. The speed regulation duration of the road roller is allocated according to the speed increase duration range and the predetermined motor response characteristic data to obtain the motor speed increase control duration range. The curve update parameters are calculated based on the pump speed increase control duration range and the motor speed increase control duration range, and the preset combined displacement control curve is updated based on the curve update parameters to obtain the updated combined displacement control curve. Based on the updated combined displacement control curve and the aforementioned growth rate duration range, the growth rate control parameters are calibrated to obtain the target growth rate control duration. The target growth rate control parameter includes the target growth rate control duration.

[0008] As an optional implementation, in the first aspect of the present invention, the step of calibrating the growth rate control parameters based on the updated combined displacement control curve and the growth rate duration range to obtain the target growth rate control duration includes: For any initial growth rate duration within the growth rate duration range, the theoretical growth rate data corresponding to the initial growth rate duration is calculated based on the updated combined displacement control curve. The actual growth rate data obtained by sampling the speed of the road roller at an earlier time is acquired. The root mean square error of the theoretical growth rate data and the actual growth rate data is calculated to obtain the target error value corresponding to the initial growth rate duration. The minimum error value is selected from all the target error values ​​corresponding to the initial growth rate durations. The minimum error value is then determined as the target growth rate control duration.

[0009] As an optional implementation, in the first aspect of the present invention, after comparing the target vehicle speed with a predetermined reference vehicle speed to obtain a vehicle speed comparison result, the method further includes: When the vehicle speed comparison result indicates that the target vehicle speed is less than or equal to the reference vehicle speed, the hydraulic pump of the road roller is controlled to work according to the preset single pump displacement control curve in order to control the speed increase process of the road roller; the single pump displacement control curve is a complete S-shaped pump displacement control curve.

[0010] As an optional implementation, in the first aspect of the invention, before determining the target speed based on the operator's acceleration interaction with the road roller, the method further includes: Obtain the calibration mode start command; the calibration mode start command is generated based on the prior interactive operation between the operator and the road roller to start the calibration mode, or it is automatically generated when the road roller is in the standard working state; The working parameters of the road roller are calibrated according to the calibration mode start command.

[0011] As an optional implementation, in the first aspect of the present invention, the step of calibrating the operating parameters of the road roller according to the calibration mode start command includes: The calibration mode start command controls the road roller to enter the calibration mode and acquires the current driving status data and current solenoid valve control data of the road roller; the current solenoid valve control data includes hydraulic pump solenoid valve control data and motor solenoid valve control data. If the driving status data indicates that the road roller is driving at a constant speed and the duration of constant speed driving is not less than a preset first duration threshold, then the pre-stored historical solenoid valve control data is obtained, and the historical solenoid valve control data is updated according to the current solenoid valve control data to obtain the target solenoid valve control data. Control the road roller to exit the calibration mode.

[0012] As an optional implementation, in the first aspect of the present invention, the standard operating state includes one or more of the following: standard running state, standard driving state, and standard speed state. The standard running state is a state in which the body of the road roller is free from vibration. The standard driving state is a state in which the road roller maintains straight-line driving. The standard speed state is a state in which the road roller drives at a constant speed and the duration of the constant speed driving is not less than a preset second duration threshold.

[0013] A second aspect of the present invention discloses a speed control device for a road roller, the device comprising: The target vehicle speed determination module is used to determine the target vehicle speed based on the acceleration interaction between the operator and the road roller; The vehicle speed comparison module is used to compare the target vehicle speed with a predetermined reference vehicle speed to obtain a vehicle speed comparison result; the reference vehicle speed is the vehicle speed corresponding to the maximum displacement of the hydraulic pump when the road roller is controlled by the pure hydraulic pump. The first speed increase control module is used to calibrate the speed increase control parameters according to the target vehicle speed and the preset combined displacement control curve when the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, to obtain the target speed increase control parameters, and to control the hydraulic pump and motor of the road roller to work according to the target speed increase control parameters, so as to control the speed increase process of the road roller; the combined displacement control curve includes a half-S-shaped pump displacement control curve and a complete S-shaped motor displacement control curve.

[0014] As an optional implementation, in a second aspect of the present invention, when the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the first speed-up control module calibrates the speed-up control parameters based on the target vehicle speed and a preset combined displacement control curve. The specific method for obtaining the target speed-up control parameters includes: When the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the acceleration duration range is determined based on the target vehicle speed and pre-stored historical acceleration time data; the acceleration duration range includes multiple consecutive initial acceleration durations. Based on the speed increase duration range and the predetermined pump response characteristic data, the hydraulic pump of the road roller is allocated a speed adjustment duration to obtain the pump speed increase control duration range. The speed regulation duration of the road roller is allocated according to the speed increase duration range and the predetermined motor response characteristic data to obtain the motor speed increase control duration range. The curve update parameters are calculated based on the pump speed increase control duration range and the motor speed increase control duration range, and the preset combined displacement control curve is updated based on the curve update parameters to obtain the updated combined displacement control curve. Based on the updated combined displacement control curve and the aforementioned growth rate duration range, the growth rate control parameters are calibrated to obtain the target growth rate control duration. The target growth rate control parameter includes the target growth rate control duration.

[0015] As an optional implementation, in a second aspect of the present invention, the first speed-up control module calibrates the speed-up control parameters based on the updated combined displacement control curve and the speed-up duration range to obtain the target speed-up control duration. The specific method for this is as follows: For any initial growth rate duration within the growth rate duration range, the theoretical growth rate data corresponding to the initial growth rate duration is calculated based on the updated combined displacement control curve. The actual growth rate data obtained by sampling the speed of the road roller at an earlier time is acquired. The root mean square error of the theoretical growth rate data and the actual growth rate data is calculated to obtain the target error value corresponding to the initial growth rate duration. The minimum error value is selected from all the target error values ​​corresponding to the initial growth rate durations. The minimum error value is then determined as the target growth rate control duration.

[0016] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The second speed increase control module is used to control the hydraulic pump of the road roller to work according to a preset single-pump displacement control curve after the vehicle speed comparison module compares the target vehicle speed with a predetermined reference vehicle speed and obtains the vehicle speed comparison result. When the vehicle speed comparison result indicates that the target vehicle speed is less than or equal to the reference vehicle speed, the module controls the hydraulic pump of the road roller to work according to a preset single-pump displacement control curve to control the speed increase process of the road roller. The single-pump displacement control curve is a complete S-shaped pump displacement control curve.

[0017] As an optional implementation, in a second aspect of the invention, the apparatus further includes: The instruction acquisition module is used to acquire a calibration mode start instruction before the target vehicle speed determination module determines the target vehicle speed based on the acceleration interaction between the operator and the road roller; the calibration mode start instruction is generated based on the prior calibration mode start interaction between the operator and the road roller, or it is automatically generated when the road roller is in the standard working state; The parameter calibration module is used to calibrate the working parameters of the road roller according to the calibration mode start command.

[0018] As an optional implementation, in the second aspect of the present invention, the specific method by which the parameter calibration module calibrates the working parameters of the road roller according to the calibration mode start command includes: The calibration mode start command controls the road roller to enter the calibration mode and acquires the current driving status data and current solenoid valve control data of the road roller; the current solenoid valve control data includes hydraulic pump solenoid valve control data and motor solenoid valve control data. If the driving status data indicates that the road roller is driving at a constant speed and the duration of constant speed driving is not less than a preset first duration threshold, then the pre-stored historical solenoid valve control data is obtained, and the historical solenoid valve control data is updated according to the current solenoid valve control data to obtain the target solenoid valve control data. Control the road roller to exit the calibration mode.

[0019] As an optional implementation, in the second aspect of the present invention, the standard operating state includes one or more of the following: standard running state, standard driving state, and standard speed state. The standard running state is a state in which the body of the road roller is free from vibration. The standard driving state is a state in which the road roller maintains straight-line driving. The standard speed state is a state in which the road roller drives at a constant speed and the duration of the constant speed driving is not less than a preset second duration threshold.

[0020] A third aspect of the present invention discloses another speed control device for a road roller, the device comprising: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the speed increase control method for a road roller disclosed in the first aspect of the present invention.

[0021] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked by a processor, are used to execute a speed-increasing control method for a road roller disclosed in the first aspect of the present invention.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: First, the target speed is determined based on the operator's acceleration. Then, the speed is judged. If the target speed is greater than the reference speed, the speed increase control parameters are calibrated based on a combined displacement control curve consisting of a half-S-shaped pump displacement control curve and a complete S-shaped motor displacement control curve. The hydraulic pump and motor of the roller are then controlled according to these parameters to control the roller's speed increase. This method of achieving refined speed increase control at high speeds, based on the half-S-shaped pump displacement control curve and the complete S-shaped motor displacement control curve, covers a wider range of roller operating conditions, improves the accuracy of speed increase control, and eliminates the need for repeated manual adjustments to the speed increase control parameters, reducing labor costs and increasing the efficiency of speed increase control parameter calibration. Attached Figure Description

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

[0024] Figure 1 This is a schematic flowchart of a speed increase control method for a road roller disclosed in an embodiment of the present invention; Figure 2 This is a schematic diagram of the S-curve for speed increase control of a hydraulic pump and motor disclosed in one embodiment of the present invention; Figure 3 This is a schematic diagram of the S-curve for hydraulic pump and motor speed control disclosed in another embodiment of the present invention; Figure 4 This is a schematic diagram of the S-curve for pure hydraulic pump speed control disclosed in an embodiment of the present invention; Figure 5 This is a diagram illustrating the speed control effect of a road roller as disclosed in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a speed control device for a road roller disclosed in an embodiment of the present invention; Figure 7 This is a schematic diagram of another speed control device for a road roller disclosed in an embodiment of the present invention; Figure 8 This is a schematic diagram of another speed control device for road rollers disclosed in an embodiment of the present invention; Figure 9 This is a schematic diagram of another speed control device for road rollers disclosed in an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0026] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, or product may include a series of steps or units, or may not be limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or processes.

[0027] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] As the core equipment for road compaction, the speed increase control of road rollers directly determines the compaction quality and construction progress. Road roller speed increase control often employs constant acceleration control or PID-based closed-loop speed control: a target speed is given via an operating handle, and the speed is adjusted by regulating the opening of the solenoid valves of the travel pump and motor, based on feedback signals from the speed sensor. Currently, the effectiveness of road roller speed increase control is mainly adjusted manually by fine-tuning the single-cycle step current.

[0029] However, in practice, it has been found that manually adjusting the single-cycle step current requires repeatedly testing and recording the current value corresponding to the steady-state vehicle speed. This method can only cover the steady-state working conditions at specific vehicle speed points and cannot reflect the complex working conditions in the actual operation process, resulting in low accuracy of overall speed control in the actual process.

[0030] Therefore, improving the accuracy of speed control for road rollers is a pressing technical problem that needs to be solved.

[0031] To address the aforementioned technical problems, this invention discloses a method and apparatus for controlling the speed increase of a road roller, aiming to improve the accuracy of speed increase control. Detailed descriptions follow.

[0032] Example 1 Please see Figure 1 , Figure 1 This is a flowchart illustrating a speed control method for road rollers disclosed in an embodiment of the present invention. Figure 1 The method shown can be applied to speed control devices. For example... Figure 1 As shown, the speed increase control method for road rollers disclosed in this embodiment of the invention includes, but is not limited to, the following operations: 101. Determine the target vehicle speed based on the acceleration interaction between the operator and the road roller; 102. Compare the target vehicle speed with the predetermined reference vehicle speed to obtain the vehicle speed comparison result; the reference vehicle speed is the vehicle speed corresponding to the maximum displacement of the hydraulic pump when the road roller is controlled by the pure hydraulic pump. 103. When the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the speed increase control parameters are calibrated according to the target vehicle speed and the preset combined displacement control curve to obtain the target speed increase control parameters. The hydraulic pump and motor of the road roller are controlled according to the target speed increase control parameters to control the speed increase process of the road roller. The combined displacement control curve includes the half S-type pump displacement control curve and the complete S-type motor displacement control curve.

[0033] It should be noted that in this embodiment of the invention, the hydraulic pump of the road roller is a variable displacement pump, and the motor is a variable displacement motor. Before controlling the speed increase of the road roller, it is necessary to pre-establish the correspondence between hydraulic system parameters and vehicle speed. The process is as follows: First, collect the variable displacement pump parameters (maximum displacement, minimum displacement, and pump volumetric efficiency), variable displacement motor parameters (displacement adjustment range and motor volumetric efficiency), and engine parameters (real-time speed). Then, based on the hydraulic transmission principle and combined with the real-time engine speed, derive the correlation formula between pump output flow rate Qp, motor input flow rate Qm, and vehicle speed. Ignoring system leakage, we approximate Qm=Qp. Combined with the motor speed formula n=Qm / Dm (n is the motor speed, Dm is the motor displacement), calculate the corresponding vehicle speed under different displacements. Finally, generate a standardized data table of theoretical pump and motor displacements and vehicle speeds. The table covers the entire vehicle speed range, with the vehicle speed interval set to 1 km / h, providing a theoretical basis for subsequent parameter calibration.

[0034] Traditional road roller speed control typically uses constant acceleration, which can easily cause impacts during the initial stage, resulting in uneven road surface compaction and large equipment vibration.

[0035] This invention employs a piecewise S-curve acceleration control strategy, which not only enables more precise acceleration control but also results in a smoother and more stable acceleration process. Differentiating the motor speed formula with respect to time t yields: Equation (1) When the target vehicle speed is greater than the reference vehicle speed, an S-shaped vehicle speed curve needs to be generated to ensure a smooth and stable acceleration process. This requires ensuring that dn / dt is smooth and does not change abruptly. Based on the characteristics of the road roller, the pump and motor need to be controlled simultaneously. Therefore, in the process of controlling the pump and motor at large intersections, maintaining the vehicle speed in an S-shape is particularly important. In low-speed single-pump control, dDm / dt = 0, and equation (1) becomes:

[0036] Since the motor displacement Dm is a constant, the vehicle speed increase is only related to the pump displacement; similarly, at high speeds, after the pump displacement increases to its maximum, there is...

[0037] Where Qm is a constant, the vehicle speed increase is only related to the motor displacement. In these two stages, it is only necessary to control the displacement of the pump and motor to increase according to the S-curve.

[0038] Please see Figure 2 , Figure 2 This is a schematic diagram of the S-curve for speed increase control of a hydraulic pump and motor, as disclosed in one embodiment of the present invention. At the junction of the pump and motor, if the pump displacement completes its S-curve before the motor's S-curve engages, the vehicle speed increase will obviously be uneven. For example... Figure 2 As shown, if the motor S-curve intervenes during the pump S-curve deceleration phase, and dn / dt is calculated according to formula (1) and compared with the vehicle speed curve to form feedback, an S-shaped speed increase can be achieved. t1 is the pump S-curve deceleration moment, at which time the motor S-curve intervenes. However, this control method has a problem: the speed increase curves overlap in the low-speed phase. That is, regardless of the target vehicle speed, the speed change curves are consistent when the target vehicle speed is less than or equal to the reference vehicle speed. Generally, the faster the target vehicle speed, the faster the speed increase efficiency, and the better the user experience in this situation. Therefore, to improve the speed increase efficiency, further adjustments can be made to the speed increase curve. Figure 2 The speed increase control curve shown is to be improved. The improvement direction is to adjust the target vehicle speed curve to be achieved, increasing the slope of the vehicle speed curve in the low speed range by 20%-30%, so that the final vehicle speed curve is steeper overall.

[0039] Please see Figure 3 , Figure 3 This is a schematic diagram of the S-curve for hydraulic pump and motor speed increase control disclosed in another embodiment of the present invention. Figure 3 As shown, the pump displacement S-curve is improved by removing the deceleration portion at the end of the original S-curve, resulting in a semi-S-shaped pump displacement control curve. The intervention time of the motor displacement control curve is modified from intervention at time t1 to intervention from the initial stage. At low speeds, pump displacement plays a major role in vehicle speed, while at high speeds, motor displacement plays a major role. The modified pump speed-up curve and the original speed-up curve both end at time t2, ensuring that the average acceleration of the pump displacement remains constant. At the same time, the motor intervenes, ensuring improved speed-up efficiency and making the actual vehicle speed curve closely match the target vehicle speed curve.

[0040] In this embodiment of the invention, the target vehicle speed is first determined based on the acceleration operation of the road roller operator. Then, the speed magnitude is judged. If the target vehicle speed is greater than the reference vehicle speed, the speed increase control parameters are calibrated based on the combined displacement control curve composed of the half-S-shaped pump displacement control curve and the complete S-shaped motor displacement control curve. The hydraulic pump and motor of the road roller are then controlled according to the speed increase control parameters, thereby controlling the speed increase process of the road roller. This method achieves refined speed increase control of the road roller in the high-speed section based on the half-S-shaped pump displacement control curve and the complete S-shaped motor displacement control curve. This covers a wider range of road roller operating conditions, improves the accuracy of speed increase control, and eliminates the need for repeated manual adjustments of the speed increase control parameters, reducing labor costs and improving the calibration efficiency of the speed increase control parameters.

[0041] In an optional embodiment, when the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the speed increase control parameters are calibrated based on the target vehicle speed and a preset combined displacement control curve to obtain the target speed increase control parameters, including: When the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the growth rate duration range is determined based on the target vehicle speed and the pre-stored historical growth rate time data; the growth rate duration range includes the initial growth rate duration of multiple consecutive values; Based on the speed increase duration range and predetermined pump response characteristic data, the speed adjustment duration of the hydraulic pump of the road roller is allocated to obtain the pump speed increase control duration range. The speed regulation time of the road roller motor is allocated based on the speed increase duration range and the predetermined motor response characteristic data to obtain the motor speed increase control duration range; The curve update parameters are calculated based on the pump speed increase control duration range and the motor speed increase control duration range. The preset combined displacement control curve is then updated based on the curve update parameters to obtain the updated combined displacement control curve. Based on the updated combined displacement control curve and the growth rate duration range, the growth rate control parameters are calibrated to obtain the target growth rate control duration. Among them, the target growth rate control parameters include the target growth rate control duration.

[0042] In this optional embodiment, the curve update parameters include necessary parameters such as maximum acceleration (which determines the slope of the uniform acceleration segment) and maximum jerk (which determines the curvature of the curve).

[0043] In another optional embodiment, the growth rate control parameters are calibrated based on the updated combined displacement control curve and the growth rate duration range to obtain the target growth rate control duration, including: For any initial growth period within the growth period range, calculate the theoretical growth rate data corresponding to the initial growth period based on the updated combined displacement control curve, obtain the actual growth rate data obtained by sampling the speed of the road roller at the earlier time, calculate the root mean square error between the theoretical growth rate data and the actual growth rate data, and obtain the target error value corresponding to the initial growth period. The minimum target error value is selected from all the target error values ​​corresponding to the initial growth rate duration. The minimum error value is then determined as the target growth rate control duration.

[0044] In this optional embodiment, the theoretical displacement increase difference within a single control cycle is calculated based on the updated combined displacement control curve, and the theoretical growth rate difference is further derived. The actual growth rate difference is collected, and the deviation between the theoretical and actual growth rate differences is calculated. This deviation is then substituted into the root mean square error formula to calculate the target error value. The formula is as follows:

[0045] Where RMSE represents the target error value, and N is the number of sampling points. This represents the theoretical growth rate difference at the i-th sampling point. This represents the actual growth rate difference at the i-th sampling point. Iterate through the growth rate duration range, calculate the RMSE value for each duration, and select the duration with the smallest RMSE value as the optimal growth rate duration.

[0046] In another optional embodiment, after comparing the target vehicle speed with a predetermined reference vehicle speed to obtain the vehicle speed comparison result, the speed increase control method for road rollers disclosed in this embodiment of the invention further includes: When the vehicle speed comparison result indicates that the target vehicle speed is less than or equal to the reference vehicle speed, the hydraulic pump of the road roller is controlled to work according to the preset single pump displacement control curve in order to control the speed increase process of the road roller; the single pump displacement control curve is a complete S-shaped pump displacement control curve.

[0047] Please see Figure 4 , Figure 4 This is a schematic diagram of the S-curve for the pure hydraulic pump speed increase control disclosed in an embodiment of the present invention. Figure 4 As shown, when the target vehicle speed is less than or equal to the reference vehicle speed, the hydraulic pump adopts a complete S-curve control to achieve a low and stable speed increase. At this time, the vehicle speed curve and the pump current curve are theoretically completely consistent.

[0048] Please see Figure 5 , Figure 5This is a diagram illustrating the speed control effect of a road roller as disclosed in an embodiment of the present invention. In this embodiment, when the target speed curve, pump speed control curve, and motor speed control curve are known, dn / dt is calculated according to formula (1), and the actual motor speed speed increase curve can be obtained. Since the motor speed is linearly related to the vehicle speed, it can be assumed that the motor speed curve and the vehicle speed curve have the same shape. Therefore, the calculated dn / dt is compared with the dn / dt of the target speed curve, and the deviation is used as feedforward and superimposed on the motor displacement S-curve. At the same time, the vehicle speed is collected in real time, and the speed difference of each cycle is converted into displacement difference and used as feedback to be superimposed on the double S-curve to dynamically correct the target displacement, form a speed control closed loop, improve the robustness of the system, and finally achieve the speed increase effect as shown in the diagram. Figure 5 As shown in the figure, the efficiency of high-speed growth is greater than that of low-speed target growth.

[0049] In yet another optional embodiment, before determining the target speed based on the operator's acceleration interaction with the road roller, the speed increase control method for road rollers disclosed in this embodiment of the invention further includes: Obtain the calibration mode start command; the calibration mode start command is generated based on the prior interactive operation between the operator and the road roller to start the calibration mode, or it is automatically generated when the road roller is in the standard working state; The working parameters of the road roller are calibrated according to the calibration mode start command.

[0050] In this optional embodiment, the calibration mode is forcibly started by manual control of the operator or automatically started when the working state of the road roller meets certain conditions.

[0051] In another optional embodiment, the operating parameters of the road roller are calibrated according to the calibration mode start command, including: The system controls the road roller to enter calibration mode according to the calibration mode start command, and acquires the current driving status data of the road roller and the current solenoid valve control data; the current solenoid valve control data includes the hydraulic pump solenoid valve control data and the motor solenoid valve control data. If the driving status data indicates that the road roller is driving at a constant speed and the duration of constant speed driving is not less than the preset first duration threshold, then the pre-stored historical solenoid valve control data is obtained, and the historical solenoid valve control data is updated according to the current solenoid valve control data to obtain the target solenoid valve control data. Control the road roller to exit calibration mode.

[0052] In this optional embodiment, after entering calibration mode, the system collects vehicle speed and corresponding pump and motor solenoid valve current values ​​in real time. When the vehicle speed stabilizes for a set threshold time, the current value is recorded; this value is compared with historical parameters in the database, and if the deviation exceeds a preset threshold (e.g., 5%), the historical parameter is automatically replaced and saved. During calibration, the operator's throttle and gear operation is not modified; only the current parameters at the current stable vehicle speed are collected, ensuring that the calibration process does not affect normal driving intentions.

[0053] It should be noted that when the calibration mode is first started, the linear interpolation method is used. Based on the theoretical displacement-vehicle speed corresponding data, the initial values ​​of the pump and motor solenoid valve currents corresponding to each vehicle speed are initially generated. The two working conditions are divided into forward and reverse, and current parameter databases are established separately.

[0054] In addition, before the road roller leaves the factory, a full-speed range calibration must be performed: from the lowest to the highest speed, a calibration node is set every 1 km / h, and the roller is driven stably for more than 5 seconds at each node to complete the calibration of the current parameters for the corresponding speed, ensuring the integrity of the parameters across the entire speed range. Based on the theoretical displacement-speed data, a table of the relationship between solenoid valve current and pump / motor displacement is established to provide data support for speed increase control.

[0055] In another optional embodiment, the standard operating state includes one or more of the following: standard running state, standard driving state, and standard speed state. The standard running state is the state in which the roller body is free from vibration. The standard driving state is the state in which the roller maintains straight-line driving. The standard speed state is the state in which the roller drives at a constant speed and the duration of the constant speed driving is not less than a preset second duration threshold.

[0056] In this optional embodiment, the standard operating state is selected as the state where the roller body is free from vibration, avoiding interference from vibration on the stability of the vehicle speed; the standard vehicle speed state can be set to a steady speed for 5-10 seconds, and the conditions for judging vehicle speed fluctuation can be further increased, such as the vehicle speed fluctuation amplitude not exceeding ±0.2km / h. In addition, for rollers with slope detection function, standard road surface conditions can be further introduced, such as the road surface slope <1%.

[0057] Example 2 Please see Figure 6 , Figure 6 This is a schematic diagram of a speed control device for road rollers disclosed in an embodiment of the present invention. Figure 6 The apparatus shown can be used to perform the method described in Embodiment 1. Figure 6 As shown, an embodiment of the present invention discloses a speed control device for a road roller, including but not limited to: The target vehicle speed determination module 201 is used to determine the target vehicle speed based on the acceleration interaction between the operator and the road roller; The vehicle speed comparison module 202 is used to compare the target vehicle speed with a predetermined reference vehicle speed to obtain the vehicle speed comparison result; the reference vehicle speed is the vehicle speed corresponding to the maximum displacement of the hydraulic pump when the road roller is controlled by the pure hydraulic pump. The first speed increase control module 203 is used to calibrate the speed increase control parameters based on the target speed and the preset combined displacement control curve when the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, to obtain the target speed increase control parameters, and to control the operation of the hydraulic pump and motor of the road roller according to the target speed increase control parameters, so as to control the speed increase process of the road roller; the combined displacement control curve includes the half S-type pump displacement control curve and the complete S-type motor displacement control curve.

[0058] It should be noted that in this embodiment of the invention, the hydraulic pump of the road roller is a variable displacement pump, and the motor is a variable displacement motor. Before controlling the speed increase of the road roller, it is necessary to pre-establish the correspondence between hydraulic system parameters and vehicle speed. The process is as follows: First, collect the variable displacement pump parameters (maximum displacement, minimum displacement, and pump volumetric efficiency), variable displacement motor parameters (displacement adjustment range and motor volumetric efficiency), and engine parameters (real-time speed). Then, based on the hydraulic transmission principle and combined with the real-time engine speed, derive the correlation formula between pump output flow rate Qp, motor input flow rate Qm, and vehicle speed. Ignoring system leakage, we approximate Qm=Qp. Combined with the motor speed formula n=Qm / Dm (n is the motor speed, Dm is the motor displacement), calculate the corresponding vehicle speed under different displacements. Finally, generate a standardized data table of theoretical pump and motor displacements and vehicle speeds. The table covers the entire vehicle speed range, with the vehicle speed interval set to 1 km / h, providing a theoretical basis for subsequent parameter calibration.

[0059] Traditional road roller speed control typically uses constant acceleration, which can easily cause impacts during the initial stage, resulting in uneven road surface compaction and large equipment vibration.

[0060] This invention employs a piecewise S-curve acceleration control strategy, which not only enables more precise acceleration control but also results in a smoother and more stable acceleration process. Differentiating the motor speed formula with respect to time t yields: Equation (1) When the target vehicle speed is greater than the reference vehicle speed, an S-shaped vehicle speed curve needs to be generated to ensure a smooth and stable acceleration process. This requires ensuring that dn / dt is smooth and does not change abruptly. Based on the characteristics of the road roller, the pump and motor need to be controlled simultaneously. Therefore, in the process of controlling the pump and motor at large intersections, maintaining the vehicle speed in an S-shape is particularly important. In low-speed single-pump control, dDm / dt = 0, and equation (1) becomes:

[0061] Since the motor displacement Dm is a constant, the vehicle speed increase is only related to the pump displacement; similarly, at high speeds, after the pump displacement increases to its maximum, there is...

[0062] Where Qm is a constant, the vehicle speed increase is only related to the motor displacement. In these two stages, it is only necessary to control the displacement of the pump and motor to increase according to the S-curve.

[0063] Please see Figure 2 , Figure 2 This is a schematic diagram of the S-curve for speed increase control of a hydraulic pump and motor, as disclosed in one embodiment of the present invention. At the junction of the pump and motor, if the pump displacement completes its S-curve before the motor's S-curve engages, the vehicle speed increase will obviously be uneven. For example... Figure 2 As shown, if the motor S-curve intervenes during the pump S-curve deceleration phase, and dn / dt is calculated according to formula (1) and compared with the vehicle speed curve to form feedback, an S-shaped speed increase can be achieved. t1 is the pump S-curve deceleration moment, at which time the motor S-curve intervenes. However, this control method has a problem: the speed increase curves overlap in the low-speed phase. That is, regardless of the target vehicle speed, the speed change curves are consistent when the target vehicle speed is less than or equal to the reference vehicle speed. Generally, the faster the target vehicle speed, the faster the speed increase efficiency, and the better the user experience in this situation. Therefore, to improve the speed increase efficiency, further adjustments can be made to the speed increase curve. Figure 2 The speed increase control curve shown is to be improved. The improvement direction is to adjust the target vehicle speed curve to be achieved, increasing the slope of the vehicle speed curve in the low speed range by 20%-30%, so that the final vehicle speed curve is steeper overall.

[0064] Please see Figure 3 , Figure 3 This is a schematic diagram of the S-curve for hydraulic pump and motor speed increase control disclosed in another embodiment of the present invention. Figure 3 As shown, the pump displacement S-curve is improved by removing the deceleration portion at the end of the original S-curve, resulting in a semi-S-shaped pump displacement control curve. The intervention time of the motor displacement control curve is modified from intervention at time t1 to intervention from the initial stage. At low speeds, pump displacement plays a major role in vehicle speed, while at high speeds, motor displacement plays a major role. The modified pump speed-up curve and the original speed-up curve both end at time t2, ensuring that the average acceleration of the pump displacement remains constant. At the same time, the motor intervenes, ensuring improved speed-up efficiency and making the actual vehicle speed curve closely match the target vehicle speed curve.

[0065] In this embodiment of the invention, the target vehicle speed is first determined based on the acceleration operation of the road roller operator. Then, the speed magnitude is judged. If the target vehicle speed is greater than the reference vehicle speed, the speed increase control parameters are calibrated based on the combined displacement control curve composed of the half-S-shaped pump displacement control curve and the complete S-shaped motor displacement control curve. The hydraulic pump and motor of the road roller are then controlled according to the speed increase control parameters, thereby controlling the speed increase process of the road roller. This method achieves refined speed increase control of the road roller in the high-speed section based on the half-S-shaped pump displacement control curve and the complete S-shaped motor displacement control curve. This covers a wider range of road roller operating conditions, improves the accuracy of speed increase control, and eliminates the need for repeated manual adjustments of the speed increase control parameters, reducing labor costs and improving the calibration efficiency of the speed increase control parameters.

[0066] In an optional embodiment, when the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the first speed increase control module 203 calibrates the speed increase control parameters based on the target vehicle speed and the preset combined displacement control curve. The specific methods for obtaining the target speed increase control parameters include: When the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the growth rate duration range is determined based on the target vehicle speed and the pre-stored historical growth rate time data; the growth rate duration range includes the initial growth rate duration of multiple consecutive values; Based on the speed increase duration range and predetermined pump response characteristic data, the speed adjustment duration of the hydraulic pump of the road roller is allocated to obtain the pump speed increase control duration range. The speed regulation time of the road roller motor is allocated based on the speed increase duration range and the predetermined motor response characteristic data to obtain the motor speed increase control duration range; The curve update parameters are calculated based on the pump speed increase control duration range and the motor speed increase control duration range. The preset combined displacement control curve is then updated based on the curve update parameters to obtain the updated combined displacement control curve. Based on the updated combined displacement control curve and the growth rate duration range, the growth rate control parameters are calibrated to obtain the target growth rate control duration. Among them, the target growth rate control parameters include the target growth rate control duration.

[0067] In this optional embodiment, the curve update parameters include necessary parameters such as maximum acceleration (which determines the slope of the uniform acceleration segment) and maximum jerk (which determines the curvature of the curve).

[0068] In another optional embodiment, the first speed-up control module 203 calibrates the speed-up control parameters based on the updated combined displacement control curve and speed-up duration range, and the specific method for obtaining the target speed-up control duration includes: For any initial growth period within the growth period range, calculate the theoretical growth rate data corresponding to the initial growth period based on the updated combined displacement control curve, obtain the actual growth rate data obtained by sampling the speed of the road roller at the earlier time, calculate the root mean square error between the theoretical growth rate data and the actual growth rate data, and obtain the target error value corresponding to the initial growth period. The minimum target error value is selected from all the target error values ​​corresponding to the initial growth rate duration. The minimum error value is then determined as the target growth rate control duration.

[0069] In this optional embodiment, the theoretical displacement increase difference within a single control cycle is calculated based on the updated combined displacement control curve, and the theoretical growth rate difference is further derived. The actual growth rate difference is collected, and the deviation between the theoretical and actual growth rate differences is calculated. This deviation is then substituted into the root mean square error formula to calculate the target error value. The formula is as follows:

[0070] Where RMSE represents the target error value, and N is the number of sampling points. This represents the theoretical growth rate difference at the i-th sampling point. This represents the actual growth rate difference at the i-th sampling point. Iterate through the growth rate duration range, calculate the RMSE value for each duration, and select the duration with the smallest RMSE value as the optimal growth rate duration.

[0071] In yet another alternative embodiment, please refer to Figure 7 , Figure 7 This is a schematic diagram of another speed-increasing control device for road rollers disclosed in an embodiment of the present invention. Figure 7 As shown in the figure, the speed increase control device for a road roller disclosed in this embodiment of the invention further includes: The second speed increase control module 204 is used to compare the target vehicle speed with the predetermined reference vehicle speed after the vehicle speed comparison module 202 obtains the vehicle speed comparison result. When the vehicle speed comparison result indicates that the target vehicle speed is less than or equal to the reference vehicle speed, the hydraulic pump of the road roller is controlled to work according to the preset single pump displacement control curve to control the speed increase process of the road roller. The single pump displacement control curve is a complete S-shaped pump displacement control curve.

[0072] Please see Figure 4 , Figure 4 This is a schematic diagram of the S-curve for the pure hydraulic pump speed increase control disclosed in an embodiment of the present invention. Figure 4 As shown, when the target vehicle speed is less than or equal to the reference vehicle speed, the hydraulic pump adopts a complete S-curve control to achieve a low and stable speed increase. At this time, the vehicle speed curve and the pump current curve are theoretically completely consistent.

[0073] Please see Figure 5 , Figure 5This is a diagram illustrating the speed control effect of a road roller as disclosed in an embodiment of the present invention. In this embodiment, when the target speed curve, pump speed control curve, and motor speed control curve are known, dn / dt is calculated according to formula (1), and the actual motor speed speed increase curve can be obtained. Since the motor speed is linearly related to the vehicle speed, it can be assumed that the motor speed curve and the vehicle speed curve have the same shape. Therefore, the calculated dn / dt is compared with the dn / dt of the target speed curve, and the deviation is used as feedforward and superimposed on the motor displacement S-curve. At the same time, the vehicle speed is collected in real time, and the speed difference of each cycle is converted into displacement difference and used as feedback to be superimposed on the double S-curve to dynamically correct the target displacement, form a speed control closed loop, improve the robustness of the system, and finally achieve the speed increase effect as shown in the diagram. Figure 5 As shown in the figure, the efficiency of high-speed growth is greater than that of low-speed target growth.

[0074] In yet another alternative embodiment, please refer to Figure 8 , Figure 8 This is a schematic diagram of another speed-increasing control device for a road roller disclosed in an embodiment of the present invention. (See diagram below.) Figure 8 As shown in the figure, the speed increase control device for a road roller disclosed in this embodiment of the invention further includes: The instruction acquisition module 205 is used to acquire the calibration mode start instruction before the target vehicle speed determination module 201 determines the target vehicle speed based on the acceleration interaction between the operator and the road roller. The calibration mode start instruction is generated based on the calibration mode start interaction between the operator and the road roller at a previous moment, or it is automatically generated when the road roller is in the standard working state. The parameter calibration module 206 is used to calibrate the working parameters of the road roller according to the calibration mode start command.

[0075] In this optional embodiment, the calibration mode is forcibly started by manual control of the operator or automatically started when the working state of the road roller meets certain conditions.

[0076] In yet another optional embodiment, the parameter calibration module 206 calibrates the working parameters of the road roller according to the calibration mode start command in the following specific ways: The system controls the road roller to enter calibration mode according to the calibration mode start command, and acquires the current driving status data of the road roller and the current solenoid valve control data; the current solenoid valve control data includes the hydraulic pump solenoid valve control data and the motor solenoid valve control data. If the driving status data indicates that the road roller is driving at a constant speed and the duration of constant speed driving is not less than the preset first duration threshold, then the pre-stored historical solenoid valve control data is obtained, and the historical solenoid valve control data is updated according to the current solenoid valve control data to obtain the target solenoid valve control data. Control the road roller to exit calibration mode.

[0077] In this optional embodiment, after entering calibration mode, the system collects vehicle speed and corresponding pump and motor solenoid valve current values ​​in real time. When the vehicle speed stabilizes for a set threshold time, the current value is recorded; this value is compared with historical parameters in the database, and if the deviation exceeds a preset threshold (e.g., 5%), the historical parameter is automatically replaced and saved. During calibration, the operator's throttle and gear operation is not modified; only the current parameters at the current stable vehicle speed are collected, ensuring that the calibration process does not affect normal driving intentions.

[0078] It should be noted that when the calibration mode is first started, the linear interpolation method is used. Based on the theoretical displacement-vehicle speed corresponding data, the initial values ​​of the pump and motor solenoid valve currents corresponding to each vehicle speed are initially generated. The two working conditions are divided into forward and reverse, and current parameter databases are established separately.

[0079] In addition, before the road roller leaves the factory, a full-speed range calibration must be performed: from the lowest to the highest speed, a calibration node is set every 1 km / h, and the roller is driven stably for more than 5 seconds at each node to complete the calibration of the current parameters for the corresponding speed, ensuring the integrity of the parameters across the entire speed range. Based on the theoretical displacement-speed data, a table of the relationship between solenoid valve current and pump / motor displacement is established to provide data support for speed increase control.

[0080] In another optional embodiment, the standard operating state includes one or more of the following: standard running state, standard driving state, and standard speed state. The standard running state is the state in which the roller body is free from vibration. The standard driving state is the state in which the roller maintains straight-line driving. The standard speed state is the state in which the roller drives at a constant speed and the duration of the constant speed driving is not less than a preset second duration threshold.

[0081] In this optional embodiment, the standard operating state is selected as the state where the roller body is free from vibration, avoiding interference from vibration on the stability of the vehicle speed; the standard vehicle speed state can be set to a steady speed for 5-10 seconds, and the conditions for judging vehicle speed fluctuation can be further increased, such as the vehicle speed fluctuation amplitude not exceeding ±0.2km / h. In addition, for rollers with slope detection function, standard road surface conditions can be further introduced, such as the road surface slope <1%.

[0082] Example 3 Please see Figure 9 , Figure 9 This is a schematic diagram of another speed control device for road rollers disclosed in an embodiment of the present invention. Figure 9 The apparatus shown can be used to perform the method described in Embodiment 1. Figure 9 As shown, an embodiment of the present invention discloses a speed control device for a road roller, including but not limited to: Memory 301 storing executable program code; Processor 302 coupled to memory 301; The processor 302 calls the executable program code stored in the memory 301 to execute some or all of the steps in the speed control method for road rollers described in Embodiment 1 of the present invention.

[0083] Example 4 This invention discloses a computer storage medium storing computer instructions. When the computer instructions are invoked by a processor, they are used to execute some or all of the steps in the speed increase control method for a road roller described in Embodiment 1 of this invention.

[0084] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0085] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0086] Finally, it should be noted that the technical content disclosed in the embodiments of the present invention is only a preferred embodiment of the present invention and is only used to illustrate the technical solutions of the present invention, and not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A speed increase control method for road rollers, characterized in that, The method includes: The target speed is determined based on the operator's interaction with the road roller to accelerate. The target vehicle speed is compared with a predetermined reference vehicle speed to obtain a vehicle speed comparison result; the reference vehicle speed is the vehicle speed corresponding to the maximum displacement of the hydraulic pump when the road roller is controlled by a pure hydraulic pump. When the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the speed increase control parameter is calibrated according to the target vehicle speed and the preset combined displacement control curve to obtain the target speed increase control parameter. The hydraulic pump and motor of the road roller are controlled according to the target speed increase control parameter to control the speed increase process of the road roller. The combined displacement control curve includes a half-S-type pump displacement control curve and a complete S-type motor displacement control curve.

2. The speed increase control method for a road roller according to claim 1, characterized in that, When the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the speed increase control parameters are calibrated based on the target vehicle speed and a preset combined displacement control curve to obtain the target speed increase control parameters, including: When the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, the acceleration duration range is determined based on the target vehicle speed and pre-stored historical acceleration time data; the acceleration duration range includes multiple consecutive initial acceleration durations. Based on the speed increase duration range and the predetermined pump response characteristic data, the hydraulic pump of the road roller is allocated a speed adjustment duration to obtain the pump speed increase control duration range. The speed regulation duration of the road roller is allocated according to the speed increase duration range and the predetermined motor response characteristic data to obtain the motor speed increase control duration range. The curve update parameters are calculated based on the pump speed increase control duration range and the motor speed increase control duration range, and the preset combined displacement control curve is updated based on the curve update parameters to obtain the updated combined displacement control curve. Based on the updated combined displacement control curve and the aforementioned growth rate duration range, the growth rate control parameters are calibrated to obtain the target growth rate control duration. The target growth rate control parameter includes the target growth rate control duration.

3. The speed increase control method for a road roller according to claim 2, characterized in that, The step of calibrating the growth rate control parameters based on the updated combined displacement control curve and the growth rate duration range to obtain the target growth rate control duration includes: For any initial growth rate duration within the growth rate duration range, the theoretical growth rate data corresponding to the initial growth rate duration is calculated based on the updated combined displacement control curve. The actual growth rate data obtained by sampling the speed of the road roller at an earlier time is acquired. The root mean square error of the theoretical growth rate data and the actual growth rate data is calculated to obtain the target error value corresponding to the initial growth rate duration. The minimum error value is selected from all the target error values ​​corresponding to the initial growth rate durations. The minimum error value is then determined as the target growth rate control duration.

4. The speed increase control method for a road roller according to claim 1, characterized in that, After comparing the target vehicle speed with a predetermined reference vehicle speed to obtain a speed comparison result, the method further includes: When the vehicle speed comparison result indicates that the target vehicle speed is less than or equal to the reference vehicle speed, the hydraulic pump of the road roller is controlled to work according to the preset single pump displacement control curve in order to control the speed increase process of the road roller; the single pump displacement control curve is a complete S-shaped pump displacement control curve.

5. The speed increase control method for a road roller according to claim 1, characterized in that, Before determining the target vehicle speed based on the operator's acceleration interaction with the road roller, the method further includes: Obtain the calibration mode start command; the calibration mode start command is generated based on the prior interactive operation between the operator and the road roller to start the calibration mode, or it is automatically generated when the road roller is in the standard working state; The working parameters of the road roller are calibrated according to the calibration mode start command.

6. The speed increase control method for a road roller according to claim 5, characterized in that, The step of calibrating the working parameters of the road roller according to the calibration mode start command includes: The calibration mode start command controls the road roller to enter the calibration mode and acquires the current driving status data and current solenoid valve control data of the road roller; the current solenoid valve control data includes hydraulic pump solenoid valve control data and motor solenoid valve control data. If the driving status data indicates that the road roller is driving at a constant speed and the duration of constant speed driving is not less than a preset first duration threshold, then the pre-stored historical solenoid valve control data is obtained, and the historical solenoid valve control data is updated according to the current solenoid valve control data to obtain the target solenoid valve control data. Control the road roller to exit the calibration mode.

7. The speed increase control method for a road roller according to claim 5, characterized in that, The standard operating state includes one or more of the following: standard running state, standard driving state, and standard speed state. The standard running state is the state in which the roller body is free from vibration. The standard driving state is the state in which the roller maintains a straight line. The standard speed state is the state in which the roller travels at a constant speed for a duration not less than a preset second time threshold.

8. A speed increase control device for a road roller, characterized in that, The device includes: The target vehicle speed determination module is used to determine the target vehicle speed based on the acceleration interaction between the operator and the road roller; The vehicle speed comparison module is used to compare the target vehicle speed with a predetermined reference vehicle speed to obtain a vehicle speed comparison result; the reference vehicle speed is the vehicle speed corresponding to the maximum displacement of the hydraulic pump when the road roller is controlled by the pure hydraulic pump. The first speed increase control module is used to calibrate the speed increase control parameters according to the target vehicle speed and the preset combined displacement control curve when the vehicle speed comparison result indicates that the target vehicle speed is greater than the reference vehicle speed, to obtain the target speed increase control parameters, and to control the hydraulic pump and motor of the road roller to work according to the target speed increase control parameters, so as to control the speed increase process of the road roller; the combined displacement control curve includes a half-S-shaped pump displacement control curve and a complete S-shaped motor displacement control curve.

9. A speed increase control device for a road roller, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the speed increase control method for a road roller as described in any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked by a processor, are used to execute the speed increase control method for a road roller as described in any one of claims 1 to 7.

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