CN106560552B - Ambulation control method, controller and control system under ultimate load mode - Google Patents
Ambulation control method, controller and control system under ultimate load mode Download PDFInfo
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- CN106560552B CN106560552B CN201610119196.5A CN201610119196A CN106560552B CN 106560552 B CN106560552 B CN 106560552B CN 201610119196 A CN201610119196 A CN 201610119196A CN 106560552 B CN106560552 B CN 106560552B
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- 230000003247 decreasing effect Effects 0.000 abstract description 10
- 238000010586 diagram Methods 0.000 description 14
- 238000003801 milling Methods 0.000 description 14
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
- E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
- E01C23/088—Rotary tools, e.g. milling drums
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- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
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Abstract
The invention discloses ambulation control method, controller and the control systems under a kind of ultimate load mode, are related to engineering machinery field.Method therein includes: to detect engine speed under ultimate load mode；If detecting, engine speed is less than slow-speed of revolution threshold value V1, periodically reduces the control electric current of running motor with amplitude A 1, until engine speed is not less than slow-speed of revolution threshold value V1.To under ultimate load mode, without the operation such as table look-up, adjusting of successively decreasing periodically directly is carried out to the control electric current of running motor with predetermined amplitude, so that the revolving speed of engine be adjusted in time.
Description
Technical field
Ambulation control method, control the present invention relates to engineering machinery field, in particular under a kind of ultimate load mode
Device and control system.
Background technique
One of the main machine that pavement milling machine is constructed as asphalt pavement conserving, be widely used in cities and towns town road and
In Highway Maintenance engineering.Construction requirement shortens construction period as far as possible on these highways, construction to the shadow of traffic
Sound is reduced to a minimum, therefore it is required that milling machine has higher construction efficiency and stable service ability, while requiring milling
Machine has stronger adaptability and the flexibly operating characteristics of intelligence.
Traditional ultimate load control technic is a kind of smart electronics for changing automatic adjustment variable pumpage according to load
Control technology.It, may under ultimate load mode due to the uncertainty of actual condition in existing milling machine electric-control system
It will appear the load non-matching phenomenon of engine and hydraulic system, fluctuated so as to cause engine speed, equipment operation is neglected
It is fast to neglect slowly, influence milling pavement quality.Although high-point load control thought has also been introduced in the existing electric-control system of milling machine,
Fall fast situation according to engine, successively decrease or be incremented by control electric current by the method tabled look-up, there is lag since hydraulic system responds
Property, when milling machine faces complex working condition, this control technology is difficult to realize preferable control effect.
Existing scheme according to engine fall fast situation table look-up successively decrease or be incremented by control electric current, will appear in this way adjusting not in time
The case where, and if engine speed reaches a certain revolving speed or more at once with regard to up-regulation control electric current, in this way in existing regulation scheme
Meeting influences the performance of engine and the service life of milling machine so that engine speed is fluctuated.
Summary of the invention
A technical problem to be solved by this invention is: how to adjust turning for engine in time under ultimate load mode
Speed.
Another technical problem to be solved by this invention is: how to avoid starting during adjusting engine speed
Machine revolving speed problem fluctuated.
According to an aspect of an embodiment of the present invention, the ambulation control method under a kind of ultimate load mode, packet are provided
It includes: detecting engine speed under ultimate load mode；If detecting, engine speed is less than slow-speed of revolution threshold value V1, then with amplitude
A1 periodically reduces the control electric current of running motor, until engine speed is not less than slow-speed of revolution threshold value V1.
In one embodiment, further includes: if engine speed is still small after the control electric current of running motor reaches minimum value
In slow-speed of revolution threshold value V1, then periodically reduce the control electric current of traveling pump with amplitude A 2, until engine speed is not less than low
Rotary speed threshold value V1.
In one embodiment, further includes: if detecting, engine speed is greater than high rotary speed threshold value V2, judges walking speed
Whether degree reaches default speed of travel V3；If the not up to default speed of travel V3 of the speed of travel, then periodically increased with amplitude A 3
Add the control electric current of traveling pump, until engine speed is not more than high rotary speed threshold value V2.
In one embodiment, amplitude A 1 is greater than amplitude A 3.
In one embodiment, further includes: if detecting, engine speed is greater than high rotary speed threshold value V2, judges walking speed
Whether degree reaches default speed of travel V3；If the not up to default speed of travel V3 of the speed of travel, then periodically increased with amplitude A 3
Add the control electric current of traveling pump, until engine speed is not more than high rotary speed threshold value V2.
In one embodiment, further includes: if engine speed is still greater than after the control electric current of traveling pump reaches maximum value
High rotary speed threshold value V2 periodically increases the control electric current of running motor then with amplitude A 4, until engine speed is no more than height
Rotary speed threshold value V2.
In one embodiment, amplitude A 1 is greater than amplitude A 3 and/or amplitude A 2 is greater than amplitude A 4.
In one embodiment, before judging whether the speed of travel reaches default speed of travel V3, further includes: if detection
It is greater than high rotary speed threshold value V2 to engine speed, is then delayed after a period of time, detects engine speed again and be greater than high revolving speed threshold
Value V2；If detecting, high rotary speed threshold value V2 is still greater than in engine speed, is executed and is judged whether the speed of travel reaches default row
Walk the subsequent step of speed V3.
According to an aspect of an embodiment of the present invention, the traveling controller under a kind of ultimate load mode is provided, comprising:
Engine speed detection module, for detecting engine speed under ultimate load mode；Running motor controls electric current and exports mould
Block, if periodically reducing the control of running motor with amplitude A 1 for detecting that engine speed is less than slow-speed of revolution threshold value V1
Electric current processed, until engine speed is not less than slow-speed of revolution threshold value V1.
In one embodiment, further includes: traveling pump controls current output module, if the control electric current for running motor
After reaching minimum value, engine speed then periodically reduces the control of traveling pump still less than slow-speed of revolution threshold value V1 with amplitude A 2
Electric current, until engine speed is not less than slow-speed of revolution threshold value V1.
In one embodiment, further includes: speed of travel judgment module, if for detecting that engine speed is greater than high turn
Fast threshold value V2, then judge whether the speed of travel reaches default speed of travel V3, and judging result is sent to traveling pump control electricity
Flow output module；Traveling pump controls current output module in the case where the speed of travel not up to default speed of travel V3 with amplitude
A3 periodically increases the control electric current of traveling pump, until engine speed is not more than high rotary speed threshold value V2.
In one embodiment, amplitude A 1 is greater than amplitude A 3.
In one embodiment, further includes: speed of travel judgment module, if for detecting that engine speed is greater than high turn
Fast threshold value V2, then judge whether the speed of travel reaches default speed of travel V3, and judging result is sent to traveling pump control electricity
Flow output module；Traveling pump controls current output module in the case where the speed of travel not up to default speed of travel V3 with amplitude
A3 periodically increases the control electric current of traveling pump, until engine speed is not more than high rotary speed threshold value V2.
In one embodiment, speed of travel judgment module is also used to, if detecting, engine speed is greater than high revolving speed threshold
Value V2 judges whether the speed of travel reaches default speed of travel V3, and it is defeated that judging result is sent to running motor control electric current
Module out；Running motor control current output module is also used to, and engine turns after the control electric current of traveling pump reaches maximum value
In the case that speed is still greater than high rotary speed threshold value V2, periodically increase the control electric current of running motor with amplitude A 4, until starting
Machine revolving speed is not more than high rotary speed threshold value V2.
In one embodiment, amplitude A 1 is greater than amplitude A 3 and/or amplitude A 2 is greater than amplitude A 4.
It in one embodiment, further include time delay module, for whether judging the speed of travel in speed of travel judgment module
Before reaching default speed of travel V3, if engine speed detection module detects that engine speed is greater than high rotary speed threshold value V2,
Then detection engine speed is greater than high rotary speed threshold value to time delay module control engine speed detection module again over time
V2；If engine speed detection module detects that high rotary speed threshold value V2 is still greater than in engine speed again, the speed of travel is sentenced
Disconnected module judges whether the speed of travel reaches default speed of travel V3.
According to an aspect of an embodiment of the present invention, the traveling control system under a kind of ultimate load mode, packet are provided
It includes: traveling pump, running motor and above-mentioned traveling controller, wherein traveling controller is electric with traveling pump, running motor respectively
Connection.
In one embodiment, traveling control system further includes engine, wherein engine is electrically connected with traveling controller
It connects.
The present invention has at least the following advantages:
Under ultimate load mode, without the operation such as table look-up, directly with predetermined amplitude periodically to the control of running motor
Electric current processed carries out adjusting of successively decreasing, so that the revolving speed of engine be adjusted in time.In addition, if adjusting the control of running motor
Electric current processed cannot make engine reach expected revolving speed, can also be directly with predetermined amplitude periodically to the control electricity of traveling pump
Stream carries out adjusting of successively decreasing, so that the revolving speed of engine be adjusted in time.
On the other hand, the delay adjustment function that travelling control electric current is increased in current flow control process can to send out
Motivation rotation speed change is relatively steady, efficiently solves engine speed problem fluctuated.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 shows the structural schematic diagram of traveling control system one embodiment under ultimate load mode of the present invention.
Fig. 2 shows the realization schematic diagrames of traveling control system another embodiment under ultimate load mode of the present invention.
Fig. 3 shows the flow diagram of one embodiment of the ambulation control method under ultimate load mode of the present invention.
Fig. 4 shows the flow diagram of another embodiment of the ambulation control method under ultimate load mode of the present invention.
Fig. 5 shows the flow diagram of another embodiment of the ambulation control method under ultimate load mode of the present invention.
Fig. 6 shows the flow diagram of the further embodiment of the ambulation control method under ultimate load mode of the present invention.
Fig. 7 shows the structural schematic diagram of the traveling controller under ultimate load mode of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make
Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise
Under every other embodiment obtained, shall fall within the protection scope of the present invention.
So-called ultimate load mode refers to the peak load that is not destroyed and can bear in the ability to bear of equipment, with limit
Load processed can calculate the maximum load that equipment can bear multiplied by safety coefficient.For in the prior art in ultimate load mould
Under formula according to engine fall fast situation table look-up successively decrease or be incremented by control electric current existing for adjust not in time the case where problem, propose this
Invention.
Traveling control system under the ultimate load mode of one embodiment of the invention is described below with reference to Fig. 1.
Fig. 1 shows the structural schematic diagram of the traveling control system under ultimate load mode of the present invention.As shown in Figure 1, the reality
Applying the traveling control system under the ultimate load mode of example includes: traveling controller 20 and traveling pump 30 and running motor 40
It additionally may include engine 10 Deng walking executive component.Wherein, traveling controller 20 respectively with engine 10, traveling pump
30, running motor 40 is electrically connected.It can be with transmission telecommunications number or electric signal etc. by electric connection structure.
A kind of reality of traveling control system under the ultimate load mode of one embodiment of the invention is described below with reference to Fig. 2
Existing mode.
Fig. 2 shows one kind of the traveling control system under ultimate load mode of the present invention to show routine realization schematic diagram.Such as
Shown in Fig. 2, in the traveling control system under the ultimate load mode of the embodiment, traveling controller 20 passes through CAN interface and hair
Motivation 10 is electrically connected, and engine 10 can detect engine speed by speed probe, and send engine to controller 20
Tach signal, engine rotational speed signal carry the rotary speed information of engine 10.Controller can be started by CAN_L interface
Machine revolving speed is less than the tach signal of slow-speed of revolution threshold value V1, and can be greater than high turn by CAN_H interface engine speed
The tach signal of fast threshold value V2.Controller 20 is electrically connected by PWM1 interface with traveling pump 30, is gone to export to traveling pump 30
Walk pump control electric current.Controller 20 is also electrically connected by PWM2 interface with running motor 40, is gone to export to running motor 40
Walk motor control electric current.
Ambulation control method under the ultimate load mode of one embodiment of the invention is described below with reference to Fig. 3.
Fig. 3 shows the flow diagram of one embodiment of the ambulation control method under ultimate load mode of the present invention.Such as
Shown in Fig. 1, the ambulation control method under the ultimate load mode of the embodiment includes:
Step S302 detects engine speed under ultimate load mode.
Step S304, judges whether the engine speed detected is less than slow-speed of revolution threshold value V1.
Step S306, if detecting, engine speed is less than slow-speed of revolution threshold value V1, periodically reduces row with amplitude A 1
The control electric current of motor is walked, until engine speed is not less than slow-speed of revolution threshold value V1.Wherein it is possible to preset amplitude A 1 and its
Corresponding regulating cycle.In the case where the period is fixed, the amplitude A 1 the big, and the control electric current of running motor declines faster；?
In the case that amplitude A 1 is fixed, corresponding regulating cycle is smaller, and the control electric current of running motor declines faster.
For example, speed occurs in engine when milling machine is when milling pressure is excessive, ultimate load mode is intervened at this time.?
When engine speed is lower than 1900r/min, in order to ensure milling output power, the speed of travel should be reduced, at this time by running motor
Control electric current successively decreased using 50ms as the period with setting value 2mA.Whether detection engine speed returns in real time simultaneously
1900r/min or more, if it is not, continuing by period 50ms to successively decrease the control electric current of running motor with setting value 2mA, directly
Until engine speed is not less than 1900r/min.
Under ultimate load mode, without the operation such as table look-up, directly with predetermined amplitude periodically to the control of running motor
Electric current processed carries out adjusting of successively decreasing, so that the revolving speed of engine be adjusted in time.
It, can also be directly with default if the control electric current for adjusting running motor cannot make engine reach expected revolving speed
Adjusting of successively decreasing is carried out to amplitude period to the control electric current of traveling pump, so that the revolving speed of engine be adjusted in time.
The situation is described below with reference to Fig. 4.
Fig. 4 shows the flow diagram of another embodiment of the ambulation control method under ultimate load mode of the present invention.
As shown in figure 4, on the basis of above-described embodiment, the ambulation control method under the ultimate load mode of the embodiment includes:
Step S405 judges whether running motor control electric current reaches if engine speed is less than slow-speed of revolution threshold value V1
Minimum value.
Step S408 periodically reduces traveling pump if the control electric current of running motor reaches minimum value with amplitude A 2
Control electric current, until engine speed be not less than slow-speed of revolution threshold value V1.Likewise, amplitude A 2 can be preset and its corresponded to
Regulating cycle.In the case where the period is fixed, the amplitude A 2 the big, and the control electric current of traveling pump declines faster；In amplitude A 2
In the case where fixation, corresponding regulating cycle is smaller, and the control electric current of traveling pump declines faster.
For example, the control current range of running motor is 200mA to 800mA.When the control electric current of running motor is decreased to
It is at this time the period to set using 50ms by the control electric current of traveling pump if engine speed is still below 1900r/min after 200mA
Value 1mA successively decreases.Whether detection engine speed returns to 1900r/min or more in real time simultaneously, if it is not, continuing to go
The control electric current for walking pump is successively decreased by period 50ms with setting value 1mA, until engine speed not less than until 1900r/min.
Under ultimate load mode, without the operation such as table look-up, directly with predetermined amplitude periodically to the control of traveling pump
Electric current carries out adjusting of successively decreasing, so that further the revolving speed of engine be adjusted in time.
Ambulation control method under the ultimate load mode of another embodiment of the invention is described below with reference to Fig. 5.
Fig. 5 shows the flow diagram of another embodiment of the ambulation control method under ultimate load mode of the present invention.
As shown in figure 5, on the basis of above-described embodiment, it, can after engine speed is promoted to slow-speed of revolution threshold value V1 or more
With the speed of travel of the hoisting machine in the case where guaranteeing that machine works normally.Therefore, the row under ultimate load mode of the present invention
Walking control method can also include:
Step S510, judgement detect whether engine speed is greater than high rotary speed threshold value V2.
Step S512 further judges the speed of travel if detecting whether engine speed is greater than high rotary speed threshold value V2
Whether default speed of travel V3 is reached.
Step S514, if the not up to default speed of travel V3 of the speed of travel, judges whether traveling pump control electric current reaches
Maximum value.
Step S516 periodically increases traveling pump if traveling pump control electric current is not up to maximum value with amplitude A 3
Electric current is controlled, until engine speed is not more than high rotary speed threshold value V2.
For example, engine speed is gone up after when the decline of the milling machine speed of travel.It is higher than 2100r/ in engine speed
When min, judge whether the speed of travel reaches 5-10m/min at this time.If the speed of travel is lower than 5-10m/min, in order to promote milling
The control electric current of traveling pump is incremented by this time using 50ms as the period with setting value 0.5mA by the speed of travel of planer.In real time simultaneously
Whether detection engine speed returns to 2100r/min hereinafter, if it is not, continuing the control electric current by traveling pump by the period
50ms is successively decreased with setting value 0.5mA, until engine speed is higher than 2100r/ not higher than 2100r/min or engine speed
Until min and the speed of travel reach 5-10m/min.
With reduce the speed of travel method similarly, the ambulation control method for promoting the speed of travel can also include:
Step S518 periodically increases running motor if traveling pump control electric current reaches maximum value with amplitude A 3
Electric current is controlled, until engine speed is not more than high rotary speed threshold value V2.
For example, the control current range of traveling pump is 80mA to 120mA.When the control electric current of traveling pump increases to 120mA
Afterwards, if the speed of travel is still not up to 5-10m/min, in order to promote the speed of travel of milling machine, by the control electricity of running motor
Stream is incremented by using 50ms as the period with setting value 1mA.Simultaneously in real time detection engine speed whether return to 2100r/min with
Under, if it is not, continuing for the control electric current of traveling pump to be incremented by by period 50ms with setting value 1mA, until engine speed
Not higher than 2100r/min or engine speed higher than 2100r/min and until the speed of travel reaches 5-10m/min.
Under ultimate load mode, after engine speed is promoted to slow-speed of revolution threshold value V1 or more, without tabling look-up
Operation is directly passed according to the control electric current that preset amplitude and period execute original part to walkings such as running motor and traveling pumps
Increase and adjust, thus the speed of travel of hoisting machine in time in the case where guaranteeing that machine works normally.The work of machine is effectively ensured
Make efficiency.
In the above embodiments method, A1 can be set greater than A3, and A2 is greater than A4, so that engine speed mistake
When low, the revolving speed of engine is comparatively quickly promoted, avoids engine from falling the flame-out situation of speed and occurs；Turn engine
When speed is excessively high, the revolving speed of engine is relatively slowly reduced, so that engine speed steadily declines.
Ambulation control method under the ultimate load mode of further embodiment of the present invention is described below with reference to Fig. 6.
Fig. 6 shows the flow diagram of the further embodiment of the ambulation control method under ultimate load mode of the present invention.
As shown in fig. 6, on the basis of above-described embodiment, before judging whether the speed of travel reaches default speed of travel V3, also
The following steps are included:
Step S611, if detecting, engine speed is greater than high rotary speed threshold value V2, is delayed after a period of time, detects again
Engine speed is greater than high rotary speed threshold value V2.For example, being detected again to engine speed after the 2s that can be delayed.If detecting
High rotary speed threshold value V2 is still greater than in engine speed, then executes that judge whether the speed of travel reaches default speed of travel V3 etc. subsequent
Step S512~S518.
The delay adjustment function that travelling control electric current is increased in current flow control process, can make engine speed become
Change is relatively steady, efficiently solves engine speed problem fluctuated.
Traveling controller under the ultimate load mode of one embodiment of the invention is described below with reference to Fig. 7.
Fig. 7 shows the structural schematic diagram of the traveling controller under ultimate load mode of the present invention.As shown in fig. 7, the implementation
Example ultimate load mode under traveling controller 20 include:
Engine speed detection module 202, for detecting engine speed under ultimate load mode；
Running motor controls current output module 204, if for detecting that engine speed is less than slow-speed of revolution threshold value V1,
Periodically reduce the control electric current of running motor with amplitude A 1, until engine speed is not less than slow-speed of revolution threshold value V1.
Optionally, traveling controller 20 can also include:
Traveling pump controls current output module 206, if after the control electric current for running motor reaches minimum value, engine
Revolving speed then periodically reduces the control electric current of traveling pump still less than slow-speed of revolution threshold value V1 with amplitude A 2, until engine speed
Not less than slow-speed of revolution threshold value V1.
Optionally, traveling controller 20 can also include:
Speed of travel judgment module 208, if judging to walk for detecting that engine speed is greater than high rotary speed threshold value V2
Whether speed reaches default speed of travel V3, and judging result is sent to traveling pump control current output module 206.Traveling pump
Control current output module 206 is periodically increased in the case where the speed of travel not up to default speed of travel V3 with amplitude A 3
The control electric current of traveling pump, until engine speed is not more than high rotary speed threshold value V2.
Wherein, speed of travel judgment module 208 can be also used for, if detecting, engine speed is greater than high rotary speed threshold value
V2, judges whether the speed of travel reaches default speed of travel V3, and judging result is sent to running motor control electric current output
Module 204.Running motor control current output module 204 is also used to, and is started after the control electric current of traveling pump reaches maximum value
In the case that machine revolving speed is still greater than high rotary speed threshold value V2, periodically increase the control electric current of running motor with amplitude A 4, until
Engine speed is not more than high rotary speed threshold value V2.
Optionally, A1 can be set and be greater than A4 greater than A3 and/or A2.
In addition, optional, traveling controller 20 can also include:
Time delay module 210, for judging whether the speed of travel reaches the default speed of travel in speed of travel judgment module 208
Before V3, if engine speed detection module 202 detects that engine speed is greater than high rotary speed threshold value V2, time delay module 210
Controlling engine speed detection module 202, detection engine speed is greater than high rotary speed threshold value V2 again over time.If hair
Motivation Rotating speed measring module 202 detects that high rotary speed threshold value V2 is still greater than in engine speed again, then the speed of travel judges mould
Block 208 judges whether the speed of travel reaches default speed of travel V3.
Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware
It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (15)
1. the ambulation control method under a kind of ultimate load mode, comprising:
Engine speed is detected under ultimate load mode；
If detecting, engine speed is less than slow-speed of revolution threshold value V1, then periodically reduces the control electricity of running motor with amplitude A 1
Stream, until engine speed is not less than slow-speed of revolution threshold value V1；
If after the control electric current of running motor reaches minimum value, engine speed is still less than slow-speed of revolution threshold value V1, then with amplitude A 2
Periodically reduce the control electric current of traveling pump, until engine speed is not less than slow-speed of revolution threshold value V1.
2. the method as described in claim 1, which is characterized in that further include:
If detecting, engine speed is greater than high rotary speed threshold value V2, judges whether the speed of travel reaches default speed of travel V3；
If the not up to default speed of travel V3 of the speed of travel, periodically increases the control electric current of traveling pump with amplitude A 3, directly
It is not more than high rotary speed threshold value V2 to engine speed.
3. method according to claim 2, which is characterized in that amplitude A 1 is greater than amplitude A 3.
4. the method as described in claim 1, which is characterized in that further include:
If detecting, engine speed is greater than high rotary speed threshold value V2, judges whether the speed of travel reaches default speed of travel V3；
If the not up to default speed of travel V3 of the speed of travel, periodically increases the control electric current of traveling pump with amplitude A 3, directly
It is not more than high rotary speed threshold value V2 to engine speed.
5. method as claimed in claim 4, which is characterized in that further include:
If after the control electric current of traveling pump reaches maximum value, engine speed is still greater than high rotary speed threshold value V2, then with amplitude A 4 weeks
Increase to phase property the control electric current of running motor, until engine speed is not more than high rotary speed threshold value V2.
6. method as claimed in claim 5, which is characterized in that the amplitude A 1 is greater than the amplitude A 3 and/or the amplitude
A2 is greater than the amplitude A 4.
7. such as the described in any item methods of claim 2 to 6, which is characterized in that judging whether the speed of travel reaches default row
Before walking speed V3, further includes:
If detecting, engine speed is greater than high rotary speed threshold value V2, is delayed after a period of time, and it is big to detect engine speed again
In high rotary speed threshold value V2；
If detecting, high rotary speed threshold value V2 is still greater than in engine speed, is executed and is judged whether the speed of travel reaches default walking
The subsequent step of speed V3.
8. the traveling controller under a kind of ultimate load mode, comprising:
Engine speed detection module, for detecting engine speed under ultimate load mode；
Running motor controls current output module, if for detecting that engine speed is less than slow-speed of revolution threshold value V1, with amplitude
A1 periodically reduces the control electric current of running motor, until engine speed is not less than slow-speed of revolution threshold value V1；
Traveling pump controls current output module, if engine speed is still after the control electric current for running motor reaches minimum value
Less than slow-speed of revolution threshold value V1, then periodically reduce the control electric current of traveling pump with amplitude A 2, until engine speed is not less than
Slow-speed of revolution threshold value V1.
9. traveling controller as claimed in claim 8, which is characterized in that further include:
Speed of travel judgment module, if judging that the speed of travel is for detecting that engine speed is greater than high rotary speed threshold value V2
It is no to reach default speed of travel V3, and judging result is sent to traveling pump control current output module；
Traveling pump controls current output module in the case where the speed of travel not up to default speed of travel V3 with 3 period of amplitude A
Property increase the control electric current of traveling pump, until engine speed is not more than high rotary speed threshold value V2.
10. traveling controller as claimed in claim 9, which is characterized in that amplitude A 1 is greater than amplitude A 3.
11. traveling controller as claimed in claim 8, which is characterized in that further include:
Speed of travel judgment module, if judging that the speed of travel is for detecting that engine speed is greater than high rotary speed threshold value V2
It is no to reach default speed of travel V3, and judging result is sent to traveling pump control current output module；
Traveling pump controls current output module in the case where the speed of travel not up to default speed of travel V3 with 3 period of amplitude A
Property increase the control electric current of traveling pump, until engine speed is not more than high rotary speed threshold value V2.
12. traveling controller as claimed in claim 11, which is characterized in that
Speed of travel judgment module is also used to, if detecting, engine speed is greater than high rotary speed threshold value V2, judges that the speed of travel is
It is no to reach default speed of travel V3, and judging result is sent to running motor control current output module；
Running motor control current output module is also used to, and engine speed is still after the control electric current of traveling pump reaches maximum value
In the case where greater than high rotary speed threshold value V2, periodically increase the control electric current of running motor with amplitude A 4, until engine turns
Speed is not more than high rotary speed threshold value V2.
13. traveling controller as claimed in claim 12, which is characterized in that the amplitude A 1 is greater than the amplitude A 3, and/or
The amplitude A 2 is greater than the amplitude A 4.
14. such as the described in any item traveling controllers of claim 9 to 13, which is characterized in that further include time delay module, be used for
Before speed of travel judgment module judges whether the speed of travel reaches default speed of travel V3, if engine speed detection module is examined
Engine speed is measured greater than high rotary speed threshold value V2, then time delay module controls engine speed detection module over time again
Secondary detection engine speed is greater than high rotary speed threshold value V2；
If engine speed detection module detects that high rotary speed threshold value V2 is still greater than in engine speed again, the speed of travel is sentenced
Disconnected module judges whether the speed of travel reaches default speed of travel V3.
15. the traveling control system under a kind of ultimate load mode, comprising:
Engine, traveling pump, running motor and such as described in any item traveling controllers of claim 8 to 14, wherein described
Traveling controller is electrically connected with engine, traveling pump, running motor respectively.
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