CN115217017A - Speed control method, device and equipment for road roller and storage medium - Google Patents
Speed control method, device and equipment for road roller and storage medium Download PDFInfo
- Publication number
- CN115217017A CN115217017A CN202210842936.3A CN202210842936A CN115217017A CN 115217017 A CN115217017 A CN 115217017A CN 202210842936 A CN202210842936 A CN 202210842936A CN 115217017 A CN115217017 A CN 115217017A
- Authority
- CN
- China
- Prior art keywords
- motor
- road roller
- vehicle speed
- speed
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 77
- 238000006073 displacement reaction Methods 0.000 claims abstract description 168
- 230000003321 amplification Effects 0.000 claims description 45
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 45
- 238000012545 processing Methods 0.000 claims description 24
- 125000000205 L-threonino group Chemical group [H]OC(=O)[C@@]([H])(N([H])[*])[C@](C([H])([H])[H])([H])O[H] 0.000 claims description 8
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims description 6
- YTAHJIFKAKIKAV-XNMGPUDCSA-N [(1R)-3-morpholin-4-yl-1-phenylpropyl] N-[(3S)-2-oxo-5-phenyl-1,3-dihydro-1,4-benzodiazepin-3-yl]carbamate Chemical compound O=C1[C@H](N=C(C2=C(N1)C=CC=C2)C1=CC=CC=C1)NC(O[C@H](CCN1CCOCC1)C1=CC=CC=C1)=O YTAHJIFKAKIKAV-XNMGPUDCSA-N 0.000 claims description 6
- GNFTZDOKVXKIBK-UHFFFAOYSA-N 3-(2-methoxyethoxy)benzohydrazide Chemical compound COCCOC1=CC=CC(C(=O)NN)=C1 GNFTZDOKVXKIBK-UHFFFAOYSA-N 0.000 claims description 3
- 230000008569 process Effects 0.000 description 15
- 238000012937 correction Methods 0.000 description 12
- 238000004590 computer program Methods 0.000 description 8
- 239000010720 hydraulic oil Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000004069 differentiation Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 235000019800 disodium phosphate Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- 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
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/06—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides a method, a device and equipment for controlling the speed of a road roller and a storage medium. The vehicle speed control method comprises the following steps: when the expected speed is the highest allowable speed of the road roller, acquiring the system temperature; if the system temperature is smaller than the temperature threshold value, obtaining the displacement ratio of the pump and the motor according to the expected vehicle speed; determining a first motor displacement of the motor based on the displacement ratio; inquiring a motor set current corresponding to the displacement of the first motor in the displacement current corresponding relation of the motors; carrying out dichotomy on a current value between 0 and a motor set current by adopting a dichotomy to obtain a first motor current; and controlling the difference between the actual speed of the road roller and the maximum allowable speed of the road roller according to the current of the first motor to meet the difference requirement. According to the method and the device, when the expected speed is the maximum allowable speed of the road roller, the difference between the actual speed of the road roller and the maximum allowable speed of the road roller at a low temperature is reduced.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a method, a device, equipment and a storage medium for controlling the speed of a road roller.
Background
In the running process of the road roller, a driver controls the speed of the road roller by controlling the angle of the walking control handle. Specifically, the greater the angle of the travel control handle, the greater the angle produced by the swash plate of the pump, thereby increasing the pump displacement; and the larger the pump displacement, the faster the motor speed and the higher the road roller speed.
At present, in order to control the speed of the road roller to reach the expected speed, the method is specifically realized as follows: a control unit of the road roller inquires and obtains the displacement ratio of a pump and a motor according to the expected speed, namely the ratio of the pump displacement to the motor displacement, and the displacement ratio is corrected in a closed loop mode by adopting the motor rotating speed; then, determining the pump displacement and the motor displacement according to the corrected displacement ratio, and inquiring pump set current corresponding to the pump displacement and motor set current corresponding to the motor displacement through the calibrated MAP; and finally, controlling the opening degree of the electromagnetic valve of the pump by setting the current of the pump, and controlling the opening degree of the electromagnetic valve of the motor by setting the current of the motor, namely controlling the displacement of the pump and the displacement of the motor by controlling the setting current of the pump and the setting current of the motor, so that the speed of the road roller reaches the expected speed.
However, when the desired vehicle speed is the maximum allowable vehicle speed of the roller, if the vehicle speed of the roller is controlled to reach the desired vehicle speed by using the above method, there is a problem that the difference between the actual vehicle speed of the roller and the maximum allowable vehicle speed of the roller is large at low temperature.
Disclosure of Invention
The application provides a method, a device, equipment and a storage medium for controlling the speed of a road roller, which are used for reducing the difference between the actual speed of the road roller and the maximum allowable speed of the road roller at a low temperature when the expected speed is the maximum allowable speed of the road roller.
In a first aspect, the present application provides a method of controlling the speed of a road roller, the road roller comprising a pump and a motor, the method comprising:
when the expected speed is the highest allowable speed of the road roller, acquiring the system temperature;
if the system temperature is smaller than the temperature threshold value, obtaining the displacement ratio of the pump and the motor according to the expected vehicle speed;
determining a first motor displacement of the motor based on the displacement ratio;
inquiring motor set current corresponding to the displacement of the first motor in the displacement current corresponding relation of the motors;
carrying out dichotomy on a current value between 0 and a motor set current by adopting a dichotomy to obtain a first motor current;
and controlling the difference between the actual speed of the road roller and the maximum allowable speed of the road roller according to the current of the first motor to meet the difference requirement.
Optionally, the halving method is adopted to divide the current value between 0 and the set motor current into two, so as to obtain the first motor current, and the method includes:
carrying out dichotomy on the current value between 0 and the set current of the motor by adopting a dichotomy method to obtain a smaller boundary value of a larger interval and a larger boundary value of the larger interval;
determining a first motor current using a first equation:
wherein i is the first motor current, i set Setting the current, t, for the motor thres Is a temperature threshold, t act Is the system temperature, t low To the minimum temperature of calibration, i higher For larger boundary values, i lower At a smaller boundary value.
Optionally, controlling the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller according to the first motor current to meet the difference requirement includes:
step a, controlling the actual speed of the road roller according to the current of the first motor;
b, if the difference value between the actual vehicle speed and the highest allowable vehicle speed of the road roller is greater than a first threshold value, carrying out dichotomy on the current value in the partial large interval by adopting a dichotomy method to obtain a new partial large interval, wherein the larger boundary value of the new partial large interval is a new larger boundary value, and the smaller boundary value of the new partial large interval is a new smaller boundary value;
step c, acquiring the system temperature again, and determining a new first motor current by using a first formula;
and (c) repeating the steps a to c until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
Optionally, the vehicle speed control method further includes:
d, if the difference value between the highest allowable vehicle speed and the actual vehicle speed of the road roller is greater than a first threshold value, a dichotomy is adopted to carry out dichotomy processing on the current value in the partial large interval to obtain a partial small interval, wherein the larger boundary value of the partial small interval is a new larger boundary value, and the smaller boundary value of the partial small interval is a new smaller boundary value;
step e, acquiring the system temperature again, and determining a new first motor current by using a first formula;
and e, repeating the step d and the step e until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
Optionally, the vehicle speed control method further includes:
if the system temperature is greater than the temperature threshold value, obtaining the displacement ratio of the pump and the motor according to the expected vehicle speed;
correcting the displacement ratio according to a motor rotating speed closed loop to obtain a first displacement ratio;
correcting the first displacement ratio by using the amplification coefficient to obtain a second displacement ratio;
determining a second motor displacement according to the second displacement ratio;
inquiring a second motor current corresponding to the displacement of a second motor in the displacement current corresponding relation of the motors;
and controlling the difference between the actual speed of the road roller and the maximum allowable speed of the road roller according to the current of the second motor to meet the difference requirement.
Optionally, the step of correcting the first displacement ratio by using the amplification factor to obtain a second displacement ratio comprises:
determining the amplification factor using a second formula as follows:
wherein fac 2 To increase the coefficient, fac 1 As initial amplification factor, t act Is the system temperature, t thres Is a temperature threshold.
Optionally, controlling the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller according to the current of the second motor to meet the difference requirement includes:
step f: controlling the actual speed of the road roller according to the current of the second motor;
step g: if the absolute value of the difference value between the actual vehicle speed and the highest allowable vehicle speed of the road roller is greater than a second threshold value, taking the amplification factor as an initial amplification factor, acquiring the system temperature again, and calculating a new amplification factor by using a second formula;
step h: correcting the second displacement ratio by using the new amplification coefficient, and determining a new second displacement ratio;
step i: determining a new second motor displacement based on the new second displacement ratio;
step j: inquiring new second motor current corresponding to the new second motor displacement in the corresponding relation of the displacement current of the motor;
and f, repeating the step f to the step j until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
In a second aspect, the present application provides a vehicle speed control apparatus for a road roller, the road roller comprising a pump and a motor, the vehicle speed control apparatus comprising:
the first acquisition module is used for acquiring the system temperature when the expected vehicle speed is the allowable maximum vehicle speed of the road roller; and obtaining a displacement ratio of the pump and the motor according to a desired vehicle speed if the system temperature is less than a temperature threshold;
the determining module is used for determining the displacement of the first motor according to the displacement ratio;
the query module is used for querying the motor set current corresponding to the displacement of the first motor in the displacement current corresponding relation of the motors;
the processing module is used for carrying out dichotomy processing on a current value between 0 and a set current of the motor by adopting a dichotomy to obtain a first motor current;
and the control module is used for controlling the difference between the actual speed of the road roller and the maximum allowable speed of the road roller to meet the difference requirement according to the current of the first motor.
In a third aspect, the present application provides a vehicle speed control apparatus comprising: a memory, a processor;
a memory for storing executable instructions;
a processor configured to execute executable instructions to implement the method of controlling vehicle speed of a road roller of the first aspect.
In a fourth aspect, the present application provides a computer readable storage medium having stored thereon computer executable instructions for implementing the method of controlling vehicle speed of a road roller of the first aspect when executed by a processor.
In a fifth aspect, the present application also provides a computer program product comprising a computer program which, when executed by a processor, implements the method of controlling vehicle speed of a vehicle compactor according to the first aspect.
According to the method, the device, the equipment and the storage medium for controlling the speed of the road roller, in order to enable the difference between the actual speed and the maximum allowable speed of the road roller at low temperature to meet the difference requirement when the expected speed is the maximum allowable speed of the road roller, the motor set current determined according to the expected speed is corrected through the dichotomy, the first motor current is obtained, and then the actual speed is controlled through the first motor current. Since low temperatures cause a reduction in the motor displacement of the soil compactor output as a function of the motor setpoint current, the motor displacement, i.e. the motor setpoint current, must be increased at low temperatures. Therefore, the first motor current which is smaller than the set motor current is obtained through the bisection method, the motor displacement caused by low temperature can be increased through the first motor current, so that the motor displacement corresponding to the actual motor displacement and the expected vehicle speed is equal, and therefore when the expected vehicle speed is the maximum allowable vehicle speed of the road roller, the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller at low temperature is reduced.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application.
FIG. 1 is a schematic view of a road roller vehicle speed adjustment;
FIG. 2 is a flowchart of a low-temperature get-off speed control method provided in an embodiment of the present application;
FIG. 3 is a flow chart for determining a first motor current provided by an embodiment of the present application;
FIG. 4 is a flowchart of a method for controlling a high-temperature drop-off speed according to an embodiment of the present disclosure;
FIG. 5 is a flow chart for determining a second motor current provided by an embodiment of the present application;
FIG. 6 is a schematic structural diagram of a vehicle speed control device according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a vehicle speed control apparatus according to an embodiment of the present application.
Specific embodiments of the present application have been shown by way of example in the drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the inventive concepts in any manner, but rather to illustrate the inventive concepts to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. The following description refers to the accompanying drawings in which the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the application, as detailed in the appended claims.
During the walking process of the road roller, the pump can suck hydraulic oil from the oil tank, and the hydraulic oil in the pump can reach the motor through the pipeline to push the motor to rotate. The speed of the motor will directly affect the speed of the vehicle. FIG. 1 is a schematic diagram of the adjustment of the speed of a road roller vehicle. Specifically, as shown in fig. 1, the vehicle speed adjusting system of the road roller mainly includes: a walking control handle 01, a control center 02, a pump electromagnetic valve 03, a pump 04, a motor electromagnetic valve 05 and a motor 06. When the road roller needs to adjust the speed of the vehicle, a driver can rotate the walking control handle 01, the control center 02 determines the expected speed of the vehicle through the change information of the walking control handle 01, then the pump current and the motor current are obtained according to the expected speed of the vehicle, the pump displacement is controlled by controlling the opening degree of the electromagnetic valve 03 of the pump, and meanwhile, the motor displacement is controlled according to the opening degree of the electromagnetic valve 05 of the motor, so that the speed of the road roller reaches the expected speed of the vehicle.
However, the viscosity of the hydraulic oil is different at different temperatures. Therefore, even if the opening degree of the solenoid valve 05 of the motor is the same, the motor displacement is still different at different temperatures. In the existing control process of the speed of the road roller, because the temperature change is not considered, when the expected speed is the maximum allowable speed of the road roller, the problem that the difference between the actual speed of the road roller and the maximum allowable speed of the road roller is large at low temperature exists.
In addition, since the correspondence relationship between the pump current, the opening degree of the solenoid valve of the pump and the pump displacement and the motor current, and the correspondence relationship between the opening degree of the solenoid valve of the motor and the motor displacement cannot be changed, and the correspondence relationship between the motor displacement and the vehicle speed cannot be changed, the vehicle speed can be finally controlled only by correcting the pump current and the motor current determined by the control center.
Based on the above problems, the present application provides a method, an apparatus, a device and a storage medium for controlling a vehicle speed of a road roller. Since some correction is made to the initial motor current determined (hereinafter "motor set current") when the desired vehicle speed is the maximum allowable vehicle speed of the road roller and the system temperature is less than the temperature threshold, the final motor current (hereinafter "motor current") is obtained. Therefore, the influence of the temperature on the vehicle speed can be reduced, and the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller at a low temperature is reduced.
The following describes the technical solutions of the present application and how to solve the above technical problems with specific embodiments. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.
Fig. 2 is a flowchart of a low-temperature get-off speed control method according to an embodiment of the present application. As shown in fig. 2, the vehicle speed control method includes:
s201, when the expected vehicle speed is the maximum allowable vehicle speed of the road roller, acquiring the system temperature.
In the running process of the road roller, the normal work of the road roller cannot be influenced even if the actual speed and the expected speed deviate. However, when the desired vehicle speed is the maximum allowable vehicle speed of the road roller, if there is an error between the actual vehicle speed and the desired vehicle speed, the actual vehicle speed may exceed the maximum allowable vehicle speed of the road roller, or the actual vehicle speed may not reach the maximum allowable vehicle speed of the road roller. At the moment, the actual speed does not accord with relevant regulations, and the normal work of the road roller is influenced, so that when the expected speed is the maximum allowable speed of the road roller, the actual speed is ensured to be the same as the expected speed.
The system temperature refers to the temperature of the pump and the motor of the road roller during working, and since the pump and the motor are close to each other and both contain hydraulic oil, the system temperature may be the temperature of the pump or the temperature of the motor, or the average value of the two temperatures, which is not limited specifically herein.
In addition, the system temperature can be obtained in various manners, and a temperature sensor can be arranged on the pump and/or the motor and is connected with the control center, so that the measurement result of the temperature sensor can be transmitted to the control center in real time.
S202, if the system temperature is smaller than the temperature threshold value, the displacement ratio of the pump and the motor is obtained according to the expected vehicle speed.
The temperature threshold refers to a temperature at which an experiment is performed to obtain a displacement current correspondence relationship of the motor. When the system temperature is the same as the temperature threshold, the displacement current correspondence of the motor is accurate, and therefore no adjustment of the motor current is required.
The control center may obtain the displacement ratio of the pump and the motor, i.e., the ratio of the pump displacement to the motor displacement, based on the desired vehicle speed.
S203, determining a first motor displacement of the motor according to the displacement ratio.
The first motor displacement refers to a motor displacement calculated by a displacement ratio in the control center.
S204, inquiring a motor setting current corresponding to the displacement of the first motor in the displacement current corresponding relation of the motors.
The displacement current correspondence of the motor is experimentally determined between the displacement of the first motor and the motor set current. Different motor setting currents enable different opening degrees of the solenoid valves of the motor, thereby affecting the first motor displacement.
And S205, carrying out dichotomization on the current value between 0 and the set motor current by adopting a dichotomy to obtain a first motor current.
Since the system temperature is below the temperature threshold, the viscosity of the hydraulic oil at low temperatures may increase compared to the viscosity of the hydraulic oil at the temperature threshold, and therefore the motor displacement controlled according to the first motor current may be less than the desired motor displacement. Since the motor displacement is inversely related to the motor setting current, the motor setting current needs to be reduced in order to increase the motor displacement.
By bisection, the motor set current may be reduced to the first motor current to increase the actual motor displacement to the desired motor displacement.
And S206, controlling the difference between the actual speed of the road roller and the maximum allowable speed of the road roller to meet the difference requirement according to the first motor current.
The opening degree of the solenoid valve of the motor can be controlled according to the first motor current, thereby controlling the motor displacement. The motor displacement can be used to control the actual speed of the vehicle by controlling the motor speed.
The maximum allowable vehicle speed of the road roller is a fixed value, but in the actual driving process, the actual vehicle speed can fluctuate within a certain range above and below the fixed value. For example: the maximum allowable vehicle speed of the road roller is 50km/h, and the actual vehicle speed can be 50 +/-0.1 km/h.
In the embodiment of the application, in order to enable the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller at low temperature to meet the difference requirement when the expected vehicle speed is the maximum allowable vehicle speed of the road roller, the motor set current determined according to the expected vehicle speed is corrected through the bisection method to obtain the first motor current, and then the actual vehicle speed is controlled through the first motor current. The method comprises the steps that the motor displacement discharged by the road roller according to the motor set current is reduced due to low temperature, so that the motor displacement needs to be increased at the low temperature, namely the motor set current needs to be reduced.
Furthermore, when the system temperature is below the threshold temperature and the desired vehicle speed is the maximum allowable vehicle speed for the vehicle, the pump displacement of the vehicle is already at its maximum, and the set current for the pump is also given to its maximum value, so that the motor displacement cannot be corrected by correcting the pump displacement. The present embodiment corrects the motor displacement by correcting the motor set current.
In some embodiments, the first motor current may be determined using the following first formula:
in the above formula, i is the first motor current, i set Setting the current, t, for the motor thres Is a temperature threshold, t act Is the system temperature, t low To the nominal minimum temperature, i higher For larger boundary values, i lower At a smaller boundary value. In this embodiment, i higher And i lower A dichotomy method is adopted to carry out dichotomy treatment on the current value between 0 and the set current of the motor to obtain a smaller boundary value of a larger interval and a larger boundary value of the larger interval.
Wherein, t low Dependent on the nature of the roller itself, optionally t low May be-40 ℃. i.e. i higher And i lower Refers to the larger and smaller boundary values of the interval determined by the dichotomy. Specifically, when the actual vehicle speed is higher than the maximum allowable vehicle speed of the road roller, the larger boundary value and the smaller boundary value of the partial large interval obtained after the binary processing should be taken as i higher And i lower (ii) a When the actual speed is lower than the maximum allowable speed of the road roller, taking a larger boundary value and a smaller boundary value of the partial small interval obtained after the binary processing as i higher And i lower 。
When the first motor current is calculated for the first time, no actual vehicle speed is comparable to the maximum allowable vehicle speed of the vehicle. However, since the temperature of the system is lower than the temperature threshold value, the actual vehicle speed obtained by the current set by the motor is higher than the maximum allowable vehicle speed of the road roller. Thus, will be (0, i) set ) Performing dichotomization to obtain two sections
And
then, i higher And i lower Should take a larger and a smaller boundary value for the larger interval, i.e. i higher Is equal to i set I.e. motor set current and i lower Is equal to
The first motor current obtained through the first formula is reduced to a certain extent compared with the motor set current, so that the obtained actual vehicle speed is closer to the maximum allowable vehicle speed of the road roller.
In order to make the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller meet the difference requirement, the following steps are required.
Fig. 3 is a flowchart for determining the first motor current according to an embodiment of the present application, and the step S206 is further described with reference to fig. 3. Specifically, step S206 may further include:
s301, controlling the actual speed of the road roller according to the current of the first motor;
and calculating the first motor current for the first time through a first formula, and controlling the actual speed of the road roller according to the first motor current.
And S302, judging whether the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller meets the difference requirement.
The first motor current has been reduced to a degree to bring the actual vehicle speed closer to the maximum allowable vehicle speed of the vehicle, as compared to the motor set current. However, in order to verify whether the actual vehicle speed meets the requirements, after the actual vehicle speed is obtained, the actual vehicle speed of the road roller needs to be compared with the maximum allowable vehicle speed of the road roller, and whether the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller meets the difference requirement is judged. Illustratively, the maximum allowable vehicle speed of the road roller is 50km/h, the actual vehicle speed can be 50 +/-0.1 km/h, and as long as whether the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller is +/-0.1 is verified, whether the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller meets the difference requirement can be known. And if the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller meets the difference requirement, executing step S303. If the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller does not meet the difference requirement, step S304 is executed.
And S303, running according to the actual vehicle speed.
At this time, since the actual vehicle speed has already satisfied the requirement, the correction of the first motor current may be stopped and the vehicle may travel in accordance with the actual vehicle speed.
And S304, judging whether the difference value between the actual vehicle speed and the maximum allowable vehicle speed of the road roller is greater than a first threshold value.
The first threshold value refers to a difference value allowed between an actual vehicle speed and a maximum allowable vehicle speed of the road roller, and the actual vehicle speed is considered to need to be corrected only when the difference value between the actual vehicle speed and the maximum allowable vehicle speed of the road roller is larger than the first threshold value. There are two cases where the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller does not satisfy the difference requirement, and therefore it is necessary to determine whether the actual vehicle speed is greater than or less than the maximum allowable vehicle speed of the road roller. If the actual vehicle speed is greater than the maximum allowable vehicle speed of the road roller, executing step S305 and step S306; if the actual vehicle speed is less than the maximum allowable vehicle speed of the road roller, executing step S307 and step S308
S305, carrying out dichotomy processing on the current value in the partial large interval by adopting a dichotomy method to obtain a new partial large interval, wherein the larger boundary value of the new partial large interval is a new larger boundary value, and the smaller boundary value of the new partial large interval is a new smaller boundary value;
if the actual vehicle speed is still greater than the maximum permissible vehicle speed of the road roller, this means that the first motor current determined still needs to be reduced. At this time, it is necessary to continue to increase i higher And i lower To reduce the first motor current. Therefore, it is necessary to continue the binary process of the previously obtained current values in the partial section, select the partial section as a new current section, and set the boundary value of the new partial section as a new i higher And i lower . Specifically, since a larger interval is selected, i higher It is still the motor set current, i lower The update is made.
Illustratively, the interval obtained by the first secondary differentiation is
I.e. i higher Is equal to i set And i is lower Is equal to
Then, after dividing into two again, a larger interval will be obtained
At this time i higher Is still equal to i set I.e. motor set current, i lower Is updated to
S306, the system temperature is obtained again, and a new first motor current is determined by using a first formula.
At this time, the real-time system temperature needs to be tested again, and the updated system temperature, the larger boundary value and the smaller boundary value are substituted into the first formula again for calculation, so as to obtain a new first motor current.
And then continuing to step S301 until the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller meets the difference requirement.
The process can reduce the actual speed of the road roller until the difference between the actual speed and the maximum allowable speed of the road roller meets the difference requirement, and the actual speed of the road roller is prevented from exceeding the specification.
It will be appreciated that sometimes, in order to reduce the actual vehicle speed of the roller, the reduction may be too great, which may result in a reduction in the actual vehicle speed of the roller compared to the maximum allowable vehicle speed of the roller, and the actual vehicle speed of the roller needs to be increased, and at this time, the following steps need to be performed:
and S307, carrying out dichotomy treatment on the current value in the partial large interval by adopting a dichotomy method to obtain a partial small interval, wherein the larger boundary value in the partial small interval is a new larger boundary value, and the smaller boundary value in the partial small interval is a new smaller boundary value.
If the actual vehicle speed is less than the maximum allowable vehicle speed of the road roller, the first motor current is increased. At this time, it is necessary to reducei higher And i lower To increase the first motor current. Therefore, it is necessary to continue the binary process of the current values in the previously obtained partial intervals, select the partial interval as a new current interval, and set the boundary value between the partial intervals as a new i higher And i lower . The larger boundary value between partial cells is the new larger boundary value i higher The smaller boundary value between partial cells is the new smaller boundary value i lower 。
Illustratively, the interval obtained by the first secondary differentiation is
I.e. i higher Is equal to i set And i is lower Is equal to
Then, after dividing into two parts again, the partial cell will be obtained
At this time i lower Is still equal to
i higher Is updated to
And S308, acquiring the system temperature again, and determining a new first motor current by using a first formula.
At this time, the real-time system temperature needs to be tested again, and the updated system temperature, the larger boundary value and the smaller boundary value are substituted into the first formula again for calculation, so as to obtain a new first motor current.
If the difference value between the maximum allowable vehicle speed of the road roller and the actual vehicle speed is still larger than the first threshold value, the steps S307 and S308 are continued until the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller meets the difference requirement.
The actual speed of the road roller can be increased by the process until the difference between the actual speed and the maximum allowable speed of the road roller meets the difference requirement, and the actual speed of the road roller is prevented from not reaching the maximum allowable speed of the road roller.
According to the embodiment, when the system temperature is smaller than the temperature threshold value, the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller is controlled to meet the difference requirement.
It will be appreciated that when the temperature of the system is high, the viscosity of the hydraulic oil will be reduced, and therefore the motor current will also need to be adjusted to ensure that the difference between the actual speed of the roller and the maximum allowable speed of the roller meets the difference requirement.
Fig. 4 is a flowchart of a high-temperature vehicle speed control method according to an embodiment of the present application. As shown in fig. 4, the method includes:
s401, when the expected vehicle speed is the maximum allowable vehicle speed of the road roller, the system temperature is obtained.
The step is the same as S201, and is not described herein.
S402, if the system temperature is larger than the temperature threshold value, the displacement ratio of the pump and the motor is obtained according to the expected vehicle speed.
The terms in this step are the same as the terms in step S202, and are not described herein again.
And S403, correcting the displacement ratio according to the motor rotating speed closed loop to obtain a first displacement ratio.
The displacement ratio is corrected by motor speed closed loop, typically by PID control. Specifically, the PID includes: proportional (proportionality), integral (integral) and derivative (derivative) are very common control algorithms. By which the displacement ratio correction can be maintained at the target value, i.e., the first displacement ratio.
S404, correcting the first displacement ratio by using the amplification coefficient to obtain a second displacement ratio.
The amplification factor is related to the system temperature, the first displacement ratio may be further modified by multiplying the amplification factor by the first displacement ratio, and the modification result is related to the system temperature.
And S405, determining a second motor displacement according to the second displacement ratio.
The step can be carried out in a control center, and the control center sets a calculation mode and can directly calculate.
S406, inquiring a second motor current corresponding to the displacement of the second motor in the displacement current corresponding relation of the motors.
The displacement-current correspondence relationship of the motors is a relationship between the second motor displacement and the second motor current, which is determined experimentally. The different second motor current enables the solenoid valve of the motor to be opened differently, thereby affecting the second motor displacement.
And S407, controlling the difference between the actual speed of the road roller and the maximum allowable speed of the road roller to meet the difference requirement according to the current of the second motor.
The opening degree of the solenoid valve of the motor can be controlled according to the second motor current, thereby controlling the motor displacement. The motor displacement can be used to control the actual speed of the vehicle by controlling the motor speed.
In the embodiment of the application, the first displacement ratio obtained through closed-loop correction of the rotating speed of the motor is corrected again through an amplification coefficient related to the temperature of the system to obtain a second displacement ratio, and the current of the second motor is determined according to the second displacement ratio so as to control the actual speed of the road roller. Because the higher the temperature is, the higher the access degree of the motor rotating speed closed loop is, the intervention degree of the motor rotating speed closed loop can be compensated through the amplification factor, and the motor rotating speed closed loop is restored to a normal level. So that it adjusts the actual speed of the road roller more quickly.
In some embodiments, the amplification factor may be determined according to the following second formula:
wherein fac 2 To increase the coefficient, fac 1 As initial amplification factor, t act Is the system temperature, t thres Is a temperature threshold.
Further, when the first displacement ratio is corrected for the first time, the displacement is set to be smallerA large coefficient may be based on
And calculating. And then if the first displacement ratio needs to be corrected again, the amplification factor obtained last time can be used as the initial amplification factor, and then a new amplification factor is calculated according to a second formula, so that iteration is performed.
Fig. 5 is a flowchart for determining the second motor current according to an embodiment of the present application, and step S407 is further described with reference to fig. 5. Specifically, step S407 may further include:
and S501, controlling the actual speed of the road roller according to the current of the second motor.
And S502, judging whether the absolute value of the difference between the actual vehicle speed and the highest allowable vehicle speed of the road roller is greater than a second threshold value.
The first obtained second motor current, and thus the actual vehicle speed of the road roller controlled, will not necessarily meet the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller and meet the difference requirement. Therefore, the absolute value of the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller needs to be judged, if the absolute value of the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller is greater than a second threshold value, the actual vehicle speed of the road roller does not meet the requirement, and at the moment, the steps S504-S507 are executed, and the actual vehicle speed is further corrected; if the absolute value of the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller is not greater than the second threshold value, it indicates that the actual vehicle speed of the road roller meets the requirement, and at this time, step S503 is executed.
S503, running according to the actual vehicle speed.
S504, taking the amplification factor as an initial amplification factor, acquiring the system temperature again, and calculating a new amplification factor by using a second formula.
The second threshold value is an allowable difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller, and the actual vehicle speed is considered to need to be corrected only when the difference between the actual vehicle speed and the maximum allowable vehicle speed of the road roller is larger than the second threshold value. The actual vehicle speed may fluctuate within a certain range on both sides of the maximum allowable vehicle speed of the road roller, and may be greater than or less than the second threshold value than the maximum allowable vehicle speed of the road roller.
If the actual vehicle speed controlled by the second motor current obtained by the second displacement ratio still does not meet the requirements, the second displacement ratio needs to be corrected again, the previously obtained amplification factor is used as a new initial amplification factor, the system temperature is updated, and then the new amplification factor is calculated by using a second formula.
Illustratively, the previously obtained amplification factor is 0.8, this time 0.8 is the initial amplification factor, and by judging the relationship between 0.8 and 1, an appropriate formula in the second formula is selected to calculate a new amplification factor.
And S505, correcting the second displacement ratio by using the new amplification coefficient, and determining a new second displacement ratio.
And S506, determining a new second motor displacement according to the new second displacement ratio.
And S507, in the displacement current corresponding relation of the motors, inquiring new second motor current corresponding to the new second motor displacement to determine new second motor current.
Steps S505 to S507 are the same as steps S404 to S406, and are not described herein again.
And repeating the steps 501 to 507 until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
In summary, the present application has at least the following advantages:
1. when the temperature of the system is lower than the temperature threshold value, different corrections are applied by dividing different intervals by bisection according to the relation between the actual vehicle speed and the maximum allowable vehicle speed of the road roller, and system pressure fluctuation caused by the fact that correction strategies are not suitable can be avoided.
2. When the system temperature is higher than the temperature threshold value, different degrees of correction are applied to the first displacement ratio according to the temperature deviation degree, and correction direction errors and correction excessive quantity are prevented.
The following are embodiments of the apparatus of the present application that may be used to perform embodiments of the method of the present application. For details which are not disclosed in the embodiments of the apparatus of the present application, reference is made to the embodiments of the method of the present application.
Fig. 6 is a schematic structural diagram of a vehicle speed control device according to an embodiment of the present application. As shown in fig. 6, the vehicle speed control device 60 includes: an obtaining module 601, a determining module 602, an inquiring module 603, a processing module 604 and a control module 605. Wherein:
the obtaining module 601 is configured to obtain a system temperature when the expected vehicle speed is the allowable maximum vehicle speed of the road roller; and obtaining a displacement ratio of the pump and the motor according to a desired vehicle speed if the system temperature is less than the temperature threshold.
A determination module 602 determines a first motor displacement based on a displacement ratio.
The query module 603 is configured to query a motor setting current corresponding to a displacement of a first motor in the displacement current correspondence of the motors.
The processing module 604 is configured to divide a current value between 0 and the motor setting current into two by using a bisection method to obtain a first motor current.
And a control module 605, configured to control a difference between an actual vehicle speed of the road roller and a maximum allowable vehicle speed of the road roller to meet a difference requirement according to the first motor current.
Optionally, the processing module 604 performs dichotomy on the current value between 0 and the set motor current by using a dichotomy, and the specific process of obtaining the first motor current is as follows: carrying out dichotomy on the current value between 0 and the set current of the motor by adopting a dichotomy method to obtain a smaller boundary value of a larger interval and a larger boundary value of the larger interval;
determining a first motor current using a first equation:
wherein i is the first motor current, i set Setting the current, t, for the motor thres Is a temperature threshold, t act Is the temperature of the systemDegree, t low To the minimum temperature of calibration, i higher For larger boundary values, i lower At a smaller boundary value.
Optionally, the specific process of the control module 605 controlling the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller to meet the difference requirement according to the first motor current is as follows: step a, controlling the actual speed of the road roller according to the current of the first motor;
b, if the difference value between the actual vehicle speed and the highest allowable vehicle speed of the road roller is larger than a first threshold value, a dichotomy is adopted to carry out dichotomy processing on the current value in the larger interval to obtain a new larger interval, the larger boundary value of the new larger interval is a new larger boundary value, and the smaller boundary value of the new larger interval is a new smaller boundary value;
step c, acquiring the system temperature again, and determining a new first motor current by using a first formula;
and (c) repeating the steps a to c until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
Optionally, the specific process of the control module 605 controlling the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller according to the first motor current to meet the difference requirement further includes: d, if the difference value between the highest allowable vehicle speed and the actual vehicle speed of the road roller is greater than a first threshold value, a dichotomy is adopted to carry out dichotomy processing on the current value in the partial large interval to obtain a partial small interval, wherein the larger boundary value of the partial small interval is a new larger boundary value, and the smaller boundary value of the partial small interval is a new smaller boundary value;
e, acquiring the system temperature again, and determining a new first motor current by using a first formula;
and e, repeating the step d and the step e until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
Optionally, the vehicle speed control device 60 further includes: a first modification module 606 and a second modification module 607.
The obtaining module 601 is further configured to obtain a displacement ratio of the pump and the motor according to a desired vehicle speed if the system temperature is greater than the temperature threshold.
The first correction module 606 is configured to correct the displacement ratio to obtain a first displacement ratio according to a closed loop of the motor rotation speed.
And a second correction module 607 for correcting the first displacement ratio using the amplification factor to obtain a second displacement ratio.
The determining module 602 is further configured to determine a second motor displacement based on the second displacement ratio.
The query module 603 is further configured to query a second motor current corresponding to a second motor displacement in the displacement current corresponding relationship of the motors.
The control module 605 is further configured to control a difference between an actual vehicle speed of the road roller and a maximum allowable vehicle speed of the road roller to meet the difference requirement according to the second motor current.
Optionally, the second correction module 607 corrects the first displacement ratio by using the amplification factor, and the specific process of obtaining the second displacement ratio includes: determining the amplification factor using a second formula as follows:
wherein fac 2 To increase the coefficient, fac 1 Is an initial amplification factor, t act Is the system temperature, t thres Is a temperature threshold.
Optionally, the specific process of the control module 605 controlling the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller to meet the difference requirement according to the second motor current is as follows:
step f: controlling the actual speed of the road roller according to the current of the second motor;
step g: if the absolute value of the difference value between the actual vehicle speed and the highest allowable vehicle speed of the road roller is greater than a second threshold value, taking the amplification factor as an initial amplification factor, updating the system temperature, and calculating a new amplification factor by using a second formula;
step h: correcting the second displacement ratio by using the new amplification coefficient, and determining a new second displacement ratio;
step i: determining a new second motor displacement based on the new second displacement ratio;
step j: inquiring new second motor current corresponding to new second motor displacement in the displacement current corresponding relation of the motors;
and f, repeating the step f to the step j until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
It should be noted that the vehicle speed control device provided in the present application may be used to implement the above-mentioned vehicle speed control method embodiment, and the implementation principle and the technical effect are similar, which are not described again.
It should be noted that the division of the modules of the above apparatus is only a logical division, and the actual implementation may be wholly or partially integrated into one physical entity, or may be physically separated. And these modules can be realized in the form of software called by processing element; or may be implemented entirely in hardware; and part of the modules can be realized in the form of calling software by the processing element, and part of the modules can be realized in the form of hardware. For example, the processing module may be a processing element that is separately configured, or may be integrated into a chip of the apparatus, or may be stored in a memory of the apparatus in the form of program code, and a processing element of the apparatus calls and executes a function of the processing module. Other modules are implemented similarly. In addition, all or part of the modules can be integrated together or can be independently realized. The processing element here may be an integrated circuit with signal processing capabilities. In implementation, each step of the above method or each module above may be implemented by an integrated logic circuit of hardware in a processor element or an instruction in the form of software.
For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when some of the above modules are implemented in the form of a processing element scheduler code, the processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor that can call program code. As another example, these modules may be integrated together, implemented in the form of a system-on-a-chip (SOC).
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, it may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a Solid State Disk (SSD)), among others.
Fig. 7 is a schematic structural diagram of a vehicle speed control apparatus according to an embodiment of the present application. Referring to fig. 7, the vehicle speed control apparatus 70 includes a memory 701 and a processor 702. Wherein, the memory 701 is used for storing executable instructions; the processor 702 is configured to execute executable instructions to implement the vehicle speed control method described above.
The embodiment of the application also provides a computer readable storage medium, and computer execution instructions are stored in the computer readable storage medium and are used for realizing the vehicle speed control method when the computer execution instructions are executed by a processor.
The computer-readable storage medium may be any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk. Computer-readable storage media can be any available media that can be accessed by a general purpose or special purpose computer.
An exemplary readable storage medium is coupled to the processor such the processor can read information from, and write information to, the readable storage medium. Of course, the readable storage medium may also be an integral part of the processor. The processor and the readable storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the readable storage medium may also reside as discrete components in the detection apparatus for sensing holes.
The embodiment of the application also provides a computer program product, which comprises a computer program, and the computer program realizes the vehicle speed control method when being executed by a processor.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; while the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the scope of the embodiments of the present disclosure by the essence of the corresponding technical solutions.
Claims (10)
1. A method of controlling the speed of a road roller, the roller comprising a pump and a motor, the method comprising:
when the expected speed is the highest allowable speed of the road roller, acquiring the temperature of the system;
if the system temperature is less than the temperature threshold value, obtaining the displacement ratio of the pump and the motor according to the expected vehicle speed;
determining a first motor displacement of the motor based on the displacement ratio;
inquiring a motor setting current corresponding to the first motor displacement in the displacement current corresponding relation of the motors;
carrying out dichotomy on a current value between 0 and the set current of the motor by adopting a dichotomy to obtain a first motor current;
and controlling the difference between the actual speed of the road roller and the maximum allowable speed of the road roller to meet the difference requirement according to the first motor current.
2. The vehicle speed control method according to claim 1, wherein the employing a bisection method to divide a current value between 0 and the motor setting current into two to obtain a first motor current, includes:
carrying out dichotomy treatment on the current value between 0 and the set current of the motor by adopting a dichotomy method to obtain a smaller boundary value of a larger interval and a larger boundary value of the larger interval;
determining the first motor current using a first equation:
wherein i is the first motor current, i set Setting a current, t, for the motor thres Is said temperature threshold, t act Is the system temperature, t low To the nominal minimum temperature, i higher Is the larger boundary value, i lower The smaller boundary value.
3. The vehicle speed control method of claim 2, wherein controlling the difference between the actual vehicle speed of the road roller and the maximum allowable vehicle speed of the road roller according to the first motor current satisfies a difference requirement comprises:
step a, controlling the actual speed of the road roller according to the first motor current;
b, if the difference value between the actual vehicle speed and the highest allowable vehicle speed of the road roller is greater than a first threshold value, carrying out dichotomy on the current value in the partial large interval by adopting a dichotomy method to obtain a new partial large interval, wherein the larger boundary value of the new partial large interval is a new larger boundary value, and the smaller boundary value of the new partial large interval is a new smaller boundary value;
step c, the system temperature is obtained again, and a new first motor current is determined by utilizing the first formula;
and (c) repeating the steps a to c until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
4. The vehicle speed control method according to claim 3, characterized by further comprising:
d, if the difference value between the highest allowable vehicle speed and the actual vehicle speed of the road roller is greater than a first threshold value, adopting a bisection method to carry out dichotomization on the current value in the partial large interval to obtain a partial small interval, wherein the larger boundary value of the partial small interval is a new larger boundary value, and the smaller boundary value of the partial small interval is a new smaller boundary value;
e, acquiring the system temperature again, and determining a new first motor current by using the first formula;
and d, repeating the step d and the step e until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
5. The vehicle speed control method according to any one of claims 1 to 4, characterized by further comprising:
if the system temperature is larger than the temperature threshold value, obtaining the displacement ratio of the pump and the motor according to the expected vehicle speed;
correcting the displacement ratio according to a motor rotating speed closed loop to obtain a first displacement ratio;
correcting the first displacement ratio by using an amplification factor to obtain a second displacement ratio;
determining a second motor displacement based on the second displacement ratio;
inquiring a second motor current corresponding to the second motor displacement in the displacement current corresponding relation of the motor;
and controlling the difference between the actual speed of the road roller and the maximum allowable speed of the road roller to meet the difference requirement according to the current of the second motor.
6. The vehicle speed control method according to claim 5, wherein the correcting the first displacement ratio using the amplification factor to obtain a second displacement ratio includes:
determining the amplification factor using a second formula as follows:
wherein fac 2 Is the amplification factor, fac 1 As initial amplification factor, t act Is the system temperature, t thres Is the temperature threshold.
7. The vehicle speed control method of claim 6, wherein controlling the difference between the actual vehicle speed of the vehicle and the maximum allowable vehicle speed of the vehicle according to the second motor current satisfies a difference requirement comprises:
step f: controlling the actual speed of the road roller according to the second motor current;
step g: if the absolute value of the difference value between the actual vehicle speed and the highest allowable vehicle speed of the road roller is greater than a second threshold value, taking an amplification factor as an initial amplification factor, acquiring the system temperature again, and calculating a new amplification factor by using the second formula;
step h: correcting the second displacement ratio by using the new amplification coefficient, and determining a new second displacement ratio;
step i: determining a new second motor displacement based on the new second displacement ratio;
step j: inquiring a new second motor current corresponding to the new second motor displacement in the displacement current corresponding relation of the motor;
and f, repeating the step f to the step j until the difference between the actual speed of the road roller and the maximum allowable speed of the road roller meets the difference requirement.
8. A vehicle speed control apparatus for a road roller, the road roller comprising a pump and a motor, the vehicle speed control apparatus comprising:
the acquisition module is used for acquiring the system temperature when the expected speed is the allowable maximum speed of the road roller; and obtaining a displacement ratio of the pump and the motor according to the desired vehicle speed if the system temperature is less than a temperature threshold;
a determination module to determine a first motor displacement based on the displacement ratio;
the query module is used for querying the motor set current corresponding to the first motor displacement in the displacement current corresponding relation of the motor;
the processing module is used for carrying out dichotomizing processing on a current value between 0 and the set current of the motor by adopting a dichotomy to obtain a first motor current;
and the control module is used for controlling the difference between the actual speed of the road roller and the maximum allowable speed of the road roller to meet the difference requirement according to the first motor current.
9. A vehicle speed control apparatus characterized by comprising: a memory, a processor;
the memory to store executable instructions;
the processor is configured to execute the executable instructions to implement a method of controlling the speed of a road roller according to any one of claims 1 to 7.
10. A computer readable storage medium having stored thereon computer executable instructions for implementing a method of controlling vehicle speed for a road roller according to any one of claims 1 to 7 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210842936.3A CN115217017A (en) | 2022-07-18 | 2022-07-18 | Speed control method, device and equipment for road roller and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210842936.3A CN115217017A (en) | 2022-07-18 | 2022-07-18 | Speed control method, device and equipment for road roller and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115217017A true CN115217017A (en) | 2022-10-21 |
Family
ID=83611073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210842936.3A Pending CN115217017A (en) | 2022-07-18 | 2022-07-18 | Speed control method, device and equipment for road roller and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115217017A (en) |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2285143A (en) * | 1993-12-22 | 1995-06-28 | Samsung Heavy Ind | Electric vehicle brake control |
| EP0842840A1 (en) * | 1996-11-19 | 1998-05-20 | General Motors Corporation | Electric power steering control |
| JP2002048236A (en) * | 2000-08-04 | 2002-02-15 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | Traveling and driving control device for asphalt finisher, and its control method |
| US20070032934A1 (en) * | 2005-08-05 | 2007-02-08 | Sakai Heavy Industries Ltd. | Compaction vehicle |
| CN101782094A (en) * | 2009-01-14 | 2010-07-21 | Abb技术股份公司 | Method and electronic device for finding the opening point for a regulated electropneumatic valve of a pneumatic actuating drive |
| WO2011137826A1 (en) * | 2010-09-10 | 2011-11-10 | 华为技术有限公司 | Method and device for controlling train using train control system |
| CN103067985A (en) * | 2011-10-21 | 2013-04-24 | 上海无线通信研究中心 | Super-speed wireless local area network channel binding and allocation method based on channel quality |
| CN105711581A (en) * | 2016-03-30 | 2016-06-29 | 河南科技大学 | Stepless speed change tractor control system and control method thereof |
| CN106958182A (en) * | 2017-04-28 | 2017-07-18 | 徐工集团工程机械股份有限公司 | A kind of wheel-type spreading machine running gear and its control method |
| CN109615208A (en) * | 2018-12-05 | 2019-04-12 | 广州市交通规划研究院 | A method of solving the problems, such as urban road traffic congestion |
| CN110254221A (en) * | 2019-06-29 | 2019-09-20 | 山推工程机械股份有限公司 | The control method and hydrostatic drive engineering truck of hydrostatic drive engineering truck |
| CN110768589A (en) * | 2019-11-24 | 2020-02-07 | 贵阳航空电机有限公司 | PI control system of brushless direct current motor |
| CN113187782A (en) * | 2021-05-07 | 2021-07-30 | 潍柴动力股份有限公司 | Control method, device and equipment of closed hydraulic system and storage medium |
| JP2021126939A (en) * | 2020-02-12 | 2021-09-02 | Ntn株式会社 | Vehicle power assistance system |
| CN113585012A (en) * | 2021-08-30 | 2021-11-02 | 山东临工工程机械有限公司 | Vibration and walking control method and control system of road roller |
| CN113954659A (en) * | 2021-11-16 | 2022-01-21 | 广西柳工机械股份有限公司 | Electric driven road roller walking control method and system and road roller |
| CN215714430U (en) * | 2021-06-07 | 2022-02-01 | 山推工程机械股份有限公司 | Hydraulic vibration road roller with electric control hydraulic adjusting system |
| CN114278623A (en) * | 2022-01-14 | 2022-04-05 | 湖南三一中益机械有限公司 | Heating system for work machine, and control method |
| CN114390990A (en) * | 2019-06-28 | 2022-04-22 | 祖克斯有限公司 | System and method for determining target vehicle speed |
-
2022
- 2022-07-18 CN CN202210842936.3A patent/CN115217017A/en active Pending
Patent Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2285143A (en) * | 1993-12-22 | 1995-06-28 | Samsung Heavy Ind | Electric vehicle brake control |
| EP0842840A1 (en) * | 1996-11-19 | 1998-05-20 | General Motors Corporation | Electric power steering control |
| JP2002048236A (en) * | 2000-08-04 | 2002-02-15 | Sumitomo (Shi) Construction Machinery Manufacturing Co Ltd | Traveling and driving control device for asphalt finisher, and its control method |
| US20070032934A1 (en) * | 2005-08-05 | 2007-02-08 | Sakai Heavy Industries Ltd. | Compaction vehicle |
| CN101782094A (en) * | 2009-01-14 | 2010-07-21 | Abb技术股份公司 | Method and electronic device for finding the opening point for a regulated electropneumatic valve of a pneumatic actuating drive |
| WO2011137826A1 (en) * | 2010-09-10 | 2011-11-10 | 华为技术有限公司 | Method and device for controlling train using train control system |
| CN103067985A (en) * | 2011-10-21 | 2013-04-24 | 上海无线通信研究中心 | Super-speed wireless local area network channel binding and allocation method based on channel quality |
| CN105711581A (en) * | 2016-03-30 | 2016-06-29 | 河南科技大学 | Stepless speed change tractor control system and control method thereof |
| CN106958182A (en) * | 2017-04-28 | 2017-07-18 | 徐工集团工程机械股份有限公司 | A kind of wheel-type spreading machine running gear and its control method |
| CN109615208A (en) * | 2018-12-05 | 2019-04-12 | 广州市交通规划研究院 | A method of solving the problems, such as urban road traffic congestion |
| CN114390990A (en) * | 2019-06-28 | 2022-04-22 | 祖克斯有限公司 | System and method for determining target vehicle speed |
| CN110254221A (en) * | 2019-06-29 | 2019-09-20 | 山推工程机械股份有限公司 | The control method and hydrostatic drive engineering truck of hydrostatic drive engineering truck |
| CN110768589A (en) * | 2019-11-24 | 2020-02-07 | 贵阳航空电机有限公司 | PI control system of brushless direct current motor |
| JP2021126939A (en) * | 2020-02-12 | 2021-09-02 | Ntn株式会社 | Vehicle power assistance system |
| CN113187782A (en) * | 2021-05-07 | 2021-07-30 | 潍柴动力股份有限公司 | Control method, device and equipment of closed hydraulic system and storage medium |
| CN215714430U (en) * | 2021-06-07 | 2022-02-01 | 山推工程机械股份有限公司 | Hydraulic vibration road roller with electric control hydraulic adjusting system |
| CN113585012A (en) * | 2021-08-30 | 2021-11-02 | 山东临工工程机械有限公司 | Vibration and walking control method and control system of road roller |
| CN113954659A (en) * | 2021-11-16 | 2022-01-21 | 广西柳工机械股份有限公司 | Electric driven road roller walking control method and system and road roller |
| CN114278623A (en) * | 2022-01-14 | 2022-04-05 | 湖南三一中益机械有限公司 | Heating system for work machine, and control method |
Non-Patent Citations (5)
| Title |
|---|
| 周保刚;薛力戈;武博文;: "基于三变量控制的全液压轮胎压路机节能研究", 工程机械, no. 04, 10 April 2017 (2017-04-10) * |
| 张士聪;房翡翡;于中有;: "一种推土机智能安全制动控制方法", 建筑机械化, no. 11, 15 November 2018 (2018-11-15) * |
| 曹景胜;李刚;段敏;师合迪;刘丛浩;: "基于驾驶模拟器硬件在环的EPS助力特性研究", 中国科技论文, no. 16, 23 August 2018 (2018-08-23) * |
| 李奇;吴阅;吴琪;: "考虑轨道静态变位的简支梁竖向刚度限值研究", 铁道工程学报, no. 03, 15 March 2020 (2020-03-15) * |
| 阮凌燕;柯兵;王岩: "变量泵驱动变量马达***协调控制算法研究", 机床与液压, no. 017, 31 December 2017 (2017-12-31) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9075406B2 (en) | Control device for internal combustion engine | |
| KR20210055778A (en) | Dynamic temperature compensation of memory components | |
| US11148553B2 (en) | Apparatus for controlling temperature of fuel cell and method thereof | |
| CN116255260A (en) | Anti-surge control method and device for engine, storage medium and electronic equipment | |
| CN115217017A (en) | Speed control method, device and equipment for road roller and storage medium | |
| JP2020510154A (en) | How to control the rotation speed of a centrifugal pump | |
| CN107666107B (en) | Method of correcting laser power, laser, storage medium, and electronic apparatus | |
| US11359572B2 (en) | Method for learning emergency injection correction of injector for preventing misfire | |
| CN105705757A (en) | Method and apparatus for controlling an internal combustion engine | |
| GB2565429A (en) | Engine controller of construction machine | |
| CN113868052B (en) | IOPS (input/output) testing method and device based on PID (proportion integration differentiation) algorithm and storage medium | |
| EP2187030B9 (en) | Data update processing method and vehicle operation control device | |
| US20220276621A1 (en) | Control device for plant and controlling method of the same | |
| KR102046183B1 (en) | Method and Apparatus for Controlling Vehicle of Construction Machine | |
| CN108699991B (en) | Method for calibrating a pressure sensor in an intake line of an engine | |
| WO2023272542A1 (en) | Proportional valve control method and apparatus, computer device and readable storage medium | |
| CN110966118B (en) | Attitude and orbit control rocket engine pressure matching method and storage medium | |
| JP2018127902A (en) | Automatic pressure regulating valve and vacuum pumping system | |
| CN114551943A (en) | Air quantity control method and system for fuel cell system | |
| EP3464859B1 (en) | Method of modelling afr to compensate for wraf sensor | |
| CN108277314B (en) | Material distribution method and device | |
| US6856881B2 (en) | Adaptation method for controlling shifting elements | |
| US7035723B2 (en) | Method for rapid data table initialization | |
| CN111306695A (en) | Compressor load data optimization method and device, computer equipment and storage medium | |
| US20240199063A1 (en) | Apparatus for controlling autonomous driving and a method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |