WO2024021221A1

WO2024021221A1 - Wheeled work machine, drive control method thereof, and drive control system

Info

Publication number: WO2024021221A1
Application number: PCT/CN2022/116297
Authority: WO
Inventors: 李天富
Original assignee: 湖南三一中益机械有限公司
Priority date: 2022-07-28
Filing date: 2022-08-31
Publication date: 2024-02-01
Also published as: CN115352446A

Abstract

The present application belongs to the technical field of engineering machinery, and particularly relates to a wheeled work machine drive control method, a drive control system and a wheeled work machine. The wheeled work machine drive control method comprises: acquiring a pressure state parameter of a rear-wheel driving mechanism of a wheeled work machine; according to the pressure state parameter, determining the driving condition of the wheeled work machine; and according to the driving condition, controlling the output pressure of a front-wheel driving mechanism of the wheeled work machine. The technical solution of the present application optimizes power distribution between rear wheels and front wheels, and according to different driving conditions of wheeled work machines, adjusts and controls the driving force of front wheels so as to fully realize the driving effect of the front wheels, thus preventing rear wheels from slipping, ensuring operation continuity of wheeled work machines, raising the construction operation efficiency, helping to reduce energy consumption, and relieving the wear condition of front wheels.

Description

轮式作业机械及其驱动控制方法、驱动控制***Wheeled working machinery and drive control method and drive control system thereof

本申请要求于2022年07月28日提交的申请号为202210904190.4，发明名称为“轮式作业机械及其驱动控制方法、驱动控制***”的中国专利申请的优先权，其通过引用方式全部并入本文。This application claims the priority of the Chinese patent application with application number 202210904190.4 submitted on July 28, 2022, and the invention title is "wheeled working machinery and its drive control method and drive control system", which is fully incorporated by reference This article.

技术领域Technical field

本申请属于工程机械技术领域，具体涉及轮式作业机械驱动控制方法、驱动控制***和轮式作业机械。This application belongs to the field of engineering machinery technology and specifically relates to wheeled working machinery drive control methods, drive control systems and wheeled working machinery.

背景技术Background technique

轮式摊铺机大多在后轮驱动的基础上增设了前轮驱动装置，以增大驱动力，防止打滑。在实际应用中，后轮一旦发生打滑，受现场环境及路况的制约，前轮的驱动力难以充分发挥，难以达到预期的防滑效果。Most wheeled pavers add a front-wheel drive device to the rear-wheel drive to increase driving force and prevent slipping. In practical applications, once the rear wheels slip, restricted by the on-site environment and road conditions, it is difficult to fully exert the driving force of the front wheels and achieve the expected anti-skid effect.

发明内容Contents of the invention

本申请提供的轮式作业机械驱动控制方法，包括：The wheeled working machinery drive control method provided by this application includes:

步骤S110：获取轮式作业机械的后轮驱动机构的压力状态参数；Step S110: Obtain the pressure state parameters of the rear wheel drive mechanism of the wheeled working machine;

步骤S200：根据压力状态参数确定轮式作业机械的行驶工况；Step S200: Determine the driving conditions of the wheeled working machine according to the pressure state parameters;

步骤S300：根据行驶工况控制轮式作业机械的前轮驱动机构的输出压力；其中，压力状态参数包括后轮驱动机构的第一压力。Step S300: Control the output pressure of the front-wheel drive mechanism of the wheeled working machine according to the driving conditions; wherein the pressure state parameter includes the first pressure of the rear-wheel drive mechanism.

上述方案的有益效果：Beneficial effects of the above scheme:

改进了轮式作业机械的后轮和前轮的驱动方式，使后轮与前轮之间的动力分配更加合理，通过在后轮发生打滑之前即增大前轮的驱动力，使后轮和前轮同时作为驱动轮，以增大轮胎与路面的附着力以及轮式作业机械的整体驱动力，可以有效防止后轮发生打滑，保障轮式作业机械的作业连续性，有利于提高施工作业效率，同时，还能够充分发挥前轮的驱动作用，有利于降低能耗，缓解前轮的磨损。The driving method of the rear wheel and front wheel of wheeled working machinery has been improved to make the power distribution between the rear wheel and front wheel more reasonable. By increasing the driving force of the front wheel before the rear wheel slips, the rear wheel and front wheel can be The front wheel also serves as a driving wheel to increase the adhesion between the tire and the road and the overall driving force of the wheeled working machine. This can effectively prevent the rear wheel from slipping, ensure the operation continuity of the wheeled working machine, and help improve the efficiency of construction operations. , at the same time, it can also give full play to the driving role of the front wheel, which is beneficial to reducing energy consumption and easing the wear of the front wheel.

附图说明Description of drawings

图1为本申请一个关于驱动控制方法的实施例的流程示意图。Figure 1 is a schematic flowchart of an embodiment of a drive control method in this application.

图2为本申请一个关于驱动控制方法的实施例的流程示意图。Figure 2 is a schematic flowchart of an embodiment of a drive control method in this application.

图3为本申请一个关于驱动控制方法的实施例的流程示意图。Figure 3 is a schematic flowchart of an embodiment of a drive control method in this application.

图4为本申请一个关于驱动控制方法的实施例的流程示意图。Figure 4 is a schematic flowchart of an embodiment of a drive control method in this application.

图5为本申请一个关于驱动控制方法的实施例的流程示意图。Figure 5 is a schematic flowchart of an embodiment of a drive control method in this application.

图6为本申请一个关于驱动控制***的实施例的示意框图。Figure 6 is a schematic block diagram of an embodiment of a drive control system in this application.

图7为本申请一个关于驱动控制***的实施例在装配状态下的示意图。Figure 7 is a schematic diagram of an embodiment of the drive control system of the present application in an assembled state.

图8为本申请一个关于轮式作业机械的实施例的示意框图。FIG. 8 is a schematic block diagram of an embodiment of a wheeled working machine according to the present application.

具体实施方式Detailed ways

本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。本申请实施例中所有方向性指示(诸如上、下、左、右、前、后、顶、底……)仅用于解释在某一特定姿态(如附图所示)下各部件之间的相对位置关系、运动情况等，如果该特定姿态发生改变时，则该方向性指示也相应地随之改变。此外，术语“包括”和“具有”以及它们任何变形，意图在于覆盖不排他的包含。例如包含了一系列步骤或单元的过程、方法、***、产品或设备没有限定于已列出的步骤或单元，而是可选地还包括没有列出的步骤或单元，或可选地还包括对于这些过程、方法、产品或设备固有的其它步骤或单元。In the description of this application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically limited. All directional indications (such as up, down, left, right, front, back, top, bottom...) in the embodiments of this application are only used to explain the relationship between various components in a specific posture (as shown in the drawings) The relative position relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly. Furthermore, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes Other steps or units inherent to such processes, methods, products or devices.

另外，在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。Additionally, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of this application.

以下提供了本申请的技术方案中的轮式作业机械驱动控制方法、驱动控制***和轮式作业机械的一些实施例。Some embodiments of the wheeled working machine drive control method, the drive control system and the wheeled working machine in the technical solution of the present application are provided below.

其中，本申请以下实施例中所描述的轮式作业机械包括但不限于轮式摊铺机，也可以是其他具备前轮驱动机构和后轮驱动机构的作业机械，例如自卸车。The wheeled working machines described in the following embodiments of this application include, but are not limited to, wheeled paver, and may also be other working machines with front-wheel drive mechanisms and rear-wheel drive mechanisms, such as dump trucks.

在本申请的第一方面的实施例中，如图1所示，轮式作业机械驱动控制方法包括：In an embodiment of the first aspect of the present application, as shown in Figure 1, a wheeled working machine drive control method includes:

步骤S300：根据行驶工况控制轮式作业机械的前轮驱动机构的输出压力；Step S300: Control the output pressure of the front-wheel drive mechanism of the wheeled working machine according to the driving conditions;

其中，压力状态参数包括后轮驱动机构的第一压力。在本实施例中的轮式作业机械驱动控制方法中，通过步骤S110至步骤S200，先根据后轮驱动机构的压力状态参数，确定后轮的驱动力输出状态，进而确定轮式作业机械当前所处的行驶工况；然后通过步骤S300，针对轮式作业机械的具体行驶工况，对轮式作业机械的前轮驱动机构进行相应的控制操作，驱动前轮以相应的压力运转，以使前轮的驱动力与后轮的驱动力相匹配，实现驱动力的合理分配。其中，压力状态参数包括后轮驱动机构的第一压力，即后轮驱动机构的输出压力值，当然，压力状态参数也可以包括其他与后轮驱动机构的输出压力相关的参数或指标，例如压力变化趋势、压力变化值等。Wherein, the pressure state parameter includes the first pressure of the rear wheel drive mechanism. In the wheeled working machine drive control method in this embodiment, through step S110 to step S200, the driving force output state of the rear wheel is first determined based on the pressure state parameter of the rear wheel drive mechanism, and then the current position of the wheeled working machine is determined. The driving conditions at the wheeled working machine; then through step S300, according to the specific driving conditions of the wheeled working machine, corresponding control operations are performed on the front wheel drive mechanism of the wheeled working machine, and the front wheels are driven to operate with corresponding pressure, so that the front wheels The driving force of the rear wheels matches the driving force of the rear wheels to achieve reasonable distribution of driving force. The pressure state parameter includes the first pressure of the rear wheel drive mechanism, that is, the output pressure value of the rear wheel drive mechanism. Of course, the pressure state parameter may also include other parameters or indicators related to the output pressure of the rear wheel drive mechanism, such as pressure Change trends, pressure change values, etc.

举例而言，当轮式作业机械处于正常行驶工况下时，后轮的压力处于正常范围内，此时可以主要由后轮驱动轮式作业机械行驶，控制前轮以较小的压力运转；当后轮的压力超出正常范围时，后轮发生打滑的可能性上升，此时可以控制前轮以较大的压力运转，增大前轮的驱动力以及轮胎的附着力，以带动轮式作业机械正常行驶，同时，降低后轮的负载，有利于防止后轮发生打滑现象。For example, when the wheeled work machine is under normal driving conditions, the pressure on the rear wheels is within the normal range. At this time, the wheeled work machine can be driven mainly by the rear wheels, and the front wheels can be controlled to run with less pressure; When the pressure of the rear wheel exceeds the normal range, the possibility of slippage of the rear wheel increases. At this time, the front wheel can be controlled to run with greater pressure to increase the driving force of the front wheel and the adhesion of the tire to drive wheeled operations. The machine can run normally, and at the same time, reducing the load on the rear wheels will help prevent the rear wheels from slipping.

本实施例中的轮式作业机械驱动控制方法能够应用于具有后轮驱动机构和前轮驱动机构的轮式作业机械，以分别对轮式作业机械的后轮和前轮进行驱动控制。与常见的轮式作业机械类似，本实施例中的轮式作业机械以后轮作为主驱动轮，以前轮作为辅助驱动轮。The wheeled working machine drive control method in this embodiment can be applied to a wheeled working machine having a rear wheel drive mechanism and a front wheel drive mechanism to drive and control the rear wheels and front wheels of the wheeled working machine respectively. Similar to common wheeled working machines, the wheeled working machine in this embodiment uses the rear wheel as the main driving wheel and the front wheel as the auxiliary driving wheel.

本实施例中的轮式作业机械驱动控制方法，改进了轮式作业机械的后轮和前轮的驱动方式，根据轮式作业机械不同的行驶工况，对前轮驱动机构进行压力调整，使后轮与前轮之间的动力分配更加合理；其中，能够在后轮发生打滑之前对前轮的驱动力进行调整，使后轮和前轮同时作为驱动轮，以增大轮胎与路面的附着力以及轮式作业机械的整体驱动力，可以有效防止后轮发生打滑，保障轮式作业机械的作业连续性，有利于提高施工作业效率；同时，还能够充分发挥前轮的驱动作用，有利于降低能耗，缓解前轮的磨损。The drive control method of the wheeled working machine in this embodiment improves the driving mode of the rear wheel and the front wheel of the wheeled working machine. According to the different driving conditions of the wheeled working machine, the pressure of the front wheel driving mechanism is adjusted so that The power distribution between the rear wheels and the front wheels is more reasonable; among them, the driving force of the front wheels can be adjusted before the rear wheels slip, so that the rear wheels and the front wheels serve as driving wheels at the same time to increase the attachment of the tires to the road. The force and the overall driving force of the wheeled operating machinery can effectively prevent the rear wheels from slipping, ensure the operation continuity of the wheeled operating machinery, and help improve the efficiency of construction operations; at the same time, it can also give full play to the driving role of the front wheels, which is beneficial to Reduce energy consumption and alleviate front wheel wear.

在本申请的一个实施例中。如图2所示，轮式作业机械驱动控制方法包括：In one embodiment of this application. As shown in Figure 2, wheeled work machinery drive control methods include:

步骤S211：判断第一压力是否大于或等于第一压力阈值，生成第一判断结果；Step S211: Determine whether the first pressure is greater than or equal to the first pressure threshold, and generate a first judgment result;

若第一判断结果为是，执行步骤S212：确定行驶工况为第一工况；If the first judgment result is yes, step S212 is executed: determine that the driving condition is the first working condition;

若第一判断结果为否，执行步骤S213：判断第一压力是否小于或等于第二压力阈值，生成第二判断结果；If the first judgment result is no, perform step S213: judge whether the first pressure is less than or equal to the second pressure threshold, and generate a second judgment result;

若第二判断结果为是，执行步骤S214：确定行驶工况为第二工况；If the second judgment result is yes, step S214 is executed: determine that the driving condition is the second working condition;

若第二判断结果为否，执行步骤S215：确定行驶工况为第三工况；If the second judgment result is no, execute step S215: determine that the driving condition is the third working condition;

步骤S300：根据行驶工况控制轮式作业机械的前轮驱动机构的输出压力。Step S300: Control the output pressure of the front wheel drive mechanism of the wheeled working machine according to the driving conditions.

其中，压力状态参数包括后轮驱动机构的第一压力，第一压力阈值大于第二压力阈值。Wherein, the pressure state parameter includes the first pressure of the rear wheel drive mechanism, and the first pressure threshold is greater than the second pressure threshold.

在本实施例中，在上述实施例的基础上对步骤S200做了进一步改进。以第一压力阈值和第二压力阈值为临界值，划分了三个压力区间，并以第一压力阈值表征后轮接近于打滑状态的警戒值；相应地，轮式作业机械具有三种行驶工况；通过步骤S211和步骤S213，比较第一压力与第一压力阈值和第二压力阈值的大小关系，进而通过步骤S212、步骤S214、步骤S215，根据第一压力所在的压力区间确定轮式作业机械的行驶工况。In this embodiment, step S200 is further improved based on the above embodiment. Taking the first pressure threshold and the second pressure threshold as critical values, three pressure intervals are divided, and the first pressure threshold is used to represent the warning value that the rear wheel is close to a slipping state; accordingly, the wheeled working machine has three driving modes. situation; through steps S211 and step S213, compare the relationship between the first pressure and the first pressure threshold and the second pressure threshold, and then through steps S212, step S214, and step S215, determine the wheeled operation according to the pressure interval where the first pressure is located Mechanical driving conditions.

第一工况对应于第一压力大于第一压力阈值的情况，表示后轮驱动机构的第一压力已超过警戒值，若压力继续增大后轮可能发生打滑；第二工况对应于第一压力小于或等于第二压力阈值的情况，表示后轮驱动机构的第一压力处于正常的压力范围内，后轮发生打滑的可能性较小，此时轮式作业机械仍以后轮为主驱动轮，前轮输出较小的驱动力；第三工况为过渡工况，对应于第一压力阈值与第二压力阈值之间的过渡区间，此时存在两种不同的压力变化状态：第一种情况下，第一压力是由小于或等于第二压力阈值的某个压力值增大至大于第二压力阈值的，即第一压力是在上升状态下进入过渡区间内的；第二种情况下，第一压力是由大于第一压力阈值的某个压力值减小至小于或等于第一压力阈值的，即第一压力是在下降状态下进入过渡区间的。通过步骤S300，分别针对上述三种工况对前轮驱动机构采取不同的控制操作，例如在第一工况下增大前轮驱动机构的输出压力，在第二工况下减小前轮驱动机构的输出压力，在第三工况下保持前轮驱动机构的输出压力，实现前轮与后轮的压力动态调整，有利于优化驱动力分配，可以提高驱动效率，防止后轮打滑。The first working condition corresponds to the situation where the first pressure is greater than the first pressure threshold, which means that the first pressure of the rear wheel drive mechanism has exceeded the warning value. If the pressure continues to increase, the rear wheel may slip; the second working condition corresponds to the first working condition. If the pressure is less than or equal to the second pressure threshold, it means that the first pressure of the rear wheel drive mechanism is within the normal pressure range, and the possibility of rear wheel slippage is small. At this time, the rear wheel of the wheeled work machine is still the main driving wheel. , the front wheel outputs a smaller driving force; the third working condition is a transitional working condition, corresponding to the transition interval between the first pressure threshold and the second pressure threshold. At this time, there are two different pressure change states: the first In this case, the first pressure increases from a pressure value less than or equal to the second pressure threshold to a value greater than the second pressure threshold, that is, the first pressure enters the transition interval while rising; in the second case , the first pressure decreases from a pressure value greater than the first pressure threshold to less than or equal to the first pressure threshold, that is, the first pressure enters the transition interval in a declining state. Through step S300, different control operations are taken on the front wheel drive mechanism for the above three working conditions, for example, the output pressure of the front wheel drive mechanism is increased under the first working condition, and the output pressure of the front wheel drive mechanism is reduced under the second working condition. The output pressure of the mechanism maintains the output pressure of the front-wheel drive mechanism in the third working condition, realizing dynamic adjustment of the pressure of the front and rear wheels, which is conducive to optimizing the distribution of driving force, improving driving efficiency, and preventing rear wheel slippage.

其中，上升状态包括连续上升状态以及整体趋势处于上升的状态，下降状态也包括连续下降状态以及整体变化趋势处于下降的状态，即变化过程中允许有波动。Among them, the rising state includes a continuous rising state and a state in which the overall trend is rising, and the falling state also includes a continuous falling state and a state in which the overall change trend is declining, that is, fluctuations are allowed during the change process.

具体地，第一压力阈值可以为200bar至230bar，较优地，第一压力阈值为200bar；第二压力阈值可以为150bar至160bar，较优地，第二压力阈值为150bar。Specifically, the first pressure threshold may be 200bar to 230bar, preferably, the first pressure threshold is 200bar; the second pressure threshold may be 150bar, 160bar, preferably, the second pressure threshold is 150bar.

在本申请的一个实施例中，如图3所示，轮式作业机械驱动控制方法包括：In one embodiment of the present application, as shown in Figure 3, the wheeled working machine drive control method includes:

当行驶工况为第一工况时，执行步骤S310：控制前轮驱动机构以第一目标压力工作；When the driving condition is the first working condition, step S310 is executed: control the front wheel drive mechanism to work at the first target pressure;

当行驶工况为第二工况时，执行步骤S320：控制前轮驱动机构以第二目标压力工作；When the driving condition is the second working condition, step S320 is executed: control the front wheel drive mechanism to work at the second target pressure;

当行驶工况为第三工况时，执行步骤S330：控制前轮驱动机构以当前输出压力工作。When the driving condition is the third working condition, step S330 is executed: control the front wheel drive mechanism to operate with the current output pressure.

其中，压力状态参数包括后轮驱动机构的第一压力，第一压力阈值大于第二压力阈值，第一目标压力大于第二目标压力。Wherein, the pressure state parameter includes the first pressure of the rear wheel drive mechanism, the first pressure threshold is greater than the second pressure threshold, and the first target pressure is greater than the second target pressure.

在本实施例中，在上述实施例的基础上对步骤S300做了改进。根据轮式作业机械不同的行驶工况，对前轮驱动机构采用不同的控制措施。具体地，当轮式作业机械处于第一工况时，后轮的压力已经高于警戒值(第一压力阈值)，此时通过步骤S310，控制前轮驱动机构增大工作压力，并以第一目标压力工作，以使前轮的驱动力充分发挥作用，增大前轮的驱动力比例，与后轮共同驱动轮式作业机械，以分担轮式作业机械对后轮的驱动力需求，使后轮的压力下降，可以防止后轮发生打滑。当轮式作业机械处于第二工况时，后轮的压力处于正常范围内，此时以后轮作为主驱动力，前轮仅输出较小的驱动力即可，通过步骤S320，控制前轮驱动机构调整工作压力，并以第二目标压力工作，在保障轮式作业机械正常行驶的情况下，能够节约能源，降低能耗。In this embodiment, step S300 is improved based on the above embodiment. According to the different driving conditions of wheeled working machinery, different control measures are adopted for the front-wheel drive mechanism. Specifically, when the wheeled working machine is in the first working condition, the pressure of the rear wheel is already higher than the warning value (first pressure threshold). At this time, through step S310, the front wheel drive mechanism is controlled to increase the working pressure and use the third Work under a target pressure to make the driving force of the front wheels fully exert its effect, increase the proportion of driving force of the front wheels, and drive the wheeled working machinery together with the rear wheels to share the driving force demand of the wheeled working machinery on the rear wheels, so that The pressure on the rear wheel is reduced, which prevents the rear wheel from slipping. When the wheeled working machine is in the second working condition, the pressure of the rear wheel is within the normal range. At this time, the rear wheel is used as the main driving force, and the front wheel only outputs a small driving force. Through step S320, the front wheel drive is controlled. The mechanism adjusts the working pressure and works at the second target pressure, which can save energy and reduce energy consumption while ensuring the normal operation of the wheeled working machinery.

当轮式作业机械处于第三工况时，第一压力进入过渡区间。若第一压力是在上升状态下由小于或等于第二压力阈值的某个压力值增大至大于第二压力阈值，表示行驶工况是由第二工况变化为第三工况的，轮式作业机械在此之前处于第二工况，例如轮式作业机械刚进入行驶状态，前轮驱动机构当前的输出压力应处于较低的压力值，例如第二目标压力；此时后轮的压力仍处于正常范围内，前轮的压力也处于一个可以接受的较低的压力范围内，此时通过步骤S330，不对前轮驱动机构进行压力调整操作，以使前轮驱动机构以当前输出压力工作，仍然主要通过后轮驱动轮式作业机械行驶。若第一压力是在下降状态下由大于第一压力阈值的某个压力值减小至小于第一压力阈值，表示行驶工况是由第一工况变化为第三工况的，轮式作业机械在此之前处于第一工况，例如轮式作业机械已处于施工作业状态，前轮驱动机构当前的输出压力应处于较高的压力值，例如第一目标压力；此时后轮的压力虽然进入正常范围内，但接近于正常范围的上限值，压力状态尚不稳定，可能发生波动，即第一压力有可能还会增大至大于第一压力阈值的状态，通过步骤S330，暂不对前轮驱动机构的输出压力进行调整，使前轮仍然保持以较高的第一目标压力工作，可以减少前轮驱动机构的压力调整频次，有利于保障轮式作业机械施工作业的稳定性和连续性。When the wheeled working machine is in the third working condition, the first pressure enters the transition zone. If the first pressure increases from a pressure value less than or equal to the second pressure threshold to greater than the second pressure threshold in the rising state, it means that the driving condition changes from the second working condition to the third working condition, and the wheel The wheeled working machine was in the second working condition before this, for example, the wheeled working machine has just entered the driving state, and the current output pressure of the front wheel drive mechanism should be at a lower pressure value, such as the second target pressure; at this time, the pressure of the rear wheel It is still within the normal range, and the pressure of the front wheel is also within an acceptable lower pressure range. At this time, through step S330, the pressure adjustment operation of the front wheel drive mechanism is not performed, so that the front wheel drive mechanism works with the current output pressure. , still mainly travels through rear-wheel drive wheeled work machinery. If the first pressure decreases from a pressure value greater than the first pressure threshold to less than the first pressure threshold in the decreasing state, it means that the driving condition changes from the first working condition to the third working condition, and the wheeled operation The machine was in the first working condition before this, for example, the wheeled working machine was already in the construction state, and the current output pressure of the front wheel drive mechanism should be at a higher pressure value, such as the first target pressure; at this time, although the pressure of the rear wheel Entering the normal range, but close to the upper limit of the normal range, the pressure state is not yet stable and may fluctuate, that is, the first pressure may increase to a state greater than the first pressure threshold. Through step S330, it is not allowed for the time being. The output pressure of the front-wheel drive mechanism is adjusted so that the front wheels still work at a higher first target pressure, which can reduce the frequency of pressure adjustment of the front-wheel drive mechanism and help ensure the stability and continuity of wheeled work machinery construction operations. sex.

轮式作业机械的后轮驱动机构、前轮驱动机构通常采用液压***进行驱动控制，频繁的压力调整操作不利于液压***的稳定运行，进而可能影响轮式作业机械的正常施工作业。本实施例中的轮式作业机械驱动控制方法通过设置过渡性的第三工况，能够有效缓解上述问题。The rear-wheel drive mechanism and front-wheel drive mechanism of wheeled working machinery usually use hydraulic systems for drive control. Frequent pressure adjustment operations are not conducive to the stable operation of the hydraulic system, which may in turn affect the normal construction operations of wheeled working machinery. The wheeled working machine drive control method in this embodiment can effectively alleviate the above problems by setting a transitional third working condition.

在一个实施例中，如图4所示，轮式作业机械驱动控制方法包括：In one embodiment, as shown in Figure 4, the wheeled work machine drive control method includes:

步骤S221：根据压力变化趋势判断第一压力是否处于上升状态或下降状态；Step S221: Determine whether the first pressure is in an increasing state or a decreasing state according to the pressure change trend;

当第一压力处于上升状态时，执行步骤S222：判断第一压力是否大于第三压力阈值，生成第三判断结果；When the first pressure is in a rising state, step S222 is executed: determine whether the first pressure is greater than the third pressure threshold, and generate a third determination result;

若第三判断结果为是，执行步骤S223：确定行驶工况为第一工况；If the third judgment result is yes, step S223 is executed: determine that the driving condition is the first working condition;

若第三判断结果为否，执行步骤S224：确定行驶工况为第二工况；If the third judgment result is no, execute step S224: determine that the driving condition is the second working condition;

当第一压力处于下降状态时，执行步骤S225：判断第一压力是否小于或等于第四压力阈值，生成第四判断结果；When the first pressure is in a decreasing state, perform step S225: determine whether the first pressure is less than or equal to the fourth pressure threshold, and generate a fourth determination result;

若第四判断结果为是，执行步骤S224：确定行驶工况为第二工况；If the fourth judgment result is yes, step S224 is executed: determine that the driving condition is the second working condition;

若第四判断结果为否，执行步骤S226：判断第一压力是否大于第三压力阈值，生成第五判断结果；If the fourth judgment result is no, perform step S226: judge whether the first pressure is greater than the third pressure threshold, and generate a fifth judgment result;

若第五判断结果为是，执行步骤S223：确定行驶工况为第一工况；If the fifth judgment result is yes, step S223 is executed: determine that the driving condition is the first working condition;

若第五判断结果为否，执行步骤S227：确定行驶工况为第三工况；If the fifth judgment result is no, execute step S227: determine that the driving condition is the third working condition;

其中，压力状态参数包括后轮驱动机构的第一压力和压力变化趋势，第三压力阈值大于第四压力阈值，第一目标压力大于第二目标压力。The pressure state parameters include the first pressure and pressure change trend of the rear wheel drive mechanism, the third pressure threshold is greater than the fourth pressure threshold, and the first target pressure is greater than the second target pressure.

在本实施例中，在上述实施例的基础上对步骤S200做了改进。先通过步骤S221，根据压力变化趋势确定第一压力的变化状态，即确定第一压力处于上升状态还是下降状态，以根据不同的压力变化趋势在进行行驶工况确定时，对第一压力采取不同的判断标准，可以采取更灵活的控制操作。其中，以第三压力阈值表征后轮接近于打滑状态的警戒值。In this embodiment, step S200 is improved based on the above embodiment. First, through step S221, the change state of the first pressure is determined according to the pressure change trend, that is, it is determined whether the first pressure is in an increasing state or a falling state, so that different measures are taken for the first pressure when determining the driving conditions according to different pressure change trends. Based on the judgment criteria, more flexible control operations can be adopted. Among them, the third pressure threshold value represents the warning value that the rear wheel is close to a slipping state.

当第一压力处于上升状态时，以第三压力阈值为临界值划分两个区间，分别对应于第一工况和第二工况。通过步骤S221，比较后轮驱动机构的第一压力与第三压力阈值的大小，可以确定后轮的压力状态是否接近于打滑状态。若第一压力大于第三压力阈值，表示后轮驱动机构的压力已超过警戒值，若压力继续增大后轮可能发生打滑，通过步骤S223，将轮式作业机械的行驶工况标记为第一工况，以便于后续根据后轮的压力状态调整前轮驱动机构的压力，优化前轮与后轮之间的驱动力分配情况，进而防止后轮打滑。若第一压力小于或等于第三压力阈值，表示后轮处于正常的压力范围内，发生打滑的可能性不大，此时通过步骤S224，将行驶工况标记为第二工况，轮式作业机械仍以后轮为主驱动轮，前轮输出较小的驱动力即可。When the first pressure is in a rising state, the third pressure threshold is used as a critical value to divide two intervals, corresponding to the first working condition and the second working condition respectively. Through step S221, by comparing the first pressure of the rear wheel drive mechanism with the third pressure threshold, it can be determined whether the pressure state of the rear wheel is close to a slipping state. If the first pressure is greater than the third pressure threshold, it means that the pressure of the rear wheel drive mechanism has exceeded the warning value. If the pressure continues to increase, the rear wheels may slip. Through step S223, the driving condition of the wheeled working machine is marked as the first Working conditions, in order to subsequently adjust the pressure of the front wheel drive mechanism according to the pressure state of the rear wheel, optimize the distribution of driving force between the front wheel and the rear wheel, and thereby prevent the rear wheel from slipping. If the first pressure is less than or equal to the third pressure threshold, it means that the rear wheel is within the normal pressure range and the possibility of slipping is unlikely. At this time, through step S224, the driving condition is marked as the second working condition, and the wheeled operation The rear wheel of the machine is still the main driving wheel, and the front wheel can output smaller driving force.

当第一压力处于下降状态时，以第三压力阈值和第四压力阈值为临界值(第四压力阈值小于第三压力阈值)，划分三个区间，分别对应于第一工况、第二工况和第三工况；其中，第三压力阈值与第四压力阈值之间的区间为过渡区间，对应于第三工况。进一步通过步骤S225，比较第一压力与第四压力阈值的大小，若第一压力小于或等于第四压力阈值，执行步骤S224，将轮式作业机械的行驶工况标记为第二工况，否则执行步骤S226，进一步比较第一压力与第三压力阈值的大小关系，若第一压力大于第三压力阈值，执行步骤S223，将行驶工况标记为第一工况；若第一压力小于第三压力阈值，通过步骤S227，将行驶工况标记为第三工况。When the first pressure is in a decreasing state, the third pressure threshold and the fourth pressure threshold are used as critical values (the fourth pressure threshold is less than the third pressure threshold), and three intervals are divided, corresponding to the first working condition and the second working condition respectively. condition and the third working condition; wherein, the interval between the third pressure threshold and the fourth pressure threshold is a transition interval, corresponding to the third working condition. Further through step S225, the first pressure and the fourth pressure threshold are compared. If the first pressure is less than or equal to the fourth pressure threshold, step S224 is executed to mark the driving condition of the wheeled working machine as the second working condition. Otherwise, Step S226 is executed to further compare the relationship between the first pressure and the third pressure threshold. If the first pressure is greater than the third pressure threshold, step S223 is executed to mark the driving condition as the first condition; if the first pressure is less than the third pressure threshold, The pressure threshold is used to mark the driving condition as the third working condition through step S227.

分别根据第一工况、第二工况、第三工况下后轮的压力状况，对前轮驱动机构进行相应的调整操作，通过步骤S310、步骤S320、步骤S330，控制前轮驱动机构以相应的压力工作，以使前轮输出相应的驱动力，可以根据后轮不同的压力状况，采取不同的驱动力分配方案，以与轮式作业机械的行驶工况相匹配，有利于降低能耗，提高效率，同时能够有效缓解前轮的磨损。According to the pressure conditions of the rear wheels in the first working condition, the second working condition, and the third working condition, the front wheel driving mechanism is adjusted accordingly, and through steps S310, S320, and S330, the front wheel driving mechanism is controlled to The corresponding pressure works so that the front wheels output corresponding driving force. Different driving force distribution plans can be adopted according to the different pressure conditions of the rear wheels to match the driving conditions of the wheeled working machinery, which is beneficial to reducing energy consumption. , improve efficiency and effectively alleviate the wear of the front wheel.

上升状态包括连续上升状态以及整体趋势处于上升的状态，下降状态也包括连续下降状态以及整体变化趋势处于下降的状态，即变化过程中允许有波动。The rising state includes a continuous rising state and a state in which the overall trend is on the rise. The declining state also includes a continuous falling state and a state in which the overall change trend is in a declining state, that is, fluctuations are allowed during the change process.

具体地，第三压力阈值可以为200bar至230bar，较优地，第三压力阈值为200bar；第四压力阈值可以为150bar至160bar，较优地，第四压力阈值为150bar。Specifically, the third pressure threshold may be 200bar to 230bar, preferably, the third pressure threshold is 200bar; the fourth pressure threshold may be 150bar, 160bar, preferably, the fourth pressure threshold is 150bar.

当第一压力处于上升状态时，轮式作业机械可能是刚由初始状态进入行驶状态，正处于后轮压力逐渐升高的过程，以第三压力阈值作为区分轮式作业机械的第一工况与第二工况的临界值，可以使得轮式作业机械的后轮压力在一个较大的范围内变化，以使后轮的驱动力充分发挥作用，有利于保障轮式作业机械的正常行驶。当第一压力处于下降状态时，表示轮式作业机械已经进入施工过程中，因路况或负载的情况变化而使得后轮的压力开始下降，第一压力可能刚下降至第三压力阈值以下，前轮的压力也进行过相应的调整操作，处于较高的压力水平，考虑到现场路况的实际情况，第一压力可能还会发生突变，此时，以第四压力阈值作为区分轮式作业机械是否进入第二工况的临界值，以为第一压力提供一个过渡区间范围(即第三压力阈值与第四压力阈值之间的压力范围)，以在第一压力已经进入平稳状态后再对前轮进行压力调整操作。When the first pressure is in a rising state, the wheeled working machine may have just entered the driving state from the initial state and is in the process of gradually increasing the rear wheel pressure. The third pressure threshold is used as the first working condition to distinguish the wheeled working machine. The critical value of the second working condition can cause the rear wheel pressure of the wheeled working machine to change within a large range, so that the driving force of the rear wheel can fully exert its effect, which is beneficial to ensuring the normal driving of the wheeled working machine. When the first pressure is in a decreasing state, it means that the wheeled working machine has entered the construction process. Due to changes in road conditions or load conditions, the pressure on the rear wheels begins to decrease. The first pressure may have just dropped below the third pressure threshold. The pressure of the wheel has also been adjusted accordingly and is at a relatively high pressure level. Considering the actual road conditions on site, the first pressure may undergo a sudden change. At this time, the fourth pressure threshold is used to distinguish whether the wheeled operating machinery is The critical value for entering the second working condition is to provide a transition interval range for the first pressure (i.e., the pressure range between the third pressure threshold and the fourth pressure threshold), so that the front wheel can be adjusted after the first pressure has entered a stable state. Perform pressure adjustment operations.

本实施例中的轮式作业机械驱动控制方法，对轮式作业机械的行驶工况的判断过程具有一定的弹性，根据压力变化状态不同采取相应的判断标准，以与施工现场的路况及应用实际相适应，可以有效防止因后轮的压力发生突变而频繁对前轮进行压力调整操作的现象，有利于保障轮式作业机械的行驶以及施工作业的连续性和稳定性。The drive control method of the wheeled working machine in this embodiment has a certain degree of flexibility in the judgment process of the driving conditions of the wheeled working machine. Corresponding judgment standards are adopted according to different pressure change states to match the road conditions and actual application of the construction site. Adaptable, it can effectively prevent the phenomenon of frequent pressure adjustment operations on the front wheels due to sudden changes in the pressure of the rear wheels, which is beneficial to ensuring the driving of wheeled operating machinery and the continuity and stability of construction operations.

在上述任一实施例中，第一目标压力为前轮驱动机构的最大输出压力；第二目标压力在第一范围内，且第一范围的最大值小于第一目标压力。In any of the above embodiments, the first target pressure is the maximum output pressure of the front wheel drive mechanism; the second target pressure is within the first range, and the maximum value of the first range is less than the first target pressure.

其中，第一目标压力的具体数值可以根据前轮驱动机构的具体型号而确定；第一范围具体可以是20bar至100bar，即第二目标压力可以是20bar至100bar之间的任一压力值。The specific value of the first target pressure can be determined according to the specific model of the front wheel drive mechanism; the first range can be specifically from 20 bar to 100 bar, that is, the second target pressure can be any pressure value between 20 bar and 100 bar.

通过上述改进，第一目标压力具体为前轮驱动机构的最大输出压力，可以在轮式作业机械处于第一工况时，使前轮驱动机构以最大输出压力工作，使前轮输出最大驱动力，以使前轮的驱动作用发挥到最大程度，以尽可能地分担轮式作业机械的驱动力需求，有利于进一步优化驱动力分配情况，进一步防止后轮发生打滑。此外，通过限定第二目标压力在小于第一目标压力的第一范围内，以使第二目标压力与第一目标压力之间能够产生一个合理的过渡区间，以在第一压力处于下降状态时，作为第一压力的缓冲区间，防止因第一压力发生波动而对前轮驱动机构进行频繁的调整操作，有利于提高轮式作业机械行驶以及作业的稳定性和连续性。Through the above improvements, the first target pressure is specifically the maximum output pressure of the front wheel drive mechanism. When the wheeled working machine is in the first working condition, the front wheel drive mechanism can be made to work at the maximum output pressure, so that the front wheels can output the maximum driving force. , in order to maximize the driving effect of the front wheels and share the driving force requirements of the wheeled working machinery as much as possible, which is conducive to further optimizing the distribution of driving force and further preventing the rear wheels from slipping. In addition, by limiting the second target pressure to a first range that is smaller than the first target pressure, a reasonable transition interval can be generated between the second target pressure and the first target pressure, so that when the first pressure is in a decreasing state, , as a buffer zone for the first pressure, prevents frequent adjustment operations on the front wheel drive mechanism due to fluctuations in the first pressure, which is beneficial to improving the stability and continuity of the wheeled working machine's travel and operation.

在一个实施例中。如图5所示，轮式作业机械驱动控制方法包括：In one embodiment. As shown in Figure 5, wheeled work machinery drive control methods include:

当行驶工况为第二工况时，执行步骤S321：获取前轮驱动机构的第二压力；When the driving condition is the second working condition, step S321 is executed: obtain the second pressure of the front wheel drive mechanism;

步骤S322：判断第二压力是否处于第一范围内，生成第三判断结果；Step S322: Determine whether the second pressure is within the first range, and generate a third judgment result;

若第三判断结果为是，再次执行步骤S322；If the third judgment result is yes, step S322 is executed again;

若第三判断结果为否，执行步骤S323：将第二压力调整至第二目标压力；If the third judgment result is no, perform step S323: adjust the second pressure to the second target pressure;

当行驶工况为第三工况时，执行步骤S330：控制前轮驱动机构以当前压力工作。When the driving condition is the third working condition, step S330 is executed: control the front wheel drive mechanism to work with the current pressure.

其中，压力状态参数包括后轮驱动机构的第一压力；第一压力阈值大于第二压力阈值；第一目标压力为前轮驱动机构的最大输出压力，第二目标压力在第一范围内，且第一范围的最大值小于第一目标压力。Wherein, the pressure state parameter includes the first pressure of the rear wheel drive mechanism; the first pressure threshold is greater than the second pressure threshold; the first target pressure is the maximum output pressure of the front wheel drive mechanism, the second target pressure is within the first range, and The maximum value of the first range is less than the first target pressure.

在本实施例中，对上述实施例中的步骤S320做了改进。当轮式作业机械处于第二工况时，通过步骤S321和步骤S322，判断前轮驱动机构的第二压力是否在第一范围内，以确定前轮驱动机构的当前压力是否过低或过高。若第二压力在第一范围内，表示前轮驱动机构的当前压力可以与轮式作业机械当前的行驶工况相适配，此时可以不对前轮驱动机构进行压力调整操作，再次执行步骤S322，以对前轮驱动机构的压力变化进行检测；若第二压力在第一范围之外，表示前轮驱动机构的当前压力过大或过小，与轮式作业机械的行驶工况不适配，通过步骤S323，将第二压力调整至第二目标压力，即将前轮驱动机构的工作压力调整至第一范围内。In this embodiment, step S320 in the above embodiment is improved. When the wheeled working machine is in the second working condition, through steps S321 and S322, it is determined whether the second pressure of the front wheel drive mechanism is within the first range to determine whether the current pressure of the front wheel drive mechanism is too low or too high. . If the second pressure is within the first range, it means that the current pressure of the front wheel drive mechanism can be adapted to the current driving conditions of the wheeled working machine. At this time, the pressure adjustment operation of the front wheel drive mechanism may not be performed, and step S322 is performed again to Detect the pressure change of the front-wheel drive mechanism; if the second pressure is outside the first range, it means that the current pressure of the front-wheel drive mechanism is too high or too low, which is not suitable for the driving conditions of the wheeled working machine. Step S323, adjust the second pressure to the second target pressure, that is, adjust the working pressure of the front wheel drive mechanism to within the first range.

其中，当第一压力大于第一范围的最大值时，控制前轮驱动机构将第二压力降低至第一范围内，以减小前轮的驱动力，使驱动力分配更合理，可以节约能源，同时减小前轮的磨损；当第一压力小于第一范围的最小值时，控制前轮驱动机构将第二压力增大至第一范围内，可以防止前轮的压力过低而产生吸空现象，以使前轮的压力与轮式作业机械的行驶速度及状态相适配。第一范围具体可以是20bar至100bar。Among them, when the first pressure is greater than the maximum value of the first range, the front wheel drive mechanism is controlled to reduce the second pressure to the first range to reduce the driving force of the front wheels, make the driving force distribution more reasonable, and save energy. , while reducing the wear of the front wheel; when the first pressure is less than the minimum value of the first range, the front wheel drive mechanism is controlled to increase the second pressure to within the first range, which can prevent the front wheel pressure from being too low and causing suction. The emptying phenomenon is controlled so that the pressure of the front wheels matches the driving speed and status of the wheeled working machinery. Specifically, the first range may be 20bar to 100bar.

在本实施例中，第二目标压力在第二范围内，第二范围处于第一范围内。In this embodiment, the second target pressure is within the second range, and the second range is within the first range.

通过上述改进，当轮式作业机械处于第二工况的情况下，若前轮驱动机构的第二压力不在第一范围内，可以对第二压力进行进一步的调整操作。具体地，将第二压力调整至第二目标压力，且第二目标压力的取值范围为第二范围(处于第一范围内，即第二范围是第一范围的一个子范围)，可以缩小第二目标压力的取值范围。此时，在驱动力分配方案中，后轮驱动力的比例进一步增大，前轮驱动力的比例进一步减小，以与轮式作业机械的第二工况相适配，同时有利于节约能源、降低能耗。较优地，在第一范围中，相对于第一范围的最大值而言，第二范围的数值更接近于第一范围的最小值，以使得第二目标压力的取值为第一范围内数值较小的压力值。Through the above improvement, when the wheeled working machine is in the second working condition, if the second pressure of the front wheel drive mechanism is not within the first range, the second pressure can be further adjusted. Specifically, the second pressure is adjusted to the second target pressure, and the value range of the second target pressure is the second range (within the first range, that is, the second range is a sub-range of the first range), which can be reduced. The value range of the second target pressure. At this time, in the driving force distribution plan, the proportion of rear wheel driving force is further increased, and the proportion of front wheel driving force is further reduced to adapt to the second working condition of the wheeled working machine, and at the same time it is conducive to saving energy and reducing costs. energy consumption. Preferably, in the first range, relative to the maximum value of the first range, the value of the second range is closer to the minimum value of the first range, so that the value of the second target pressure is within the first range A smaller pressure value.

其中，第一范围是20bar至100bar时，第二范围可以是30bar至50bar；可选的，第二范围是40bar至50bar，以在轮式作业机械处于第二工况时，若前轮驱动机构的第二压力不在第一范围内时，则将第二压力调整至40bar至50bar的范围内，以使第二压力在一个较小的压力值保持相对稳定。Among them, when the first range is 20bar to 100bar, the second range can be 30bar to 50bar; optionally, the second range is 40bar to 50bar, so that when the wheeled working machine is in the second working condition, if the front-wheel drive mechanism When the second pressure is not within the first range, the second pressure is adjusted to the range of 40 bar to 50 bar, so that the second pressure remains relatively stable at a smaller pressure value.

在上述任一实施例中，可以在轮式作业机械的初始状态下进行初始速度设置，通过设置后轮和前轮均以第一行驶速度运转，以使轮式作业机械的行驶速度保持稳定，实现匀速行驶。其中，第一行驶速度可以根据具体施工需求而设置，例如第一行驶速度可以是5m/min。由于后轮为主驱动轮，可以设置相应的后轮速度传感器，以检测后轮的行驶速度，以在后轮的行驶速度发生变化时及时进行调整，使后轮始终以第一行驶速度运转，可以实现轮式作业机械的速度闭环控制。In any of the above embodiments, the initial speed setting can be performed in the initial state of the wheeled work machine, by setting both the rear wheels and the front wheels to run at the first driving speed, so that the driving speed of the wheeled work machine remains stable, Achieve constant speed driving. The first traveling speed can be set according to specific construction requirements. For example, the first traveling speed can be 5m/min. Since the rear wheel is the main driving wheel, a corresponding rear wheel speed sensor can be set to detect the driving speed of the rear wheel and make timely adjustments when the driving speed of the rear wheel changes, so that the rear wheel always runs at the first driving speed. It can realize closed-loop speed control of wheeled working machinery.

在上述任一实施例中，通过调节前轮驱动机构的多路阀工作电流，以控制前轮驱动机构的输出压力。其中，在每次对前路驱动机构的多路阀工作电流进行调节操作时，多路阀工作电流每次的调节量处于第一电流调节范围内。In any of the above embodiments, the output pressure of the front wheel drive mechanism is controlled by adjusting the operating current of the multi-way valve of the front wheel drive mechanism. Wherein, every time the working current of the multi-way valve of the front drive mechanism is adjusted, the adjustment amount of the working current of the multi-way valve is within the first current adjustment range.

轮式作业机械的前轮驱动机构中包括多路阀，在对前轮驱动机构进行压力调整操作时，通过控制多路阀工作电流，以改变前轮驱动机构的输出压力。前轮驱动机构由液压***驱动，可以通过多路阀调节液压管路中的油液流量及压力，进而改变前轮驱动机构的输出压力；多路阀的工作电流的大小与油液流量以及压力存在对应关系，因而可以通过调节多路阀工作电流实现调整操作。其中，每次对多路阀工作电流进行调节操作的调节量需在第一电流调节范围内，防止多路阀工作电流过大或过小而产生异常状况，例如由于轮胎不着地而发生的轮胎飞转现象，或者轮胎驱动无力加剧现象。The front wheel drive mechanism of wheeled working machinery includes a multi-way valve. When performing pressure adjustment operations on the front wheel drive mechanism, the operating current of the multi-way valve is controlled to change the output pressure of the front wheel drive mechanism. The front-wheel drive mechanism is driven by the hydraulic system. The oil flow and pressure in the hydraulic pipeline can be adjusted through the multi-way valve, thereby changing the output pressure of the front-wheel drive mechanism; the working current of the multi-way valve is related to the oil flow and pressure. There is a corresponding relationship, so the adjustment operation can be achieved by adjusting the working current of the multi-way valve. Among them, the adjustment amount for each adjustment operation of the multi-way valve operating current must be within the first current adjustment range to prevent the multi-way valve operating current from being too large or too small and causing abnormal conditions, such as tire failure due to the tire not touching the ground. Flying phenomenon, or tire drive failure aggravates the phenomenon.

举例而言，在轮式作业机械的初始状态下，后轮以5m/min的第一行驶速度运转，则可以将前轮驱动机构的多路阀工作电流调整至260mA，以使前轮的行驶速度也为5m/min，以与后轮保持一致。当轮式作业机械处于第一工况时，可以直接将多路阀工作电流调整至280mA，以使前轮驱动机构以最大输出压力工作，使前轮输出最大驱动力。多路阀工作电流的调节量可以是±30mA，即每次对多路阀工作电流进行调节操作时，调节量不能超过30mA，其中±表示增减(正号表示增大，负号表示减小)。For example, in the initial state of the wheeled working machine, the rear wheels run at the first traveling speed of 5m/min, then the working current of the multi-way valve of the front wheel drive mechanism can be adjusted to 260mA to ensure that the front wheels travel The speed is also 5m/min to be consistent with the rear wheels. When the wheeled working machine is in the first working condition, the working current of the multi-way valve can be directly adjusted to 280mA, so that the front wheel drive mechanism works at the maximum output pressure and the front wheel outputs the maximum driving force. The adjustment amount of the multi-way valve working current can be ±30mA, that is, each time the multi-way valve working current is adjusted, the adjustment amount cannot exceed 30mA, where ± means increase or decrease (positive sign means increase, negative sign means decrease) ).

以上多路阀工作电流的具体数值仅为其中一种具体示例。在实际应用中，根据多路阀的型号不同，多路阀工作电流与前轮驱动机构的压力的对应关系也可能不同，多路阀工作电流的具体数值可以根据具体情况而设置。The specific value of the operating current of the multi-way valve above is only one specific example. In practical applications, depending on the model of the multi-way valve, the corresponding relationship between the multi-way valve operating current and the pressure of the front wheel drive mechanism may also be different. The specific value of the multi-way valve operating current can be set according to specific conditions.

在本申请第二方面的实施例中还提供了一种驱动控制***1，如图6和图7所示，包括后轮驱动机构11、前轮驱动机构12、后轮检测组件13、前轮检测组件14和控制器15。In the embodiment of the second aspect of the present application, a drive control system 1 is also provided, as shown in Figures 6 and 7, including a rear wheel drive mechanism 11, a front wheel drive mechanism 12, a rear wheel detection assembly 13, a front wheel Detection component 14 and controller 15.

在装配于轮式作业机械时，后轮驱动机构11与轮式作业机械的后轮221传动连接，以驱动后轮221运转；前轮驱动机构12与轮式作业机械的前轮222传动连接，以驱动前轮222运转。后轮检测组件13与后轮驱动机构11对应设置，以检测后轮驱动机构11的压力状态参数，压力状态参数包括但不限于后轮驱动机构11的第一压力；前轮检测组件14与前轮驱动机构12对应设置，以检测前轮驱动机构12的输出压力。控制器15分别与后轮驱动机构11、前轮驱动机构12、后轮检测组件13以及前轮检测组件14通信连接；控制器15可以接收后轮检测组件13和前轮检测组件14的检测结果，并能够控制后轮驱动机构11和前轮驱动机构12工作，进而驱动后轮221和前轮222运转，并实现上述任一实施例中的轮式作业机械驱动控制方法。When assembled in a wheeled working machine, the rear wheel drive mechanism 11 is drivingly connected to the rear wheel 221 of the wheeled working machine to drive the rear wheel 221 to operate; the front wheel driving mechanism 12 is drivingly connected to the front wheel 222 of the wheeled working machine. To drive the front wheel 222 to operate. The rear wheel detection component 13 is configured corresponding to the rear wheel drive mechanism 11 to detect the pressure state parameters of the rear wheel drive mechanism 11. The pressure state parameters include but are not limited to the first pressure of the rear wheel drive mechanism 11; the front wheel detection component 14 is configured with the front wheel drive mechanism 11. The wheel drive mechanism 12 is configured correspondingly to detect the output pressure of the front wheel drive mechanism 12 . The controller 15 is communicatively connected with the rear wheel drive mechanism 11 , the front wheel drive mechanism 12 , the rear wheel detection component 13 and the front wheel detection component 14 respectively; the controller 15 can receive the detection results of the rear wheel detection component 13 and the front wheel detection component 14 , and can control the rear wheel drive mechanism 11 and the front wheel drive mechanism 12 to operate, thereby driving the rear wheel 221 and the front wheel 222 to operate, and implement the wheeled working machine drive control method in any of the above embodiments.

后轮驱动机构11和前轮驱动机构12具体可以通过液压***驱动；后轮检测组件13和前轮检测组件14均可以包括一个或多个检测器，根据检测对象不同，检测器的类型也可以不同。另外，控制器15可以是专门配置的控制器件，也可以是轮式作业机械自带的车载电脑。The rear wheel drive mechanism 11 and the front wheel drive mechanism 12 can be driven by a hydraulic system; both the rear wheel detection assembly 13 and the front wheel detection assembly 14 can include one or more detectors. Depending on the detection object, the type of detector can also be different. In addition, the controller 15 can be a specially configured control device, or it can be an on-board computer that comes with the wheeled working machine.

本实施例中的驱动控制***1具有上述第一方面任一实施例中的轮式作业机械驱动控制方法的全部有益效果，在此不再赘述。The drive control system 1 in this embodiment has all the beneficial effects of the wheeled working machine drive control method in any embodiment of the first aspect, which will not be described again here.

在一些实施例中，如图6和图7所示，后轮驱动机构11和前轮驱动机构12通过液压***驱动。后轮驱动机构11包括后轮驱动泵111和后轮驱动马达112；后轮驱动泵111的输入端适于与轮式作业机械的动力***传动连接，以从动力***取力；后轮驱动马达112通过液压管路与后轮驱动泵111连接，后轮驱动马达112的输出端与后轮221传动连接。当驱动控制***1装配于轮式作业机械时，后轮驱动泵111的进油口通过液压管路连接至轮式作业机械的油箱16，轮式作业机械的动力***驱动后轮驱动泵111运转，以将油箱16中的液压油液泵送至后轮驱动马达112，利用液压油液的压力驱动后轮驱动马达112运转，输出动力并驱动后轮221运转。如图7中的示例，动力***具体包括传动连接的发动机23和分动箱24，后轮驱动泵111与分动箱24传动连接；后轮驱动马达112的输出轴与变速箱25的输入端传动连接，以通过变速箱25进行变速操作，变速箱25的输出端通过传动轴26与后桥27连接，进而通过后桥27向两个后轮221传递动力。In some embodiments, as shown in Figures 6 and 7, the rear wheel drive mechanism 11 and the front wheel drive mechanism 12 are driven by a hydraulic system. The rear wheel drive mechanism 11 includes a rear wheel drive pump 111 and a rear wheel drive motor 112; the input end of the rear wheel drive pump 111 is suitable for transmission connection with the power system of the wheeled working machine to extract power from the power system; the rear wheel drive motor 112 is connected to the rear wheel drive pump 111 through a hydraulic pipeline, and the output end of the rear wheel drive motor 112 is transmission connected to the rear wheel 221. When the drive control system 1 is assembled on a wheeled working machine, the oil inlet of the rear wheel drive pump 111 is connected to the oil tank 16 of the wheeled working machine through a hydraulic pipeline, and the power system of the wheeled working machine drives the rear wheel driven pump 111 to operate. , to pump the hydraulic oil in the oil tank 16 to the rear wheel drive motor 112, and use the pressure of the hydraulic oil to drive the rear wheel drive motor 112 to operate, output power and drive the rear wheel 221 to operate. As shown in the example in FIG. 7 , the power system specifically includes an engine 23 and a transfer case 24 that are transmission-connected. The rear-wheel drive pump 111 is transmission-connected to the transfer case 24 ; the output shaft of the rear-wheel drive motor 112 is connected to the input end of the gearbox 25 The transmission connection is to perform the speed change operation through the gearbox 25. The output end of the gearbox 25 is connected to the rear axle 27 through the transmission shaft 26, and then transmits power to the two rear wheels 221 through the rear axle 27.

后轮检测组件13包括后轮压力传感器132。如图7中的示例，后轮压力传感器132设于后轮驱动马达112与后轮驱动泵111之间的液压管路中，以检测后轮驱动马达112的压力状态参数(例如第一压力)；控制器15根据后轮驱动马达112的工作压力确定轮式作业机械的行驶工况，并控制前轮驱动机构12进行相应的调整操作。The rear wheel detection assembly 13 includes a rear wheel pressure sensor 132 . As shown in the example of FIG. 7 , the rear wheel pressure sensor 132 is provided in the hydraulic pipeline between the rear wheel drive motor 112 and the rear wheel drive pump 111 to detect the pressure state parameter (eg, the first pressure) of the rear wheel drive motor 112 . ; The controller 15 determines the driving conditions of the wheeled working machine according to the working pressure of the rear wheel drive motor 112, and controls the front wheel drive mechanism 12 to perform corresponding adjustment operations.

后轮检测组件13还可以包括后轮速度传感器131。后轮速度传感器131可以设置在后轮驱动马达112的输出轴上，以检测后轮驱动马达112的输出转速，控制器15根据后轮驱动马达112的输出转速、后轮驱动马达112与后轮221之间的传动比以及后轮221的尺寸等参数可以计算出后轮221的行驶速度，以对后轮221的行驶速度进行相应的控制操作。当然，后轮速度传感器131也可以设置在后轮221或后桥27上。The rear wheel detection assembly 13 may also include a rear wheel speed sensor 131 . The rear wheel speed sensor 131 can be disposed on the output shaft of the rear wheel drive motor 112 to detect the output speed of the rear wheel drive motor 112. The controller 15 determines the output speed of the rear wheel drive motor 112, the relationship between the rear wheel drive motor 112 and the rear wheel. The transmission ratio between 221 and the size of the rear wheel 221 and other parameters can be used to calculate the driving speed of the rear wheel 221, so as to perform corresponding control operations on the driving speed of the rear wheel 221. Of course, the rear wheel speed sensor 131 can also be provided on the rear wheel 221 or the rear axle 27 .

如图6和图7所示，前轮驱动机构12包括前轮驱动泵121、前轮驱动马达122和前轮多路阀123。前轮驱动泵121的输入端适于与轮式作业机械的动力***传动连接，以通过动力***取力。前轮驱动马达122的输出端与前轮222传动连接，以驱动前轮222运转。前轮多路阀123上设有多个不同的阀口，前轮多路阀123的不同阀口分别通过液压管路与前轮驱动泵121和前轮驱动马达122连接，前轮多路阀123能够使前轮驱动泵121与前轮驱动马达122之间形成液压连接，以使前轮驱动泵121向前轮驱动马达122供油，利用液压油液的压力驱动前轮驱动马达122运转。其中，前轮多路阀123能够控制前轮驱动泵121对前轮驱动马达122供油的供油量，以改变前轮驱动马达122的工作压力，实现压力调节操作。As shown in FIGS. 6 and 7 , the front wheel drive mechanism 12 includes a front wheel drive pump 121 , a front wheel drive motor 122 and a front wheel multi-way valve 123 . The input end of the front-wheel drive pump 121 is suitable for transmission connection with the power system of the wheeled working machine to extract power through the power system. The output end of the front wheel drive motor 122 is transmission connected with the front wheel 222 to drive the front wheel 222 to run. The front wheel multi-way valve 123 is provided with a plurality of different valve ports. The different valve ports of the front wheel multi-way valve 123 are respectively connected to the front wheel drive pump 121 and the front wheel drive motor 122 through hydraulic pipelines. The front wheel multi-way valve 123 can form a hydraulic connection between the front wheel drive pump 121 and the front wheel drive motor 122, so that the front wheel drive pump 121 supplies oil to the front wheel drive motor 122, and uses the pressure of the hydraulic oil to drive the front wheel drive motor 122 to operate. Among them, the front wheel multi-way valve 123 can control the amount of oil supplied by the front wheel drive pump 121 to the front wheel drive motor 122, so as to change the working pressure of the front wheel drive motor 122 and achieve pressure regulation operation.

具体地，如图7中的示例，前轮驱动机构12可以对应设置两个前轮驱动马达122，分别与左前轮和右前轮传动连接，以对两个前轮222分别进行驱动控制。Specifically, as shown in the example of FIG. 7 , the front wheel drive mechanism 12 may be provided with two corresponding front wheel drive motors 122 , which are respectively connected to the left front wheel and the right front wheel to drive and control the two front wheels 222 respectively.

前轮检测组件14包括前轮压力传感器141。如图7中的示例，前轮压力传感器141可以设置在前轮驱动马达122与前轮多路阀123之间的液压管路中，以检测前轮驱动马达122的工作压力；控制器15接收到前轮压力传感器141的检测结果，以根据前轮驱动马达122的工作压力进行相应的调整控制操作。具体地，可以在两个前轮驱动马达122的主液压管路中设置一个前轮压力传感器141，以检测两个前轮驱动马达122的总压力；也可以在两个前轮驱动马达122的液压支路中各自设置一个前轮压力传感器141，分别检测每个前轮驱动马达122的工作压力。The front wheel detection assembly 14 includes a front wheel pressure sensor 141 . As shown in the example of FIG. 7 , the front wheel pressure sensor 141 can be disposed in the hydraulic pipeline between the front wheel drive motor 122 and the front wheel multi-way valve 123 to detect the working pressure of the front wheel drive motor 122 ; the controller 15 receives The detection result of the front wheel pressure sensor 141 is received to perform corresponding adjustment control operations according to the working pressure of the front wheel drive motor 122 . Specifically, a front wheel pressure sensor 141 can be provided in the main hydraulic pipeline of the two front wheel drive motors 122 to detect the total pressure of the two front wheel drive motors 122; A front wheel pressure sensor 141 is provided in each hydraulic branch to detect the working pressure of each front wheel drive motor 122 respectively.

在本申请的第三方面的实施例中。如图7和图8所示，轮式作业机械2包括车体21、行驶机构22和上述任一实施例中的驱动控制***1。车体21作为轮式作业机械2的主体结构；行驶机构22与车体21相连接，以带动车体21行驶；行驶机构22包括后轮221和前轮222，形成轮式行驶的作业机械形式，轮式作业机械2具有灵活性高、转场速度快等特点。驱动控制***1设置在车体21上，以对形式机构的后轮221和前轮222分别进行控制操作，使得轮式作业机械2的后轮221和前轮222能够实现独立的驱动控制，有利于根据不同的形式工况采取不同的驱动控制方案，以优化驱动力分配情况。In an embodiment of the third aspect of the application. As shown in FIGS. 7 and 8 , the wheeled working machine 2 includes a vehicle body 21 , a traveling mechanism 22 and the drive control system 1 in any of the above embodiments. The vehicle body 21 serves as the main structure of the wheeled working machine 2; the traveling mechanism 22 is connected to the vehicle body 21 to drive the vehicle body 21 to travel; the traveling mechanism 22 includes rear wheels 221 and front wheels 222, forming a wheeled working machine. , wheeled work machinery 2 has the characteristics of high flexibility and fast transition speed. The drive control system 1 is installed on the vehicle body 21 to control the rear wheels 221 and the front wheels 222 of the form mechanism respectively, so that the rear wheels 221 and the front wheels 222 of the wheeled working machine 2 can achieve independent drive control, so that there is It is conducive to adopt different drive control schemes according to different forms of working conditions to optimize the distribution of driving force.

其中，后轮221作为轮式作业机械2的主驱动轮，前轮222作为辅助驱动轮。通过驱动控制***1实现上述第一方面任一实施例中的轮式作业机械驱动控制方法，可以根据后轮221的压力状态对前轮222进行相应的调整控制操作，以在后轮221驱动力不足可能发生打滑时，使前轮222的驱动力能够充分发挥作用，而在后轮221驱动力满足行驶需求时，降低前轮222的驱动力，以节约能源，减少前轮222磨损。Among them, the rear wheel 221 serves as the main driving wheel of the wheeled working machine 2, and the front wheel 222 serves as the auxiliary driving wheel. The drive control method of the wheeled working machine in any embodiment of the first aspect is implemented by the drive control system 1, and the front wheel 222 can be adjusted and controlled accordingly according to the pressure state of the rear wheel 221, so as to increase the driving force of the rear wheel 221. When insufficient power may cause slippage, the driving force of the front wheel 222 can be fully exerted. When the driving force of the rear wheel 221 meets the driving demand, the driving force of the front wheel 222 is reduced to save energy and reduce wear of the front wheel 222.

本实施例中的轮式作业机械2包括但不限于轮式摊铺机，也可以是其他具备前轮驱动机构和后轮驱动机构的作业机械，例如自卸车。The wheeled working machine 2 in this embodiment includes but is not limited to a wheeled paver, and may also be other working machines equipped with a front-wheel drive mechanism and a rear-wheel drive mechanism, such as a dump truck.

此外，本实施例中的轮式作业机械2还具有上述第二方面任一实施例中的驱动控制***1以及上述第一方面任一实施例中的轮式作业机械驱动控制方法的全部有益效果。In addition, the wheeled working machine 2 in this embodiment also has all the beneficial effects of the drive control system 1 in any embodiment of the second aspect and the drive control method of the wheeled working machine in any embodiment of the first aspect. .

本申请的一个实施例中提供了一种电子设备。电子设备包括处理器和存储器，其中，存储器中存储有适于在处理器中运行的计算机程序。当处理器运行存储器中的计算机程序时，能够实现上述任一实施例中的轮式作业机械驱动控制方法。电子设备还可以设置通信接口和通信总线，其中，处理器、通信接口、存储器通过通信总线完成相互间的通信。本实施例中的电子设备具有上述任一实施例中的轮式作业机械驱动控制方法的全部有益效果。An electronic device is provided in an embodiment of the present application. The electronic device includes a processor and a memory, wherein a computer program adapted to run in the processor is stored in the memory. When the processor runs the computer program in the memory, the wheeled working machine drive control method in any of the above embodiments can be implemented. The electronic device can also be provided with a communication interface and a communication bus, wherein the processor, communication interface, and memory complete communication with each other through the communication bus. The electronic device in this embodiment has all the beneficial effects of the wheeled working machine drive control method in any of the above embodiments.

上述实施例中的存储器中的计算机程序可以通过软件功能单元的形式实现。当通过软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例的轮式作业机械驱动控制方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。The computer program in the memory in the above embodiments can be implemented in the form of a software functional unit. When implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the wheeled working machine drive control method in various embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code. .

另外，本申请的一个实施例中还提供了一种可读存储介质，可读存储介质中存储有计算机程序，当该计算机程序被处理器执行时实现上述任一实施例中的轮式作业机械驱动控制方法。因而，本实施例中的可读存储介质具有上述任一实施例中的轮式作业机械驱动控制方法的全部有益效果。In addition, an embodiment of the present application also provides a readable storage medium. A computer program is stored in the readable storage medium. When the computer program is executed by the processor, the wheeled working machine in any of the above embodiments is implemented. Drive control method. Therefore, the readable storage medium in this embodiment has all the beneficial effects of the wheeled working machine drive control method in any of the above embodiments.

以上结合具体实施例描述了本申请的基本原理，但是，需要指出的是，在本申请中提及的优点、优势、效果等仅是示例而非限制，不能认为这些优点、优势、效果等是本申请的各个实施例必须具备的。另外，上述公开的具体细节仅是为了示例的作用和便于理解的作用，而非限制，上述细节并不限制本申请为必须采用上述具体的细节来实现。The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be pointed out that the advantages, advantages, effects, etc. mentioned in this application are only examples and not limitations. These advantages, advantages, effects, etc. cannot be considered to be Each embodiment of this application must have. In addition, the specific details disclosed above are only for the purpose of illustration and to facilitate understanding, and are not limiting. The above details do not limit the application to be implemented using the above specific details.

本申请中涉及的器件、装置、设备、***的方框图仅作为例示性的例子并且不意图要求或暗示必须按照方框图示出的方式进行连接、布置、配置。如本领域技术人员将认识到的，可以按任意方式连接、布置、配置这些器件、装置、设备、***。诸如“包括”、“包含”、“具有”等等的词语是开放性词汇，指“包括但不限于”，且可与其互换使用。这里所使用的词汇“或”和“和”指词汇“和/或”，且可与其互换使用，除非上下文明确指示不是如此。这里所使用的词汇“诸如”指词组“诸如但不限于”，且可与其互换使用。还需要指出的是，在本申请的装置和设备中，各部件是可以分解和/或重新组合的。这些分解和/或重新组合应视为本申请的等效方案。The block diagrams of the devices, devices, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, or configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, devices, equipment, and systems may be connected, arranged, and configured in any manner. Words such as "includes," "includes," "having," etc. are open-ended terms that mean "including, but not limited to," and may be used interchangeably therewith. As used herein, the words "or" and "and" refer to the words "and/or" and are used interchangeably therewith unless the context clearly dictates otherwise. As used herein, the word "such as" refers to the phrase "such as, but not limited to," and may be used interchangeably therewith. It should also be noted that in the device and equipment of the present application, each component can be disassembled and/or reassembled. These decompositions and/or recombinations shall be considered equivalent versions of this application.

本申请中的计算机程序产品可以以一种或多种程序设计语言的任意组合来编写用于执行本申请实施例操作的程序代码，程序设计语言包括面向对象的程序设计语言，诸如Java、C++等，还包括常规的过程式程序设计语言，诸如“C”语言或类似的程序设计语言。程序代码可以完全地在用户计算设备上执行、部分地在用户设备上执行、作为一个独立的软件包执行、部分在用户计算设备上部分在远程计算设备上执行、或者完全在远程计算设备或服务器上执行。The computer program product in this application can be written in any combination of one or more programming languages to write program codes for performing the operations of the embodiments of this application. Programming languages include object-oriented programming languages, such as Java, C++, etc. , also includes conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server execute on.

本申请中的可读存储介质可以采用一个或多个可读介质的任意组合。可读介质可以是可读信号介质或者可读存储介质。可读存储介质例如可以包括但不限于电、磁、光、电磁、红外线、或半导体的***、装置或器件，或者任意以上的组合。可读存储介质的更具体的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、光纤、便携式紧凑盘只读存储器(CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。The readable storage medium in this application may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: electrical connection with one or more conductors, portable disk, hard disk, random access memory (RAM), read only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

为了例示和描述的目的已经给出了以上描述。此外，此描述不意图将本申请的实施例限制到在此公开的形式。尽管以上已经讨论了多个示例方面和实施例，但是本领域技术人员将认识到其某些变型、修改、改变、添加和子组合。The foregoing description has been presented for the purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the present application to the form disclosed herein. Although various example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

提供所公开的方面的以上描述以使本领域的任何技术人员能够做出或者使用本申请。对这些方面的各种修改对于本领域技术人员而言是非常显而易见的，并且在此定义的一般原理可以应用于其他方面而不脱离本申请的范围。因此，本申请不意图被限制到在此示出的方面，而是按照与在此申请的原理和新颖的特征一致的最宽范围。The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the application. Therefore, this application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features herein.

以上仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换等，均应包含在本申请的保护范围之内。The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. .

Claims

一种轮式作业机械驱动控制方法，包括：A wheeled operating machinery drive control method, including:

获取轮式作业机械的后轮驱动机构的压力状态参数；Obtain the pressure state parameters of the rear wheel drive mechanism of the wheeled work machine;

根据所述压力状态参数确定所述轮式作业机械的行驶工况；Determine the driving conditions of the wheeled work machine according to the pressure state parameter;

根据所述行驶工况控制所述轮式作业机械的前轮驱动机构的输出压力；Control the output pressure of the front wheel drive mechanism of the wheeled work machine according to the driving conditions;

其中，所述压力状态参数包括所述后轮驱动机构的第一压力。Wherein, the pressure state parameter includes the first pressure of the rear wheel drive mechanism.
根据权利要求1所述的轮式作业机械驱动控制方法，其中，The wheeled working machine drive control method according to claim 1, wherein:

所述步骤S200：根据所述压力状态参数确定所述轮式作业机械的行驶工况，包括：The step S200: Determining the driving conditions of the wheeled working machine according to the pressure state parameter includes:

步骤S211：判断所述第一压力是否大于或等于第一压力阈值，生成第一判断结果；Step S211: Determine whether the first pressure is greater than or equal to the first pressure threshold, and generate a first judgment result;

若所述第一判断结果为是，执行步骤S212：确定所述行驶工况为第一工况；If the first judgment result is yes, execute step S212: determine that the driving condition is the first working condition;

若所述第一判断结果为否，执行步骤S213：判断所述第一压力是否小于或等于第二压力阈值，生成第二判断结果；If the first judgment result is no, perform step S213: judge whether the first pressure is less than or equal to the second pressure threshold, and generate a second judgment result;

若所述第二判断结果为是，执行步骤S214：确定所述行驶工况为第二工况；If the second judgment result is yes, step S214 is executed: determine that the driving condition is the second working condition;

若所述第二判断结果为否，执行步骤S215：确定所述行驶工况为第三工况；If the second judgment result is no, perform step S215: determine that the driving condition is the third working condition;

其中，所述第一压力阈值大于所述第二压力阈值。Wherein, the first pressure threshold is greater than the second pressure threshold.
根据权利要求2所述的轮式作业机械驱动控制方法，其中，The wheeled working machine drive control method according to claim 2, wherein:

所述步骤S300：根据所述行驶工况控制所述轮式作业机械的前轮驱动机构的输出压力，包括：The step S300: controlling the output pressure of the front wheel drive mechanism of the wheeled working machine according to the driving conditions includes:

当所述行驶工况为第一工况时，执行步骤S310：控制所述前轮驱动机构以第一目标压力工作；When the driving condition is the first working condition, step S310 is executed: control the front wheel drive mechanism to work at the first target pressure;

当所述行驶工况为第二工况时，执行步骤S320：控制所述前轮驱动机构以第二目标压力工作；When the driving condition is the second working condition, step S320 is executed: control the front wheel drive mechanism to work at the second target pressure;

当所述行驶工况为第三工况时，执行步骤S330：控制所述前轮驱动机构以当前的输出压力工作；When the driving condition is the third working condition, step S330 is executed: control the front-wheel drive mechanism to work at the current output pressure;

其中，所述第一目标压力大于所述第二目标压力。Wherein, the first target pressure is greater than the second target pressure.
根据权利要求3所述的轮式作业机械驱动控制方法，其中，The wheeled working machine drive control method according to claim 3, wherein:

所述第一目标压力为所述前轮驱动机构的最大输出压力；The first target pressure is the maximum output pressure of the front wheel drive mechanism;

所述第二目标压力在第一范围内，且所述第一范围的最大值小于所述第一目标压力。The second target pressure is within a first range, and the maximum value of the first range is less than the first target pressure.
根据权利要求4所述的轮式作业机械驱动控制方法，其中，The wheeled working machine drive control method according to claim 4, wherein:

所述步骤S320：控制所述前轮驱动机构以第二目标压力工作，包括：The step S320: controlling the front wheel drive mechanism to work at the second target pressure includes:

步骤S321：获取所述前轮驱动机构的第二压力；Step S321: Obtain the second pressure of the front wheel drive mechanism;

步骤S322：判断所述第二压力是否处于所述第一范围内，生成第三判断结果；Step S322: Determine whether the second pressure is within the first range, and generate a third judgment result;

若所述第三判断结果为是，再次执行所述步骤S322；If the third judgment result is yes, execute step S322 again;

若所述第三判断结果为否，执行步骤S323：将所述第二压力调整至所述第二目标压力。If the third judgment result is no, step S323 is executed: adjust the second pressure to the second target pressure.
根据权利要求5所述的轮式作业机械驱动控制方法，其中，The wheeled working machine drive control method according to claim 5, wherein:

所述第二目标压力在第二范围内；The second target pressure is within a second range;

其中，所述第二范围处于所述第一范围内。Wherein, the second range is within the first range.
根据权利要求1至6中任一项所述的轮式作业机械驱动控制方法，其中，The wheeled working machine drive control method according to any one of claims 1 to 6, wherein:

通过调节所述前轮驱动机构的多路阀工作电流，以控制所述前轮驱动机构的输出压力。The output pressure of the front wheel drive mechanism is controlled by adjusting the operating current of the multi-way valve of the front wheel drive mechanism.
一种驱动控制***，包括：A drive control system including:

后轮驱动机构；Rear wheel drive mechanism;

前轮驱动机构；front wheel drive mechanism;

后轮检测组件，用于检测所述后轮驱动机构的压力状态参数；a rear wheel detection component, used to detect the pressure state parameters of the rear wheel drive mechanism;

前轮检测组件，用于检测所述前轮驱动机构的输出压力；A front wheel detection component used to detect the output pressure of the front wheel drive mechanism;

控制器，与所述后轮驱动机构、所述前轮驱动机构、所述后轮检测组件以及所述前轮检测组件通信连接，以控制所述后轮驱动机构和所述前轮驱动机构工作，并实现如权利要求1至7中任一项所述的轮式作业机械驱动控制方法。A controller communicatively connected with the rear wheel drive mechanism, the front wheel drive mechanism, the rear wheel detection assembly and the front wheel detection assembly to control the operation of the rear wheel drive mechanism and the front wheel drive mechanism , and realize the wheeled working machine drive control method as described in any one of claims 1 to 7.
根据权利要求8所述的驱动控制***，其中，The drive control system according to claim 8, wherein:

所述后轮驱动机构包括：The rear wheel drive mechanism includes:

后轮驱动泵，所述后轮驱动泵的输入端适于与所述轮式作业机械的动力***传动连接；A rear-wheel drive pump, the input end of the rear-wheel drive pump is suitable for transmission connection with the power system of the wheeled working machine;

后轮驱动马达，所述后轮驱动马达通过液压管路与所述后轮驱动泵连接，所述后轮驱动马达的输出端与后轮传动连接；Rear wheel drive motor, the rear wheel drive motor is connected to the rear wheel drive pump through a hydraulic pipeline, and the output end of the rear wheel drive motor is connected to the rear wheel transmission;

所述前轮驱动机构包括：The front-wheel drive mechanism includes:

前轮驱动泵，所述前轮驱动泵的输入端适于与所述动力***传动连接；A front-wheel drive pump, the input end of the front-wheel drive pump is suitable for transmission connection with the power system;

前轮驱动马达，所述前轮驱动马达的输出端与前轮传动连接；A front-wheel drive motor, the output end of the front-wheel drive motor is connected to the front wheel transmission;

前轮多路阀，所述前轮多路阀的不同阀口分别通过液压管路与所述前轮驱动泵和所述前轮驱动马达连接，以控制所述前轮驱动泵对所述前轮驱动马达供油的供油量；Front wheel multi-way valve, different valve ports of the front wheel multi-way valve are respectively connected to the front wheel drive pump and the front wheel drive motor through hydraulic pipelines to control the front wheel drive pump to the front wheel drive pump. The amount of oil supplied to the wheel drive motor;

所述后轮检测组件包括：The rear wheel detection component includes:

后轮压力传感器，设于所述后轮驱动马达与所述后轮驱动泵之间的液压管路中；A rear wheel pressure sensor located in the hydraulic pipeline between the rear wheel drive motor and the rear wheel drive pump;

所述前轮检测组件包括：The front wheel detection component includes:

前轮压力传感器，设于所述前轮驱动马达与所述前轮多路阀之间的液压管路中。A front wheel pressure sensor is provided in the hydraulic pipeline between the front wheel drive motor and the front wheel multi-way valve.
一种轮式作业机械，包括：A wheeled working machine, including:

车体；car body;

行驶机构，与所述车体连接，所述行驶机构包括后轮和前轮；A driving mechanism is connected to the vehicle body, and the driving mechanism includes rear wheels and front wheels;

如权利要求8或9所述的驱动控制***，设于所述车体上，所述后轮驱动机构与所述后轮传动连接；所述前轮驱动机构与所述前轮传动连接。The drive control system according to claim 8 or 9 is provided on the vehicle body, the rear wheel drive mechanism is transmission connected to the rear wheel, and the front wheel drive mechanism is transmission connection to the front wheel.
一种电子设备，包括存储器、处理器及存储在存储器上并可在处理器上运行的计算机程序，处理器执行计算机程序时实现如权利要求1至7中任一项所述的轮式作业机械驱动控制方法。An electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the wheeled working machine as claimed in any one of claims 1 to 7 is implemented. Drive control method.
一种计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器执行时实现如权利要求1至7中任一项所述的轮式作业机械驱动控制方法。A computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the wheeled working machine drive control method as claimed in any one of claims 1 to 7 is implemented.