CN114683843A - Method for controlling a hydraulic auxiliary drive system, processor and crane - Google Patents

Abstract

Embodiments of the present application provide a method, a processor, a crane, and a machine-readable storage medium for controlling a hydraulic auxiliary drive system. The method includes: determining a first torque output by a mechanical drive axle of the crane; determining a second torque output by a hydraulic drive axle; and adjusting the output of the hydraulic drive axle when the difference between the first torque and the second torque is greater than a preset difference the magnitude of the torque. Through the above technical solutions, it can be ensured that the torque output by the hydraulic drive axle and the torque output by the mechanical drive axle satisfy the set distribution relationship, thereby reducing the useless power consumption between different power sources and improving the power and economy of the vehicle.

Description

Method, processor and crane for controlling a hydraulic auxiliary drive system

technical field

The present application relates to the technical field of construction machinery, and in particular, to a method, a processor, a crane, and a machine-readable storage medium for controlling a hydraulic auxiliary drive system.

Background technique

Large cranes are mainly used in urban construction, bridges, wind power and other markets, covering plains, hills and mountains. With the rapid development of the market, users have put forward higher requirements for the dynamic performance of cranes during heavy-load transitions. The mechanical drive axle driven by the traditional chassis engine has exerted its maximum capability due to the constraints of conditions. Therefore, the hydraulic auxiliary drive system is used to drive the hydraulic drive axle. Providing additional power has become one of the main research directions.

In the prior art, the hydraulic auxiliary drive system usually adopts an open-loop control strategy. After the vehicle confirms the use of the hydraulic drive function and determines that the set conditions are met, the hydraulic auxiliary drive system is activated to drive, and the hydraulic drive axle is controlled to achieve the set torque and vehicle speed. . In the existing control strategy, the output torque of the hydraulic drive axle is a fixed value. However, the torque of the mechanical drive axle changes gradually during the starting process of the crane. The torque of the hydraulic drive axle and the torque of the mechanical drive axle do not match during the starting process. It will lead to the useless consumption of power between different power sources, thereby reducing the power and economy of the vehicle.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present application is to provide a method, a processor, a crane and a machine-readable storage medium for controlling a hydraulic auxiliary drive system.

In order to achieve the above object, a first aspect of the present application provides a method for controlling a hydraulic auxiliary drive system, which is applied to a crane. The hydraulic auxiliary drive system includes a hydraulic drive axle, and the method includes:

determining the first torque output by the mechanical drive axle of the crane;

Determine the second torque output by the hydraulic transaxle;

When the difference between the first torque and the second torque is greater than the preset difference, the magnitude of the torque output by the hydraulic transaxle is adjusted.

Optionally, determining the first torque output by the mechanical drive axle of the crane includes:

Obtain the rotational speed of the crane's chassis engine and the load rate of the chassis engine;

Determine the torque of the chassis engine according to the speed of the chassis engine, the load rate of the chassis engine and the external characteristic curve of the chassis engine;

The first torque is determined according to the torque of the chassis engine, the gear of the transmission of the crane and the transmission speed ratio of the mechanical transmission chain of the crane.

Optionally, the hydraulic auxiliary drive system further includes a hydraulic drive motor;

Determine the second torque output from the hydraulic transaxle, including:

Obtain the pressure of the hydraulic drive motor and the displacement of the hydraulic drive motor;

The second torque is determined according to the pressure of the hydraulic drive motor, the displacement of the hydraulic drive motor and the transmission speed ratio of the hydraulic transaxle.

Optionally, adjust the magnitude of the torque output by the hydraulic drive axle, including:

Adjust the displacement of the hydraulic drive motor to adjust the torque output by the hydraulic drive axle.

Optionally, the method further includes:

When the first torque is smaller than the second torque, the magnitude of the torque output by the hydraulic transaxle is adjusted.

Optionally, the method further includes:

Determine whether a liquid flood start command is received;

When it is determined that a liquid drive start command is received, the hydraulic auxiliary drive system is controlled to drive.

Optionally, the hydraulic auxiliary drive system further includes a boarding engine and a hydraulically driven oil pump;

Control the hydraulic auxiliary drive system to drive, including:

Control the starting of the engine on the vehicle to drive the hydraulically driven oil pump.

Optionally, the method further includes:

determining the first vehicle speed of the first wheel driven by the mechanical transaxle;

determining the second vehicle speed of the second wheel driven by the hydraulic transaxle;

When the difference between the first vehicle speed and the second vehicle speed is outside the allowable range, the magnitude of the vehicle speed of the second wheel is adjusted.

Optionally, determining the first vehicle speed of the first wheel driven by the mechanical transaxle includes:

Get the speed of the crane's transmission;

The first vehicle speed is determined according to the rotational speed of the transmission, the gear position of the transmission, the transmission speed ratio of the mechanical transmission chain and the diameter of the first wheel.

Optionally, the hydraulic auxiliary drive system further includes a hydraulic drive motor;

Determine the second vehicle speed of the second wheel driven by the hydraulic transaxle, including:

Get the rotational speed of the hydraulic drive motor;

The second vehicle speed is determined according to the rotational speed of the hydraulic drive motor, the transmission speed ratio of the hydraulic drive axle and the diameter of the second wheel.

Optionally, adjusting the size of the vehicle speed of the second wheel includes:

The displacement of the hydraulic drive motor is adjusted to adjust the speed of the second wheel.

Optionally, the hydraulic auxiliary drive system further includes a boarding engine and a hydraulically driven oil pump;

Adjust the speed of the second wheel, including:

Adjust the speed of the engine on the vehicle and/or the flow rate of the hydraulically driven oil pump to adjust the speed of the second wheel.

A second aspect of the present application provides a processor configured to perform the above-described method for controlling a hydraulic auxiliary drive system.

A third aspect of the present application provides a crane, comprising:

hydraulic auxiliary drive systems; and

the aforementioned processor.

A fourth aspect of the present application provides a machine-readable storage medium having instructions stored on the machine-readable storage medium, the instructions, when executed by a processor, cause the processor to be configured to execute the above-mentioned method for controlling a hydraulic auxiliary drive systematic approach.

Through the above technical solution, that is, by determining the first torque output by the mechanical drive axle of the crane, and determining the second torque output by the hydraulic drive axle, and when the difference between the first torque and the second torque is greater than the preset difference, Adjust the magnitude of the torque output by the hydraulic drive axle, so that the torque output by the hydraulic drive axle follows the torque output by the mechanical drive axle in real time. distribution relationship, thereby reducing the useless consumption of power between different power sources and improving the power and economy of the vehicle.

Other features and advantages of the embodiments of the present application will be described in detail in the detailed description section that follows.

Description of drawings

The accompanying drawings are used to provide further understanding of the embodiments of the present application, and constitute a part of the specification, and are used to explain the embodiments of the present application together with the following specific embodiments, but do not constitute limitations to the embodiments of the present application. In the attached image:

1 is a schematic flowchart of a method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application;

FIG. 2 is a schematic flowchart of step S11 in the method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application;

3 is a schematic flowchart of step S12 in the method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application;

FIG. 4 is another schematic flowchart of the method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present invention;

5 is a schematic flowchart of step S14 in the method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application;

6 is a schematic flowchart of step S15 in the method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application;

FIG. 7 is an internal structure diagram of a computer device provided in an embodiment of the present application.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application more clear, 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. It should be understood that the The specific embodiments described are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.

FIG. 1 is a schematic flowchart of a method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application. As shown in FIG. 1 , in an embodiment of the present application, a method for controlling a hydraulic auxiliary drive system is provided, which is applied to a crane. The hydraulic auxiliary drive system includes a hydraulic drive axle, and the method includes:

Step S11: determine the first torque output by the mechanical drive axle of the crane;

Step S12: determining the second torque output by the hydraulic drive axle;

Step S13: When the difference between the first torque and the second torque is greater than a preset difference, adjust the magnitude of the torque output by the hydraulic drive axle.

Specifically, large cranes usually have two power sources: the chassis engine and the engine on the vehicle. When the mechanical drive axle driven by the chassis engine cannot meet the driving force required for the crane to climb uphill with heavy loads or get out of trouble on the road with poor working conditions , can start the engine on the car, drive the hydraulic drive axle through the hydraulic auxiliary drive system, and provide auxiliary driving force for the crane. In step S11 and step S12, after determining the first torque output by the mechanical transaxle and the second torque output by the hydraulic transaxle, respectively, the process proceeds to step S13. In step S13, it is determined whether the difference between the first torque and the second torque is greater than the preset difference, and when the difference between the first torque and the second torque is greater than the preset difference, the magnitude of the torque output by the hydraulic drive axle is adjusted , so that the torque output by the hydraulic drive axle follows the torque output by the mechanical drive axle in real time. Through the above methods, it can be ensured that the torque output by the hydraulic drive axle and the torque output by the mechanical drive axle satisfy the set distribution relationship, thereby reducing the useless power consumption between different power sources and improving the power and economy of the vehicle.

In practical application, the PID (Proportion Integral Differential) algorithm can be used to control the difference between the first torque and the second torque in real time △T=|T ₁ -T ₂ |≤ set value, where T ₁ is the first torque, T ₂ is the second torque, which ensures that the torque output by the hydraulic drive axle and the torque output by the mechanical drive axle meet a certain relationship requirement. The torque output by the hydraulic drive axle follows the torque output by the mechanical drive axle in real time, and adjusts accordingly to ensure that each drive of the vehicle is driven. The axle torque satisfies the set distribution relationship.

Please refer to FIG. 2 , which is a schematic flowchart of step S11 in the method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application. Determining the first torque output by the mechanical drive axle of the crane in step S11 may include the following steps:

Step S111: obtaining the rotational speed of the chassis engine of the crane and the load rate of the chassis engine;

Step S112: Determine the torque of the chassis engine according to the rotational speed of the chassis engine, the load rate of the chassis engine, and the external characteristic curve of the chassis engine;

Step S113: Determine the first torque according to the torque of the chassis engine, the gear of the transmission of the crane, and the transmission speed ratio of the mechanical transmission chain of the crane.

Specifically, the chassis engine transmits power to a mechanical transaxle through a transmission and transfer case. In step S111, the load rate, also known as the load rate, is a relative concept of the torque percentage of the engine at a certain speed. The speed and load rate of the chassis engine can be obtained directly from the chassis engine controller of the crane, and then step S112 is entered. In step S112, the external characteristic curve of the engine refers to the curve of the measured power or torque changing with the rotational speed when the engine is fully loaded, and the torque of the chassis engine can be calculated according to the rotational speed, load rate and external characteristic curve of the chassis engine. . Furthermore, in step S113, the first torque output by the mechanical transaxle is determined according to the torque of the chassis engine, the gear position of the crane's transmission, and the transmission speed ratio of the crane's mechanical transmission chain. The transmission speed ratio of the mechanical transmission chain includes the transmission speed ratio corresponding to each gear of the transmission, the transmission speed ratio of the transfer case, and the transmission speed ratio of the mechanical drive axle.

In one embodiment, the hydraulic auxiliary drive system further includes a hydraulic drive motor. Please refer to FIG. 3 , which is a schematic flowchart of step S12 in the method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application. Determining the second torque output by the hydraulic drive axle in step S12 may include the following steps:

Step S121: obtaining the pressure of the hydraulic drive motor and the displacement of the hydraulic drive motor;

Step S122: Determine the second torque according to the pressure of the hydraulic drive motor, the displacement of the hydraulic drive motor and the transmission speed ratio of the hydraulic drive axle.

Specifically, the hydraulic drive motor is drivingly connected with the hydraulic transaxle. In step S121, after acquiring the pressure of the hydraulic drive motor and the displacement of the hydraulic drive motor, the process proceeds to step S122. In step S122, the torque of the hydraulic drive motor can be calculated according to the pressure and displacement of the hydraulic drive motor, and then the second torque output by the hydraulic drive axle can be determined according to the transmission speed ratio of the hydraulic drive axle.

In one embodiment, adjusting the magnitude of the torque output by the hydraulic drive axle in step S13 may include:

Adjust the displacement of the hydraulic drive motor to adjust the torque output by the hydraulic drive axle.

Specifically, the output torque of the hydraulic drive motor is determined by the displacement of the hydraulic drive motor and the pressure of the hydraulic drive motor. Therefore, changing the displacement of the hydraulic drive motor can adjust the output torque of the hydraulic drive motor, and then adjust the output torque of the hydraulic drive axle. magnitude of torque. In practical application, the displacement of the hydraulic drive motor can be changed by adjusting the current of the hydraulic drive motor.

In one embodiment, the method may further include:

When the first torque is smaller than the second torque, the magnitude of the torque output by the hydraulic transaxle is adjusted.

Specifically, when it is determined that the first torque is smaller than the second torque, the magnitude of the torque output by the hydraulic drive axle is adjusted to ensure that the torque output by the hydraulic drive axle cannot be greater than the torque output by the mechanical drive axle at any time, thereby protecting the hydraulic drive The axle is not damaged by excessive torque.

In one embodiment, the method may further include:

Determine whether a liquid flood start command is received;

When it is determined that a liquid drive start command is received, the hydraulic auxiliary drive system is controlled to drive.

Specifically, when the operator presses the liquid drive switch, a liquid drive start command can be generated, and after the system receives the liquid drive start command, it controls the hydraulic auxiliary drive system to drive to provide auxiliary driving force for the crane. In practical application, the liquid drive switch can be set in the cab, which is convenient for the operator to manually turn on or off the liquid drive mode according to the road conditions of the crane.

In one embodiment, the hydraulic auxiliary drive system further includes a boarding engine and a hydraulic drive oil pump, and driving the hydraulic auxiliary drive system controlled in the above steps may include:

Control the starting of the engine on the vehicle to drive the hydraulically driven oil pump.

Specifically, the boarding engine is drivingly connected with the hydraulically driven oil pump. When the system receives the hydraulic drive start command, it controls the engine on board to start, and detects whether the system is normal, such as whether the speed of the engine on board reaches the preset speed, and whether the pressure of the hydraulic drive oil pump reaches the preset pressure. After the detection is normal, it controls the hydraulic pressure The hydraulic reversing valve between the driving oil pump and the hydraulic driving motor is opened, so that the hydraulic oil in the hydraulic oil tank enters the hydraulic driving motor through the hydraulic driving oil pump to drive the hydraulic driving motor to rotate, and then transmits the power to the hydraulic driving axle through the hydraulic driving motor. , and finally output the auxiliary driving force to realize the smooth climbing and escape of the crane during the heavy-load driving process.

Please refer to FIG. 4 , which is another schematic flowchart of a method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present invention. Based on steps S11 to S13, the method may further include the following steps:

Step S14: determining the first vehicle speed of the first wheel driven by the mechanical transaxle;

Step S15: determining the second vehicle speed of the second wheel driven by the hydraulic transaxle;

Step S16: When the difference between the first vehicle speed and the second vehicle speed is outside the allowable range, adjust the magnitude of the vehicle speed of the second wheel.

Specifically, in step S14 and step S15, after the torque output by the hydraulic transaxle and the torque output by the mechanical transaxle satisfy the set distribution relationship, the first vehicle speed and hydraulic drive of the first wheel driven by the mechanical transaxle are further determined. The second vehicle speed of the second wheel driven by the axle, and then proceed to step S16. In step S16, determine whether the difference between the first vehicle speed and the second vehicle speed is within the allowable range, and when the difference between the first vehicle speed and the second vehicle speed is not within the allowable range, adjust the speed of the second wheel so that the hydraulic drive axle The speed of the second wheel driven by the mechanical drive axle follows the speed of the first wheel driven by the mechanical drive axle in real time to ensure that the speed of the second wheel driven by the hydraulic drive axle and the speed of the first wheel driven by the mechanical drive axle meet certain requirements. The unsynchronized vehicle speed causes the hydraulic drive axle to slip or drag.

In practical application, the PID algorithm can be used to control the difference between the first vehicle speed and the second vehicle speed in real time △V=|V ₁ -V ₂ |≤ set value, where V ₁ is the first vehicle speed and V ₂ is the second vehicle speed , so that the speed of the second wheel driven by the hydraulic drive axle follows the speed of the first wheel driven by the mechanical drive axle in real time, ensuring that the speed of the second wheel driven by the hydraulic drive axle matches the speed of the first wheel driven by the mechanical drive axle. Must request.

Please refer to FIG. 5 , which is a schematic flowchart of step S14 in the method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application. Determining the first vehicle speed of the first wheel driven by the mechanical transaxle in step S14 may include the following steps:

Step S141: obtaining the rotational speed of the transmission of the crane;

Step S142: Determine the first vehicle speed according to the rotational speed of the transmission, the gear position of the transmission, the transmission speed ratio of the mechanical transmission chain and the diameter of the first wheel.

Specifically, in step S141, a rotational speed sensor may be installed on the transmission, the rotational speed of the transmission may be acquired through the rotational speed sensor, and then step S142 is entered. In step S142, the first vehicle speed of the first wheel driven by the mechanical transaxle is determined according to the rotational speed of the transmission, the gear position of the transmission, the transmission speed ratio of the mechanical transmission chain and the diameter of the first wheel.

In practical application, the first vehicle speed of the first wheel driven by the mechanical transaxle can also be determined by the wheel speed of the first wheel driven by the mechanical transaxle and the diameter of the first wheel output by the ABS controller.

In one embodiment, the hydraulic auxiliary drive system further includes a hydraulic drive motor. Please refer to FIG. 6 , which is a schematic flowchart of step S15 in the method for controlling a hydraulic auxiliary drive system provided in an embodiment of the present application. Determining the second vehicle speed of the second wheel driven by the hydraulic transaxle in step S15 may include the following steps:

Step S151: obtaining the rotational speed of the hydraulic drive motor;

Step S152: Determine the second vehicle speed according to the rotational speed of the hydraulic drive motor, the transmission speed ratio of the hydraulic drive axle and the diameter of the second wheel.

Specifically, the hydraulic drive motor is drivingly connected with the hydraulic transaxle. In step S151, after acquiring the rotational speed of the hydraulic drive motor, the process proceeds to step S152. In step S122, the second vehicle speed of the second wheel driven by the hydraulic transaxle may be determined according to the rotational speed of the hydraulic drive motor, the transmission speed ratio of the hydraulic transaxle and the diameter of the second wheel.

In one embodiment, adjusting the size of the vehicle speed of the second wheel in step S16 may include:

The displacement of the hydraulic drive motor is adjusted to adjust the speed of the second wheel.

Specifically, when the flow rate input to the hydraulic drive motor is constant, the rotational speed of the hydraulic drive motor is inversely proportional to the displacement of the hydraulic drive motor, so changing the displacement of the hydraulic drive motor can adjust the rotational speed of the hydraulic drive motor, thereby adjusting the hydraulic drive The second vehicle speed of the second wheel driven by the axle. In practical application, the displacement of the hydraulic drive motor can be changed by adjusting the current of the hydraulic drive motor.

Further, the hydraulic auxiliary drive system also includes an engine for getting on the vehicle and a hydraulic drive oil pump. In an alternative embodiment, adjusting the speed of the second wheel in step S16 may include:

Adjust the speed of the engine on the vehicle and/or the flow rate of the hydraulically driven oil pump to adjust the speed of the second wheel.

Specifically, the speed of the engine on the vehicle can be directly adjusted to change the flow rate of the hydraulic drive oil pump to change the speed of the hydraulic drive motor, thereby adjusting the second vehicle speed of the second wheel driven by the hydraulic drive axle.

Through the above technical solution, that is, by determining the first torque output by the mechanical drive axle of the crane, and determining the second torque output by the hydraulic drive axle, and when the difference between the first torque and the second torque is greater than the preset difference, Adjust the magnitude of the torque output by the hydraulic drive axle, so that the torque output by the hydraulic drive axle follows the torque output by the mechanical drive axle in real time. distribution relationship, thereby reducing the useless consumption of power between different power sources and improving the power and economy of the vehicle.

Embodiments of the present application further provide a processor, where the processor is used to run a program, wherein, when the program runs, a method for controlling a hydraulic auxiliary drive system is executed, which is applied to a crane. The hydraulic auxiliary drive system includes a hydraulic drive axle, and the method includes the following: Method steps: determine the first torque output by the mechanical drive axle of the crane; determine the second torque output by the hydraulic drive axle; when the difference between the first torque and the second torque is greater than a preset difference, adjust the output of the hydraulic drive axle the magnitude of the torque.

In one embodiment, determining the first torque output by the mechanical drive axle of the crane includes: obtaining the load rate of the chassis engine of the crane; determining the torque of the chassis engine and the rotational speed of the chassis engine according to the load rate and the external characteristic curve of the chassis engine; The first torque is determined according to the torque of the chassis engine, the rotational speed of the chassis engine, the gear of the transmission of the crane and the transmission speed ratio of the mechanical transmission chain of the crane.

In one embodiment, the hydraulic auxiliary drive system further includes a hydraulic drive motor; determining the second torque output by the hydraulic drive axle includes: obtaining the pressure of the hydraulic drive motor and the displacement of the hydraulic drive motor; The displacement of the drive motor and the transmission ratio of the hydraulic transaxle determine the second torque.

In one embodiment, adjusting the magnitude of the torque output by the hydraulic drive axle includes: adjusting the displacement of the hydraulic drive motor to adjust the magnitude of the torque output by the hydraulic drive axle.

In one embodiment, the method further includes: when the first torque is smaller than the second torque, adjusting the magnitude of the torque output by the hydraulic transaxle.

In one embodiment, the method further includes: determining whether a liquid drive start command is received; in the case of determining that the liquid drive start command is received, controlling the hydraulic auxiliary drive system to drive.

In one embodiment, the hydraulic auxiliary drive system further includes a boarding engine and a hydraulic driving oil pump; controlling the hydraulic auxiliary driving system to drive includes: controlling the boarding engine to start to drive the hydraulic driving oil pump.

In one embodiment, the method further includes: determining a first vehicle speed of a first wheel driven by a mechanical transaxle; determining a second vehicle speed of a second wheel driven by a hydraulic transaxle; at the difference between the first vehicle speed and the second vehicle speed If it is outside the allowable range, adjust the speed of the second wheel.

In one embodiment, determining the first vehicle speed of the first wheel driven by the mechanical transaxle includes: obtaining the rotational speed of the transmission of the crane; according to the rotational speed of the transmission, the gear position of the transmission, the transmission speed ratio of the mechanical transmission chain and the The diameter determines the first speed.

In one embodiment, the hydraulic auxiliary drive system further includes a hydraulic drive motor; determining the second vehicle speed of the second wheel driven by the hydraulic drive axle includes: acquiring the rotational speed of the hydraulic drive motor; The transmission ratio and the diameter of the second wheel determine the second vehicle speed.

In one embodiment, adjusting the size of the vehicle speed of the second wheel includes: adjusting the displacement of the hydraulic drive motor to adjust the size of the vehicle speed of the second wheel.

In one embodiment, the hydraulic auxiliary drive system further includes a boarding engine and a hydraulically driven oil pump; adjusting the speed of the second wheel includes: adjusting the rotational speed of the boarding engine and/or the flow rate of the hydraulically driven oil pump to adjust the second wheel The size of the speed of the wheel.

It should be noted that the specific process for the processor to perform the above operations can be found in the method embodiments, and details are not repeated here.

Based on the hardware implementation of the above program modules, and in order to implement the method of the embodiment of the present application, the embodiment of the present application further provides a crane, including: a hydraulic auxiliary drive system; and the above-mentioned processor.

In one embodiment, the crane may also include:

Communication interface, which can exchange information with other devices (such as network devices, terminals, etc.);

Memory for storing computer programs that can be executed on the processor.

The processor includes a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set, and the methods provided by the above one or more technical solutions can be implemented by adjusting kernel parameters.

Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory, such as read only memory (ROM) or flash memory (flash RAM), the memory including at least one memory chip.

In practical applications, the various components in the crane can be coupled together through a bus system. It can be understood that the bus system is used to realize the connection communication between these components. In addition to the data bus, the bus system also includes a power bus, a control bus and a status signal bus.

The memory in the embodiments of the present application is used to store various types of data to support the operation of the crane. Examples of such data include: any computer program used to operate on a crane.

The methods disclosed in the above embodiments of the present application may be applied to a processor, or implemented by a processor. A processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above-mentioned method can be completed by a hardware integrated logic circuit in a processor or an instruction in the form of software. The above-mentioned processor may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The processor may implement or execute the methods, steps, and logical block diagrams disclosed in the embodiments of this application. A general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a storage medium, the storage medium is located in a memory, and the processor reads the information in the memory, and completes the steps of the foregoing method in combination with its hardware.

In an exemplary embodiment, the processor may be implemented by one or more of an Application Specific Integrated Circuit (AS IC, Application Specific Integrated Circuit), a DSP, a Programmable Logic Device (PLD, Programmable Logic Device), a Complex Programmable Logic Device (CPLD, Complex Programmable LogicDevice), Field Programmable Gate Array (FPGA, Field Programmable Gate Array), general-purpose processor, controller, microcontroller (MCU, Micro Controller Unit), microprocessor (Microprocessor), or other electronic components to achieve, for carrying out the aforementioned method.

It can be understood that the memory in this embodiment of the present application may be a volatile memory or a non-volatile memory, and may also include both volatile and non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM, ReadOnly Memory), a programmable read-only memory (PROM, Programmable Read Only Memory), an erasable programmable read-only memory (EPROM, Erasable Programmable Read Only Memory) , Electrically Erasable Programmable Read Only Memory (EEPROM, Electrically Erasable Programmable Read Only Memory), Magnetic Random Access Memory (FRAM, ferromagnetic random access memory), Flash Memory (FlashMemory), Magnetic Surface Memory, Optical Disc, or only CD ROM (Compact Disc Read Only Memory); magnetic surface memory can be disk memory or tape memory. The volatile memory may be random access memory (RAM, Random Access Memory), which is used as an external cache memory. By way of example and not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory Memory (DRAM, Dynamic Random Access Memory), Synchronous Dynamic Random Access Memory (SDRAM, Synchronous Dynamic Random Access Memory), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM, Double Data Rate Synchronous Dynamic Random Access Memory), Enhanced Type Synchronous Dynamic Random Access Memory (ESDRAM, Enhanced Synchronous Dynamic Random Access Memory), Synchronous Link Dynamic Random Access Memory (SLDRAM, SyncLink Dynamic Random Access Memory), Direct Memory Bus Random Access Memory (DRRAM, Direct Rambus Random Access Memory). The memories described in the embodiments of the present application are intended to include, but not be limited to, these and any other suitable types of memories.

Embodiments of the present application further provide a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and the instructions are executed by a processor to control a method for a hydraulic auxiliary drive system, which is applied to a crane, a hydraulic auxiliary drive system A hydraulic drive axle is included, and the method includes the following method steps: determining the first torque output by the mechanical drive axle of the crane; determining the second torque output by the hydraulic drive axle; when the difference between the first torque and the second torque is greater than a preset difference Under the circumstance, adjust the magnitude of the torque output by the hydraulic drive axle.

In one embodiment, determining the first torque output by the mechanical drive axle of the crane includes: obtaining the load rate of the chassis engine of the crane; determining the torque of the chassis engine and the rotational speed of the chassis engine according to the load rate and the external characteristic curve of the chassis engine; The first torque is determined according to the torque of the chassis engine, the rotational speed of the chassis engine, the gear of the transmission of the crane and the transmission speed ratio of the mechanical transmission chain of the crane.

In one embodiment, the hydraulic auxiliary drive system further includes a hydraulic drive motor; determining the second torque output by the hydraulic drive axle includes: obtaining the pressure of the hydraulic drive motor and the displacement of the hydraulic drive motor; The displacement of the drive motor and the transmission ratio of the hydraulic transaxle determine the second torque.

In one embodiment, adjusting the magnitude of the torque output by the hydraulic drive axle includes: adjusting the displacement of the hydraulic drive motor to adjust the magnitude of the torque output by the hydraulic drive axle.

In one embodiment, the method further includes: when the first torque is smaller than the second torque, adjusting the magnitude of the torque output by the hydraulic transaxle.

In one embodiment, the method further includes: determining whether a liquid drive start command is received; in the case of determining that the liquid drive start command is received, controlling the hydraulic auxiliary drive system to drive.

In one embodiment, the hydraulic auxiliary drive system further includes a boarding engine and a hydraulic driving oil pump; controlling the hydraulic auxiliary driving system to drive includes: controlling the boarding engine to start to drive the hydraulic driving oil pump.

In one embodiment, the method further includes: determining a first vehicle speed of a first wheel driven by a mechanical transaxle; determining a second vehicle speed of a second wheel driven by a hydraulic transaxle; at the difference between the first vehicle speed and the second vehicle speed If it is outside the allowable range, adjust the speed of the second wheel.

In one embodiment, determining the first vehicle speed of the first wheel driven by the mechanical transaxle includes: obtaining the rotational speed of the transmission of the crane; according to the rotational speed of the transmission, the gear position of the transmission, the transmission speed ratio of the mechanical transmission chain and the The diameter determines the first speed.

In one embodiment, the hydraulic auxiliary drive system further includes a hydraulic drive motor; determining the second vehicle speed of the second wheel driven by the hydraulic drive axle includes: acquiring the rotational speed of the hydraulic drive motor; The transmission ratio and the diameter of the second wheel determine the second vehicle speed.

In one embodiment, adjusting the size of the vehicle speed of the second wheel includes: adjusting the displacement of the hydraulic drive motor to adjust the size of the vehicle speed of the second wheel.

In one embodiment, the hydraulic auxiliary drive system further includes a boarding engine and a hydraulically driven oil pump; adjusting the speed of the second wheel includes: adjusting the rotational speed of the boarding engine and/or the flow rate of the hydraulically driven oil pump to adjust the second wheel The size of the speed of the wheel.

In one embodiment, a computer device is provided, and the computer device may be a terminal, and its internal structure diagram may be as shown in FIG. 7 . The computer equipment includes a processor A01, a network interface A02, a display screen A04, an input device A05 and a memory (not shown in the figure) connected by a system bus. Among them, the processor A01 of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory A03 and a non-volatile storage medium A06. The nonvolatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 in the nonvolatile storage medium A06. The network interface A02 of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor A01, the method of any one of the above-mentioned embodiments is implemented. The display screen A04 of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device A05 of the computer equipment can be a touch layer covered on the display screen, or a button, a trackball or a touch screen set on the shell of the computer equipment. It can also be an external keyboard, trackpad or mouse.

Those skilled in the art can understand that the structure shown in FIG. 7 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

An embodiment of the present application provides a device, where the device includes a processor, a memory, and a program stored in the memory and executable on the processor, and the processor implements the method of any one of the foregoing embodiments when the processor executes the program.

The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute the method initialized with any of the above embodiments.

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-persistent memory in computer readable media, random access memory (RAM) and/or non-volatile memory in the form of, for example, read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology. Information may be computer readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device comprising a series of elements includes not only those elements, but also Other elements not expressly listed, or which are inherent to such a process, method, article of manufacture, or apparatus are also included. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in the process, method, article of manufacture or apparatus that includes the element.

The above are merely examples of the present application, and are not intended to limit the present application. Various modifications and variations of this application are possible for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the scope of the claims of this application.

Claims (15)

1. A method for controlling a hydraulic auxiliary drive system, characterized in that, when applied to a crane, the hydraulic auxiliary drive system comprises a hydraulic drive axle, and the method comprises: determining the first torque output by the mechanical drive axle of the crane; determining a second torque output by the hydraulic transaxle; When the difference between the first torque and the second torque is greater than a preset difference, the magnitude of the torque output by the hydraulic transaxle is adjusted. 2. The method according to claim 1, wherein the determining the first torque output by the mechanical drive axle of the crane comprises: Obtain the rotational speed of the chassis engine of the crane and the load rate of the chassis engine; Determine the torque of the chassis engine according to the rotational speed of the chassis engine, the load rate of the chassis engine and the external characteristic curve of the chassis engine; The first torque is determined according to the torque of the chassis engine, the gear of the transmission of the crane and the transmission speed ratio of the mechanical transmission chain of the crane. 3. The method of claim 1, wherein the hydraulic auxiliary drive system further comprises a hydraulic drive motor; The determining of the second torque output by the hydraulic drive axle includes: obtaining the pressure of the hydraulic drive motor and the displacement of the hydraulic drive motor; The second torque is determined according to the pressure of the hydraulic drive motor, the displacement of the hydraulic drive motor and the transmission speed ratio of the hydraulic transaxle. 4. The method according to claim 3, wherein the adjusting the magnitude of the torque output by the hydraulic drive axle comprises: The displacement of the hydraulic drive motor is adjusted to adjust the magnitude of the torque output by the hydraulic drive axle. 5. The method of claim 1, further comprising: When the first torque is smaller than the second torque, the magnitude of the torque output by the hydraulic transaxle is adjusted. 6. The method of claim 1, further comprising: Determine whether a liquid flood start command is received; When it is determined that the liquid drive start command is received, the hydraulic auxiliary drive system is controlled to drive. 7. The method according to claim 6, wherein the hydraulic auxiliary drive system further comprises a boarding engine and a hydraulically driven oil pump; The controlling of the hydraulic auxiliary drive system to drive includes: Controlling the starting of the onboard engine to drive the hydraulically driven oil pump. 8. The method of claim 1, further comprising: determining the first vehicle speed of the first wheel driven by the mechanical transaxle; determining a second vehicle speed of the second wheel driven by the hydraulic transaxle; When the difference between the first vehicle speed and the second vehicle speed is outside the allowable range, the magnitude of the vehicle speed of the second wheel is adjusted. 9. The method according to claim 8, wherein the determining the first vehicle speed of the first wheel driven by the mechanical transaxle comprises: obtaining the rotational speed of the transmission of the crane; The first vehicle speed is determined according to the rotational speed of the transmission, the gear position of the transmission, the transmission speed ratio of the mechanical transmission chain and the diameter of the first wheel. 10. The method of claim 8, wherein the hydraulic auxiliary drive system further comprises a hydraulic drive motor; The determining of the second vehicle speed of the second wheel driven by the hydraulic transaxle includes: obtaining the rotational speed of the hydraulic drive motor; The second vehicle speed is determined according to the rotational speed of the hydraulic drive motor, the transmission speed ratio of the hydraulic drive axle and the diameter of the second wheel. 11. The method according to claim 10, wherein the adjusting the speed of the second wheel comprises: The displacement of the hydraulic drive motor is adjusted to adjust the magnitude of the vehicle speed of the second wheel. 12. The method according to claim 10, wherein the hydraulic auxiliary drive system further comprises a boarding engine and a hydraulically driven oil pump; The adjusting the size of the vehicle speed of the second wheel includes: The speed of the engine on the vehicle and/or the flow rate of the hydraulically driven oil pump is adjusted to adjust the speed of the second wheel. 13. A processor configured to perform the method for controlling a hydraulic auxiliary drive system according to any one of claims 1 to 12. 14. A crane, characterized in that, comprising: hydraulic auxiliary drive systems; and The processor of claim 13. 15. A machine-readable storage medium having instructions stored thereon, characterized in that the instructions, when executed by a processor, cause the processor to be configured to perform any one of claims 1 to 12. A described method for controlling a hydraulic auxiliary drive system.

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