CN106114508A - A kind of land leveller control system with cruise function and control method - Google Patents
A kind of land leveller control system with cruise function and control method Download PDFInfo
- Publication number
- CN106114508A CN106114508A CN201610521312.6A CN201610521312A CN106114508A CN 106114508 A CN106114508 A CN 106114508A CN 201610521312 A CN201610521312 A CN 201610521312A CN 106114508 A CN106114508 A CN 106114508A
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- CN
- China
- Prior art keywords
- cruise
- speed
- controller
- signal
- land leveller
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/10—Conjoint control of vehicle sub-units of different type or different function including control of change-speed gearings
- B60W10/11—Stepped gearings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/17—Construction vehicles, e.g. graders, excavators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0644—Engine speed
Abstract
The invention discloses a kind of land leveller control system with cruise function and control method, when controller receives the shift signal that CAN handle is transmitted by CAN, send gear signal to electrically controlled gearbox, and realize land leveller with the connection of land leveller back axle by speed traveling corresponding to gear signal by electrically controlled gearbox；Brake signal, gas pedal are connected with controller input port with cruise combination button, controller Gather and input port data judges whether to enter cruise pattern and current rotating speed of target, determines whether that sending fixed speed signal by CAN to electromotor enters cruise pattern according to judged result.The method of the present invention makes operator when operation, it is not necessary to pays close attention to the size of foot throttle, the gear of change speed gear box in real time, thus improves quality and the efficiency of construction, reduces the heavy burdens to workmen；Gear is locked, it is ensured that load under bigger operating mode outside, the stability of vehicle traction during cruise.
Description
Technical field
Design a kind of land leveller control system with cruise function and control method herein, belong to land leveller technology
Field.
Background technology
Land leveller is mainly used in smooth-riding surface and dam etc. and scrapes whole domatic construction, and its construction quality is compared with efficiency of construction
Common construction technology has great advantage, and the key factor embodying its advantage is integration operation, i.e. gathers the CAN line of all functions
Dual-handle operates；And the quality of vehicle travel control system is one of key index weighing land leveller performance quality, machine exists
In work progress, the constant-speed-cruise control system of vehicle to be leaned on makes vehicle at a more stable speeds, drops with this
The labor intensity of low operator, increases the planarization on ground and the efficiency of construction simultaneously.
In the past, the drive-control system of land leveller is all foot throttle stay-supported control engine speed, then by change speed gear box
Gear switch, finally realizes the control of speed, and the artificial control mode of the many employings of this mode ensures Vehicle Speed
The process that steady and vehicle is constructed；Under this kind of control mode, relatively low to the rotating speed of electromotor and the control precision of speed, operation
Personnel are when operating perching knife action, in addition it is also necessary to pay close attention to the size of foot throttle, the gear of change speed gear box in real time, often affect the matter of construction
Amount and efficiency, and bring bigger burden to workmen.
Now, the accelerator mode control of the employing of commercial vehicle industry is moment of torsion control, and what constant speed function was constant is vehicle
Travel speed, engine speed is not fixing, and gears of automotive transmission is not carried out limit control, control method and
Device standardization is relatively strong, but does not meets environment characteristics and the requirement of land leveller.Other have the vehicle of cruise function,
Often use mechanical type or half mechanical type control mode, for the use of land leveller, underaction in operation, and not
Meet the Construction Condition of land leveller.
Land leveller uses the mode of electromotor constant speed control and realizes, and ensures hydraulic system and work to a certain extent
Make the stability of device work.And during cruise, control locking gear, it is ensured that load under bigger operating mode outside,
The stability of vehicle traction.
Summary of the invention
The problem existed for above-mentioned prior art, the present invention provides a kind of land leveller with cruise function to control
System and control method, use CAN to control engine speed and gearbox-gear, and the travel speed making vehicle is the most flat
Surely, make construction quality and efficiency of construction be improved, alleviate the labor intensity of operator simultaneously.
To achieve these goals, the technical solution used in the present invention is:
A kind of land leveller control system with cruise function, it is characterised in that include controller, touch control display, CAN
Bus handle, electrically controlled gearbox, BBG, gas pedal, brake signal and cruise combination button；
When controller receives the shift signal that CAN handle is transmitted by CAN, send gear letter to electrically controlled gearbox
Number, and realize land leveller with the connection of land leveller back axle by electrically controlled gearbox and travel by the speed that gear signal is corresponding；
Brake signal, gas pedal are connected with controller input port with cruise combination button, controller Gather and input end
Mouth data judge whether to enter cruise pattern and current rotating speed of target, determine whether to pass through CAN according to judged result
Bus sends fixed speed signal to BBG and enters cruise pattern.
Cruise combination button includes starting the cruise main switch of combination button dish power supply, sending fixed speed signal
Constant-speed-cruise switch and throttle recover switch.
The control method of a kind of land leveller cruise, it is characterised in that controller receives CAN handle to be passed through
The shift signal that CAN transmits, sends gear signal to electrically controlled gearbox, and by electrically controlled gearbox and land leveller back axle
Connection realizes land leveller and travels by the speed that gear signal is corresponding；
The data signal sent when controller Gather and input port brake signal, gas pedal and cruise combination button is come
Judge whether to enter cruise mode and current rotating speed of target, determine whether to be sent out to EFI by CAN according to judged result
Motivation sends fixed speed signal and enters cruise pattern.
The step adjusting speed is: control engine speed by gas pedal and vehicle is adjusted to target vehicle speed, throttle
Pedal is connected with controller input port, and the magnitude of voltage of the gas pedal that controller gathers is corresponding with the rotating speed of electromotor；Control
Device processed is calculated BBG rotating speed of target and is controlled the actual speed of BBG by CAN order；
Enging_RPM=K * Input_Valve。 ①
In formula, Enging_RPM represents BBG rotating speed of target, K=BBG rotating speed maximum or minima/electricity
Pressure input maximum or minima, Input_Valve is the magnitude of voltage of the gas pedal input that controller detects.
The step starting constant speed is: operation constant-speed-cruise switch storage present speed status information, controller is sent out with EFI
The communication of motivation ECU maintains current rotating speed, and controls accelerator locking display lamp bright instruction lock-out state, makes human pilot the most current
The mode state travelled.
The step that cruise pattern opens and closes is:
Opened or exit cruise mode by constant-speed-cruise switch, constant-speed-cruise switch is connected with controller input port, controls
After device detects the potential change of constant-speed-cruise switch, enter or exit cruise pattern, according to depositing under cruise pattern
The present speed status information of storage, is maintained the current rotating speed of electromotor by controller and BBG ECU communication；
After exiting cruise pattern, BBG rotating speed automatically switches as the corresponding rotating speed controlled by gas pedal.
The step controlling gear is: under normal mode, CAN handle sends target shift according to communication protocol to controller
Position information, and sent corresponding target gear according to the object gear information received to electrically controlled gearbox by controller, by automatically controlled
Change speed gear box controls the travel speed of land leveller according to the velocity interpolation that target gear is corresponding；
Under cruise pattern, the travel speed of land leveller does not increases and decreases with the change limiting gear.
Fine speed adjustment step under cruise pattern is: controller receives the corresponding constant speed that constant-speed-cruise switch sends
After signal, output control signal controls BBG rotating speed and rises with fixing gradient；Controller receives throttle and recovers switch
After the corresponding signal sent, control BBG rotating speed and decline with fixing gradient, realize the constant speed increase and decrease of speed with this.
The pause step of cruise pattern is: the signal pressing brake pedal sends to controller, controller input
Mouth current potential changes, and controller exits cruise pattern, and BBG rotating speed is become idling mode；CAN
Stopping constant speed controlling, 1. BBG rotating speed is controlled according to formula；
The recovering step of cruise pattern is: the triggering signal recovering switch generation by throttle transmits to controller, controller
Perform to recover cruise according to the triggering signal received, control the state that BBG rotating speed returns to store before, it is achieved from
Dynamic recovery cruise state.
Step of giving it the gun during cruise: defeated according to the gas pedal that 1. formula is calculated correspondence by current tachometer
Enter magnitude of voltage, when accelerator pedal exceedes magnitude of voltage corresponding to setting speed, gas pedal 1. control EFI according to formula
The rotating speed of electromotor, during corresponding less than setting speed magnitude of voltage, switches to again cruise pattern, and CAN controls rotating speed
And maintain setting speed.
The beneficial effect that the present invention is reached:
Operator are when operating perching knife action, it is not necessary to pay close attention to the size of foot throttle, the gear of change speed gear box in real time, thus improve
The quality of construction and efficiency, reduce the heavy burdens to workmen.
The mode using the control of electromotor constant speed realizes, and ensures hydraulic system and equipment to a certain extent
The stability of work.
Locking gear is controlled, it is ensured that load under bigger operating mode outside, stablizing of vehicle traction during cruise
Property.
Accompanying drawing explanation
Fig. 1 is the control system block diagram of the present invention.
Fig. 2 is cruise combination button schematic diagram of the present invention.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings
As depicted in figs. 1 and 2, the control system of this land leveller, including controller, touch control display, CAN, automatically controlled speed change
Case, BBG, gas pedal, brake signal and cruise combination button；Cruise combination button includes startup group
Close the cruise main switch 1 of keypad power supply, the constant-speed-cruise switch 2 sending fixed speed signal and throttle and recover switch 3.Brake
Signal, gas pedal are connected with controller input port with cruise combination button, and controller Gather and input mouth data are sentenced
Break and whether enter cruise mode and current rotating speed of target, then send fixed speed signal by bus to BBG；Control
Device receives the shift signal of CAN, sends gear signal to change speed gear box, and eventually through the company of change speed gear box Yu vehicle rear axle
Connect and realize vehicle driving functions, by touch control display, each state and flag bit are shown.
The control method of this land leveller cruise, comprising the concrete steps that of the method:
1) pattern is opened: opens cruise main switch 1, opens cruise mode, constant-speed-cruise switch by constant-speed-cruise switch 2
2 are connected with controller input port, after controller detects corresponding potential change, it is believed that enter cruise mode.
2) control gear: CAN handle passes through CAN, send target gear letter according to communication protocol to controller
Breath, and sent target gear by controller to electrically controlled gearbox, electrically controlled gearbox realize the combination of final gear, patrol in constant speed
Gear increase and decrease is limited under model plane formula.
3) speed is adjusted: controlling BBG rotating speed by gas pedal and vehicle is adjusted to target vehicle speed, throttle is stepped on
Plate is connected with controller input port, and by the rotating speed one_to_one corresponding of the constant interval of gas pedal voltage Yu electromotor.Control
The rotating speed calculated is controlled the actual speed of BBG by device by bus line command.
Enging_RPM=K * Input_Valve ①
In formula, Enging_RPM represents BBG rotating speed of target, and K=engine speed maximum (minima)/voltage is defeated
Entering maximum (minima), Input_Valve is the magnitude of voltage of the gas pedal input that controller detects.
4) constant speed is started: operation constant-speed-cruise switch 2 stores current constant velocity state information, controller and BBG
ECU communication maintains current rotating speed, and exports the bright instruction of accelerator locking display lamp and lock state to touch control display and show.
5) fine speed adjustment of cruise: short by constant-speed-cruise switch 2, after controller receives corresponding signal, will start
Machine rotating speed rises with fixing gradient；Short press throttle recovery button, after controller receives corresponding signal, by BBG rotating speed
Decline with fixing gradient, realize the constant speed increase and decrease of speed with this.
6) time-out of cruise and recovery: pressing brake pedal, controller input port current potential changes, controller
Will move out cruise pattern, and BBG rotating speed is slowly become idling mode.Bus stops constant speed and controls, and EFI is sent out
1. motivation rotating speed will be controlled according to formula.As wanted the cruise pattern recovering originally to set, can recover to open by throttle
Close the cruise state that 3 buttons are automatically renewed.
7) give it the gun: 1. can be calculated the gas pedal input voltage value of correspondence according to formula by current tachometer, work as driving
When member's accelerator pedal exceedes magnitude of voltage corresponding to setting speed, gas pedal 1. control BBG according to formula and turn
Speed, during corresponding less than setting speed magnitude of voltage, switches to again cruise mode, and bus marco rotating speed also maintains setting speed.
8) cruise mode exits: when constant-speed-cruise switch 2 is got to OFF, exits cruise pattern, and EFI starts
Machine rotating speed automatically switches to the mode that gas pedal controls, and is 1. controlled according to formula.
Claims (10)
1. a land leveller control system with cruise function, it is characterised in that include controller, touch control display,
CAN handle, electrically controlled gearbox, BBG, gas pedal, brake signal and cruise combination button；
When controller receives the shift signal that CAN handle is transmitted by CAN, send gear letter to electrically controlled gearbox
Number, and realize land leveller with the connection of land leveller back axle by electrically controlled gearbox and travel by the speed that gear signal is corresponding；
Brake signal, gas pedal are connected with controller input port with cruise combination button, controller Gather and input end
Mouth data judge whether to enter cruise pattern and current rotating speed of target, determine whether to pass through CAN according to judged result
Bus sends fixed speed signal to BBG and enters cruise pattern.
The land leveller control system with cruise function the most according to claim 1, it is characterised in that cruise
Combination button includes starting the cruise main switch of combination button dish power supply, the constant-speed-cruise switch sending fixed speed signal and oil
Door recovers switch.
3. the control method of a land leveller cruise, it is characterised in that controller receives CAN handle and passes through CAN
The shift signal that bus transmits, sends gear signal to electrically controlled gearbox, and by the company of electrically controlled gearbox with land leveller back axle
Connect and realize land leveller and travel by speed corresponding to gear signal；
The data signal sent when controller Gather and input port brake signal, gas pedal and cruise combination button is come
Judge whether to enter cruise mode and current rotating speed of target, determine whether to be sent out to EFI by CAN according to judged result
Motivation sends fixed speed signal and enters cruise pattern.
The control method of land leveller cruise the most according to claim 3, it is characterised in that
The step adjusting speed is: control engine speed by gas pedal and vehicle is adjusted to target vehicle speed, gas pedal
Being connected with controller input port, the magnitude of voltage of the gas pedal that controller gathers is corresponding with the rotating speed of electromotor；Controller
Calculate BBG rotating speed of target and controlled the actual speed of BBG by CAN order；
Enging_RPM=K * Input_Valve ①
In formula, Enging_RPM represents BBG rotating speed of target, K=BBG rotating speed maximum or minima/electricity
Pressure input maximum or minima, Input_Valve is the magnitude of voltage of the gas pedal input that controller detects.
The control method of land leveller cruise the most according to claim 3, it is characterised in that
The step starting constant speed is: operation constant-speed-cruise switch storage present speed status information, controller and BBG
ECU communication maintains current rotating speed, and controls accelerator locking display lamp bright instruction lock-out state, makes the clear and definite current driving of human pilot
Mode state.
6. according to the control method of the land leveller cruise described in claim 3 or 4, it is characterised in that cruise pattern
The step opened and closed is:
Opened or exit cruise mode by constant-speed-cruise switch, constant-speed-cruise switch is connected with controller input port, controls
After device detects the potential change of constant-speed-cruise switch, enter or exit cruise pattern, according to depositing under cruise pattern
The present speed status information of storage, is maintained the current rotating speed of electromotor by controller and BBG ECU communication；
After exiting cruise pattern, BBG rotating speed automatically switches as the corresponding rotating speed controlled by gas pedal.
The control method of land leveller cruise the most according to claim 3, it is characterised in that
The step controlling gear is: under normal mode, and CAN handle sends target gear letter according to communication protocol to controller
Breath, and sent corresponding target gear according to the object gear information received to electrically controlled gearbox by controller, by automatically controlled speed change
Case controls the travel speed of land leveller according to the velocity interpolation that target gear is corresponding；
Under cruise pattern, the travel speed of land leveller does not increases and decreases with the change limiting gear.
The control method of land leveller cruise the most according to claim 3, it is characterised in that
Fine speed adjustment step under cruise pattern is: controller receives the corresponding fixed speed signal that constant-speed-cruise switch sends
After, output control signal controls BBG rotating speed and rises with fixing gradient；Controller receives throttle and recovers switch transmission
Corresponding signal after, control BBG rotating speed decline with fixing gradient, with this realize speed constant speed increase and decrease.
The control method of land leveller cruise the most according to claim 4, it is characterised in that
The pause step of cruise pattern is: the signal pressing brake pedal sends to controller, controller input port electricity
Position changes, and controller exits cruise pattern, and BBG rotating speed is become idling mode；CAN stops
Constant speed controls, and 1. BBG rotating speed is controlled according to formula；
The recovering step of cruise pattern is: the triggering signal recovering switch generation by throttle transmits to controller, controller
Perform to recover cruise according to the triggering signal received, control the state that BBG rotating speed returns to store before, it is achieved from
Dynamic recovery cruise state.
The control method of land leveller cruise the most according to claim 4, it is characterised in that
Step of giving it the gun during cruise: 1. calculated the gas pedal input electricity of correspondence according to formula by current tachometer
Pressure value, when accelerator pedal exceedes magnitude of voltage corresponding to setting speed, is 1. controlled EFI by gas pedal according to formula and starts
The rotating speed of machine, during corresponding less than setting speed magnitude of voltage, switches to again cruise pattern, and CAN controls rotating speed and also ties up
Hold in setting speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610521312.6A CN106114508B (en) | 2016-07-05 | 2016-07-05 | A kind of land leveller control system and control method with cruise |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610521312.6A CN106114508B (en) | 2016-07-05 | 2016-07-05 | A kind of land leveller control system and control method with cruise |
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| Publication Number | Publication Date |
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| CN106114508A true CN106114508A (en) | 2016-11-16 |
| CN106114508B CN106114508B (en) | 2018-06-29 |
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Cited By (6)
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| CN106428005A (en) * | 2016-11-30 | 2017-02-22 | 河南森源重工有限公司 | Vehicle constant speed cruise control method |
| CN108824544A (en) * | 2018-07-24 | 2018-11-16 | 徐州徐工筑路机械有限公司 | A kind of level land Electrical Control double handle control system |
| CN109681629A (en) * | 2018-12-14 | 2019-04-26 | 北京长城华冠汽车科技股份有限公司 | Vehicle and its gear control method and control device |
| CN111591290A (en) * | 2020-05-25 | 2020-08-28 | 潍柴动力股份有限公司 | Cruise control method, cruise control device, terminal and vehicle system |
| CN112356665A (en) * | 2020-10-19 | 2021-02-12 | 山东派蒙机电技术有限公司 | Method and system for preventing accelerator from being stepped on by mistake |
| CN114508149A (en) * | 2020-11-16 | 2022-05-17 | 现代斗山英维高株式会社 | Throttle lock control system in wheel loader and control method thereof |
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| CN111591290A (en) * | 2020-05-25 | 2020-08-28 | 潍柴动力股份有限公司 | Cruise control method, cruise control device, terminal and vehicle system |
| CN111591290B (en) * | 2020-05-25 | 2022-04-05 | 潍柴动力股份有限公司 | Cruise control method, cruise control device, terminal and vehicle system |
| CN112356665A (en) * | 2020-10-19 | 2021-02-12 | 山东派蒙机电技术有限公司 | Method and system for preventing accelerator from being stepped on by mistake |
| CN112356665B (en) * | 2020-10-19 | 2022-02-18 | 山东派蒙机电技术有限公司 | Method and system for preventing accelerator from being stepped on by mistake |
| CN114508149A (en) * | 2020-11-16 | 2022-05-17 | 现代斗山英维高株式会社 | Throttle lock control system in wheel loader and control method thereof |
| CN114508149B (en) * | 2020-11-16 | 2023-10-20 | 现代斗山英维高株式会社 | Oil door lock control system in wheel loader and control method thereof |
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