CN106394246B - Hydraulic motor synchronous control system and control method, double car body all-terrain vehicle - Google Patents
Hydraulic motor synchronous control system and control method, double car body all-terrain vehicle Download PDFInfo
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- CN106394246B CN106394246B CN201610945044.0A CN201610945044A CN106394246B CN 106394246 B CN106394246 B CN 106394246B CN 201610945044 A CN201610945044 A CN 201610945044A CN 106394246 B CN106394246 B CN 106394246B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/0058—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator responsive to externally generated signalling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
- B60K31/06—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure
- B60K31/08—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator including fluid pressure actuated servomechanism in which the vehicle velocity affecting element is actuated by fluid pressure and one or more electrical components for establishing or regulating input pressure
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- Chemical & Material Sciences (AREA)
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- Fluid Mechanics (AREA)
- Control Of Fluid Gearings (AREA)
Abstract
The invention discloses a kind of same step control systems of hydraulic motor, including at least two groups driving circuit, driving circuit include hydraulic pump and at least two hydraulic motors；It further include traveling controller, traveling controller detects the tach signal of engine and the position signal of throttle, and traveling controller adjusts the control electric current of each hydraulic pump and each hydraulic motor according to tach signal and position signal.It include multiple hydraulic pumps and multiple hydraulic motors in the control system, the technical problem to be solved in the present invention is the synchronization between multiple hydraulic motors.The discharge capacity of each hydraulic pump and each hydraulic motor can be calculated by the tach signal of engine and the position signal of throttle, and then it can be derived that the control electric current of each hydraulic pump and each hydraulic motor, and then can control the revolving speed of each hydraulic pump and each hydraulic motor, realize the synchronization of each hydraulic motor.The invention also discloses a kind of synchronous control methods of hydraulic motor.The invention also discloses a kind of double car body all-terrain vehicle.
Description
Technical field
The present invention relates to technical field of engineering machinery, and in particular, to a kind of control system and control that hydraulic motor is synchronous
Method processed.The invention further relates to a kind of double car body all-terrain vehicle with above-mentioned hydraulic motor synchronous control system.
Background technique
In existing hydraulic motor synchronous control technique, typically single hydraulic pump drives single or two hydraulic horses
It reaches, the synchronism of hydraulic motor is easier to realize.
Hydraulic motor synchronously control in the prior art mostly uses greatly hydraulic shunting or collection technology, when the multiple liquid of needs
When press pump drives multiple hydraulic motors, the synchronously control of hydraulic motor is with regard to relatively difficult, the poor synchronization of hydraulic motor, makes entire
Fluid pressure drive device reliability reduces, and energy consumption increases.
Double car body all-terrain vehicle are a kind of round-the-clock complete amphibious multi-function vehicle of landform, can pass through it is various intricately
Shape.Double car body all-terrain vehicle are usually the double body constructions of radial type, including front truck, articulated mounting and rear car, front truck and rear car it
Between connected by articulated mounting, front truck and rear car have the power mechanism of oneself respectively.
The hydraulic system that the travel driving system of double car body all-terrain vehicle is constituted using two four motors of pump, as shown in Figure 1, figure
1 is pair hydraulic schematic diagram of the drive system of car body all-terrain vehicle.I.e. front truck hydraulic pump 1 drives front vehicle body hydraulic motor 3,4, after
Vehicle hydraulic pump 2 drives aftercarriage hydraulic motor 5,6.
During vehicle is from stationary state to maximum travelling speed, due to the difference of front and back car weight amount, fluid pressure line
Loss and the internal leakage of hydraulic part etc., there is difference in the flow that will lead to four hydraulic motors, hydraulic so as to cause four
There is different phenomenons in motor, i.e. the revolving speed of the revolving speed of hydraulic motor 3,4 and hydraulic motor 5,6 is inconsistent, so that front and back car body
It pulls mutually.Meeting is pulled so that the maximum travel speed of vehicle does not reach requirement, articulated mounting stress becomes larger, and leads to service life
It reduces, engine power consumption increases, hydraulic part service life reduction etc..
Therefore, how to make multiple hydraulic motors keep synchronizing in vehicle driving process, eliminate the in-fighting of vehicle, be ability
Field technique personnel technical problem urgently to be solved.
Summary of the invention
The object of the present invention is to provide a kind of synchronous control system of hydraulic motor, which can make multiple liquid
Pressure motor is in synchronous regime, improves the reliability of entire hydraulic system, effectively reduces the energy consumption.Second mesh of the invention
The synchronization for being to provide a kind of hydraulic motor control method.It is a further object to provide one kind to have above-mentioned control
Double car body all-terrain vehicle of system.
In order to achieve the above technical purposes, the control system synchronous the present invention provides a kind of hydraulic motor, including walking
Controller and at least two groups driving circuit, the driving circuit include hydraulic pump and at least two hydraulic motors；
The traveling controller includes sensor group, processing unit and control unit；
The sensor group includes first sensor and second sensor；The first sensor is for detecting engine
Tach signal, the second sensor are used to detect the position signal of throttle；
The processing unit is used for according to sensor group data acquisition parameters value collected, and according to the parameter
Value generates control instruction；
Described control unit is used to adjust the control of each hydraulic pump and each hydraulic motor according to the control instruction
Electric current processed.
Optionally, the sensor group further includes multiple 3rd sensors, and multiple 3rd sensors are respectively used to examine
Survey the actual speed of each hydraulic motor；
The parameter value further includes the difference of each actual speed value and rotating speed of target value.
Optionally, the sensor group further includes multiple 4th sensors, and multiple 4th sensors are respectively used to examine
Survey the pressure signal of each hydraulic pump；
The parameter value includes the difference of the pressure signal between each hydraulic pump.
It optionally, further include the first pipeline and the second pipeline, it is hydraulic described in each driving circuit of the first pipeline connection
The rotating forward oil outlet of pump, the reversion oil outlet of hydraulic pump described in each driving circuit of the second pipeline connection.
The present invention also provides a kind of synchronous control methods of hydraulic motor, the drive for more hydraulic pumps and more hydraulic motors
Dynamic system, comprising the following steps:
By the tach signal of sensor group detection engine and the position signal of throttle；
Control instruction is generated according to sensor group data acquisition parameters value collected, and according to the parameter value；
The control electric current of each hydraulic pump and each hydraulic motor is adjusted according to the control instruction.
Optionally, further comprising the steps of:
The sensor group also detects the actual speed of each hydraulic motor；
The parameter value further includes the difference of the actual speed value and rotating speed of target value；
And/or
The sensor group also detects the pressure signal of each hydraulic pump；
The parameter value further includes the difference of the pressure signal between each hydraulic pump.
The present invention also provides a kind of double car body all-terrain vehicle, including engine and throttle, further include front truck driving circuit,
Rear car driving circuit and traveling controller；
The front truck driving circuit includes front truck hydraulic pump and two front truck hydraulic motors, and the rear car driving circuit includes
Rear car hydraulic pump and two rear car hydraulic motors；
The traveling controller includes sensor group, processing unit and control unit；
The sensor group includes first sensor and second sensor；The first sensor is for detecting described start
The tach signal of machine, the second sensor are used to detect the position signal of the throttle；
The processing unit is used for according to sensor group data acquisition parameters value collected, and according to the parameter
Value generates control instruction；
Described control unit is used to adjust the front truck driving circuit according to the control instruction and the rear car drives back
The control electric current of road work.
Optionally, the sensor group further includes four 3rd sensors, and four 3rd sensors are respectively used to examine
Survey the actual speed of two the front truck hydraulic motors and two rear car hydraulic motors；
The parameter value further includes the difference of each actual speed value and rotating speed of target value.
Optionally, the sensor group further includes two the 4th sensors, and two the 4th sensors are respectively used to examine
Survey the pressure signal of the front truck hydraulic pump and the rear car hydraulic pump；
The parameter value further includes the difference of the pressure signal between the front truck hydraulic pump and the rear car hydraulic pump.
It optionally, further include the first pipeline and the second pipeline, front truck hydraulic pump described in first pipeline connection and described
The reversion of the rotating forward oil outlet of rear car hydraulic pump, front truck hydraulic pump and the rear car hydraulic pump described in second pipeline connection goes out
Hydraulic fluid port.
The synchronous control system of hydraulic motor provided by the invention, including traveling controller and at least two groups driving circuit,
Driving circuit includes hydraulic pump and at least two hydraulic motors；Traveling controller includes that sensor group, processing unit and control are single
Member；Sensor group includes first sensor and second sensor；First sensor is used to detect the tach signal of engine, and second
Sensor is used to detect the position signal of throttle；Processing unit is used for according to sensor group data acquisition parameters value collected,
And control instruction is generated according to parameter value；Control unit is used to adjust the control of each hydraulic pump and each hydraulic motor according to control instruction
Electric current processed.
In the control system, including multiple groups driving circuit, multiple hydraulic motors are driven by hydraulic pump in every group of driving circuit,
So the technical problem to be solved in the present invention is multiple liquid there are multiple hydraulic pumps and multiple hydraulic motors in the control system
Synchronization between pressure motor.
Traveling controller obtains the tach signal of engine and the position signal of throttle by sensor group, and processing unit is logical
The discharge capacity of each hydraulic pump and each hydraulic motor can be calculated by crossing the tach signal and position signal, and control unit is raw according to discharge capacity
It at the control electric current of each hydraulic pump and each hydraulic motor, and then can control the revolving speed of each hydraulic pump and each hydraulic motor, realize
The synchronization of each hydraulic motor.
The present invention also provides a kind of control methods that above-mentioned hydraulic motor is synchronous, are used for more hydraulic pumps and more hydraulic motors
The synchronously control of hydraulic motor in hydraulic system.
The present invention also provides a kind of double car body all-terrain vehicle, hydraulic motor described in the various embodiments described above is synchronized on report
Control system has the corresponding technical effect of the control system.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.
Fig. 1 is the hydraulic schematic diagram of the drive system of double car body all-terrain vehicle；
Wherein, the appended drawing reference in Fig. 1 and the corresponding relationship between component names are as follows:
Front truck hydraulic pump 1；Front vehicle body hydraulic motor 3,4；
Rear car hydraulic pump 2；Aftercarriage hydraulic motor 5,6；
First pipeline 7；Second pipeline 8.
Specific embodiment
Below in conjunction with attached drawing, detailed description of the preferred embodiments.It should be understood that this place is retouched
The specific embodiment stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
In a kind of specific embodiment, the present invention provides a kind of synchronous control systems of hydraulic motor, including row
Controller and at least two groups driving circuit are walked, driving circuit includes hydraulic pump and at least two hydraulic motors；
Traveling controller includes sensor group, processing unit and control unit；
Sensor group includes first sensor and second sensor；First sensor is used to detect the revolving speed letter of engine
Number, second sensor is used to detect the position signal of throttle；
Processing unit is used for according to sensor group data acquisition parameters value collected, and is generated control according to parameter value and referred to
It enables；
Control unit is used to adjust the control electric current of each hydraulic pump and each hydraulic motor according to control instruction.
In the control system, including multiple groups driving circuit, multiple hydraulic motors are driven by hydraulic pump in every group of driving circuit,
So there are multiple hydraulic pumps and multiple hydraulic motors in the control system, there are stationary problem between multiple hydraulic motors, this
Technical problems to be solved by the inivention are the synchronization between multiple hydraulic motors.
The sensor group of traveling controller includes first sensor and second sensor, and first sensor detects engine
Tach signal, second sensor detect the position signal of throttle.Processing unit is according to the tach signal and oil of the engine of acquisition
The position signal of door can be derived that the discharge capacity of each hydraulic pump and each hydraulic motor, control unit generate each hydraulic pump according to discharge capacity
With the control electric current of each hydraulic motor, it can control the revolving speed of each hydraulic pump and each hydraulic motor by controlling electric current, realize each
The synchronization of hydraulic motor.
The control system uses the electro-hydraulic control method combined, in the hydraulic system of more hydraulic pumps and more hydraulic motors
In, it can be realized the synchronous operation of each hydraulic motor, improve the reliability of hydraulic system, reduce energy consumption.
In a kind of preferred embodiment, sensor group further includes multiple 3rd sensors, multiple 3rd sensors difference
For detecting the actual speed of each hydraulic motor；
Parameter value further includes the difference of each actual speed value and rotating speed of target value.
The actual speed and rotating speed of target of each hydraulic motor are compared, further adjusted according to the result for comparing feedback
Section control electric current, forms closed-loop control to the control of hydraulic motor, when there is difference in actual speed and theoretical rotational speed, Neng Gougeng
The operating of good each hydraulic motor of adjusting, makes each hydraulic motor reach better synchronization.
In another preferred embodiment, sensor group further includes multiple 4th sensors, multiple 4th sensors point
The pressure signal of each hydraulic pump Yong Yu not detected；
Parameter value includes the difference of the pressure signal between each hydraulic pump.
The pressure signal of each hydraulic pump is detected, compares the value of each pressure signal, according to the result of the comparison further
It adjusts control electric current, when each pressure value difference when each hydraulic pump operation, electric current can be controlled by adjusting, make each hydraulic pump
It keeps synchronizing, further ensures the synchronous operation of each hydraulic motor.
It further include the first pipeline and the second pipeline in above-mentioned each specific embodiment, the first pipeline connection respectively drives back
The rotating forward oil outlet of hydraulic pump in road, the reversion oil outlet of hydraulic pump in each driving circuit of the second pipeline connection.
The rotating forward oil outlet of each hydraulic pump is connected by the first pipeline, is gone out the reversion of each hydraulic pump by the second pipeline
Hydraulic fluid port series connection, completely eliminates output flow error caused by the foozle and internal leakage of hydraulic pump, can be completely secured each
The flow of hydraulic pump output is identical, further ensures the synchronism of each hydraulic motor.
The present invention also provides a kind of synchronous control methods of hydraulic motor, the drive for more hydraulic pumps and more hydraulic motors
Dynamic system, comprising the following steps:
By the tach signal of sensor group detection engine and the position signal of throttle；
Control instruction is generated according to sensor group data acquisition parameters value collected, and according to parameter value；
The control electric current of each hydraulic pump and each hydraulic motor is adjusted according to control instruction.
Traveling controller can be derived that each hydraulic pump and each liquid according to the tach signal of engine and the position signal of throttle
The discharge capacity of pressure motor, and then can be derived that the control electric current of each hydraulic pump and each hydraulic motor, it can control by controlling electric current
The revolving speed of each hydraulic pump and each hydraulic motor realizes the synchronization of each hydraulic motor.
The control system uses the electro-hydraulic control method combined, in the hydraulic system of more hydraulic pumps and more hydraulic motors
In, it can be realized the synchronous operation of each hydraulic motor, improve the reliability of hydraulic system, reduce energy consumption.
It is further comprising the steps of in further specific embodiment:
Sensor group also detects the actual speed of each hydraulic motor；
Parameter value further includes the difference of actual speed value and rotating speed of target value；
And/or
Sensor group also detects the pressure signal of each hydraulic pump；
Parameter value further includes the difference of the pressure signal between each hydraulic pump.
Be further ensured that the synchronous operation of each hydraulic motor by two closed-loop controls, two closed loops can with isolated operation,
It can also run simultaneously.One closed-loop control is the difference between the actual speed and rotating speed of target of hydraulic motor, can also be managed
The difference between actual speed and theoretical rotational speed is solved, control electric current is adjusted by this difference.Another closed-loop control is each
The output pressure signal of hydraulic pump in driving circuit, whether the pressure of each hydraulic pump is identical can to judge whether each hydraulic pump is same
Step, and then each hydraulic pump output can be made to synchronize by adjusting control electric current, it is further ensured that the synchronization of each hydraulic motor.
Referring to FIG. 1, Fig. 1 is the hydraulic schematic diagram of the drive system of double car body all-terrain vehicle.
The present invention also provides a kind of double car body all-terrain vehicle, including engine and throttle, further include front truck driving circuit,
Rear car driving circuit and traveling controller；
Front truck driving circuit includes front truck hydraulic pump 1 and two front truck hydraulic motors 3,4, and rear car driving circuit includes rear car
Hydraulic pump 2 and two rear car hydraulic motors 5,6；
Traveling controller includes sensor group, processing unit and control unit；
Sensor group includes first sensor and second sensor；First sensor is used to detect the revolving speed letter of engine
Number, second sensor is used to detect the position signal of throttle；
Processing unit is used for according to sensor group data acquisition parameters value collected, and is generated control according to parameter value and referred to
It enables；
Control unit is used to adjust the control electric current of front truck driving circuit and the work of rear car driving circuit according to control instruction.
In the hydraulic system of all-terrain vehicle, by traveling controller make front truck and rear car totally four hydraulic motors whole
It all keeps synchronizing in a driving process, i.e., the revolving speed moment of four hydraulic motors is consistent.Front and back motor is eliminated because different
The problem of front and back car body that step generates pulls mutually.
In a kind of preferred embodiment, sensor group further includes four 3rd sensors, four 3rd sensors difference
For detecting the actual speed of two front truck hydraulic motors 3,4 and two rear car hydraulic motors 5,6；
Parameter value further includes the difference of each actual speed value and rotating speed of target value.
The present invention uses the control method of electro-hydraulic combination, by the tach signal and engine that acquire four hydraulic motors
Tach signal and throttle position, then calculate displacement size of four hydraulic motors under present engine revolving speed, then
The matched control electric current of output phase again forms closed-loop control to each hydraulic motor.
In another preferred embodiment, sensor group further includes two the 4th sensors, two the 4th sensors point
The pressure signal of front truck hydraulic pump 1 and rear car hydraulic pump 2 Yong Yu not detected；
Parameter value further includes the difference of the pressure signal between front truck hydraulic pump 1 and rear car hydraulic pump 2.
The present invention uses the control method of electro-hydraulic combination, and traveling controller can by the pressure signal of two hydraulic pumps of acquisition
It, can be by adjusting corresponding control if asynchronous to judge whether front truck hydraulic pump 1 is synchronous with the operation of rear car hydraulic pump 2
Electric current processed keeps the two synchronous.
It further include the first pipeline 7 and the second pipeline 8 in above-mentioned each specific embodiment, the first pipeline 7 is connected to front truck liquid
The reversion of the rotating forward oil outlet of press pump 1 and rear car hydraulic pump 2, the second pipeline 8 connection front truck hydraulic pump 1 and rear car hydraulic pump 2 goes out
Hydraulic fluid port.
The rotating forward oil outlet for rotating forward oil outlet and rear car hydraulic pump 2 of front truck hydraulic pump 1 is connected by the first pipeline 7,
The reversion oil outlet of the reversion oil outlet of front truck hydraulic pump 1 and rear car hydraulic pump 2 is connected by the second pipeline 8, is completely eliminated
Output flow error caused by the foozle and internal leakage of two hydraulic pumps is different, and front truck hydraulic pump 1 and rear car is completely secured
The flow that hydraulic pump 2 exports is identical, ensure that the synchronism of four motors.
The specific course of work is as follows:
When all-terrain vehicle ground zero is walked, traveling controller detects accelerator pedal position signal, and accelerator pedal position is opened from 0
Beginning increases to 100%, and engine speed is increased to rated speed from idling.When engine speed reaches 1400rpm, that is, start
When machine is in speed at maximum torque point, traveling controller is by the control of front truck hydraulic pump 1 and rear car hydraulic pump 2 in this process
Electric current increases to maximum value from minimum value, i.e., the discharge capacity of front truck hydraulic pump 1 and rear car hydraulic pump 2 is increased to maximum pump discharge by 0,
Front truck hydraulic pump 1 and rear car hydraulic pump 2 is set to work in the state of maximum pump discharge always, 4 hydraulic motors are also in most at this time
Huge discharge state is ready to hydraulic motor displacement variation in advance.
At this point, front truck hydraulic motor 3,4, the current value of rear car hydraulic motor 5,6 is changed linearly by minimum value, is become
Change rate is 20mA/s, i.e., the reduction linear since maximum value of the discharge capacity of 4 hydraulic motors, then vehicle starts to accelerate row
It sails, reaches maximum travelling speed until reaching vehicle.
Vehicle from speed be 0 traveling to maximum speed during, when vehicle reaches maximum speed and keeps this speed
It spends when driving, the pressure of the revolving speed of traveling controller real-time detection hydraulic motor, the pressure of front truck hydraulic pump 1 and rear car hydraulic pump 2
Power, when the pressure difference value of two hydraulic pumps is greater than 40bar, front truck hydraulic motor 3,4 and rear car hydraulic motor 5,6 just will appear
Asynchronous, at this moment controller carries out analytical calculation by the data of acquisition, and the high hydraulic pump of pressure is pumped the hydraulic horse driven
The discharge capacity reached increases, and reduces the revolving speed of hydraulic motor；The discharge capacity for the hydraulic motor that the low hydraulic pump of pressure is driven reduces,
Increase the revolving speed of hydraulic motor, until the revolving speed of four motors is consistent.This process iterative cycles, makes front truck hydraulic pump 1 always
It is less than 40bar with the pressure value of rear car hydraulic pump 2, guarantees the synchronization of 4 hydraulic motors.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.For those skilled in the art, essence of the invention is not being departed from
In the case where mind and essence, various changes and modifications can be made therein, these variations and modifications are also considered as protection scope of the present invention.
Claims (8)
1. a kind of synchronous control system of hydraulic motor, which is characterized in that including traveling controller and at least two groups driving circuit,
The driving circuit includes hydraulic pump and at least two hydraulic motors；
The traveling controller includes sensor group, processing unit and control unit；
The sensor group includes first sensor and second sensor；The first sensor is used to detect the revolving speed of engine
Signal, the second sensor are used to detect the position signal of throttle；
The processing unit is used for according to sensor group data acquisition parameters value collected, and raw according to the parameter value
At control instruction；
Described control unit is used to adjust the control electricity of each hydraulic pump and each hydraulic motor according to the control instruction
Stream；
It further include the first pipeline and the second pipeline, the rotating forward of hydraulic pump described in each driving circuit of the first pipeline connection is fuel-displaced
Mouthful, the reversion oil outlet of hydraulic pump described in each driving circuit of the second pipeline connection.
2. the synchronous control system of hydraulic motor as described in claim 1, which is characterized in that the sensor group further includes more
A 3rd sensor, multiple 3rd sensors are respectively used to detect the actual speed of each hydraulic motor；
The parameter value further includes the difference of each actual speed value and rotating speed of target value.
3. the synchronous control system of hydraulic motor as described in claim 1, which is characterized in that the sensor group further includes more
A 4th sensor, multiple 4th sensors are respectively used to detect the pressure signal of each hydraulic pump；
The parameter value includes the difference of the pressure signal between each hydraulic pump.
4. a kind of synchronous control method of hydraulic motor, which is characterized in that same using any hydraulic motor of claim 1-3
The control system of step, the drive system for more hydraulic pumps and more hydraulic motors, comprising the following steps:
By the tach signal of sensor group detection engine and the position signal of throttle；
Control instruction is generated according to sensor group data acquisition parameters value collected, and according to the parameter value；
The control electric current of each hydraulic pump and each hydraulic motor is adjusted according to the control instruction.
5. the synchronous control method of hydraulic motor as claimed in claim 4, which is characterized in that further comprising the steps of:
The sensor group also detects the actual speed of each hydraulic motor；
The parameter value further includes the difference of the actual speed value and rotating speed of target value；
And/or
The sensor group also detects the pressure signal of each hydraulic pump；
The parameter value further includes the difference of the pressure signal between each hydraulic pump.
6. a kind of double car body all-terrain vehicle, including engine and throttle, which is characterized in that further include front truck driving circuit, rear car
Driving circuit and traveling controller；
The front truck driving circuit includes front truck hydraulic pump and two front truck hydraulic motors, and the rear car driving circuit includes rear car
Hydraulic pump and two rear car hydraulic motors；
The traveling controller includes sensor group, processing unit and control unit；
The sensor group includes first sensor and second sensor；The first sensor is for detecting the engine
Tach signal, the second sensor are used to detect the position signal of the throttle；
The processing unit is used for according to sensor group data acquisition parameters value collected, and raw according to the parameter value
At control instruction；
Described control unit is used to adjust the front truck driving circuit and the rear car driving circuit work according to the control instruction
The control electric current of work；
It further include the first pipeline and the second pipeline, the rotating forward of hydraulic pump described in each driving circuit of the first pipeline connection is fuel-displaced
Mouthful, the reversion oil outlet of hydraulic pump described in each driving circuit of the second pipeline connection.
7. double car body all-terrain vehicle as claimed in claim 6, which is characterized in that the sensor group further includes that four thirds pass
Sensor, four 3rd sensors are respectively used to two front truck hydraulic motors of detection and two rear car hydraulic motors
Actual speed；
The parameter value further includes the difference of each actual speed value and rotating speed of target value.
8. double car body all-terrain vehicle as claimed in claim 6, which is characterized in that the sensor group further includes two the 4th biographies
Sensor, two the 4th sensors are respectively used to detect the pressure signal of the front truck hydraulic pump and the rear car hydraulic pump；
The parameter value further includes the difference of the pressure signal between the front truck hydraulic pump and the rear car hydraulic pump.
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| CN111102329A (en) * | 2018-10-26 | 2020-05-05 | 贵州詹阳动力重工有限公司 | Double-motor transmission for engineering truck |
| CN110725712A (en) * | 2019-10-23 | 2020-01-24 | 北京天地玛珂电液控制系统有限公司 | Integrated liquid supply system transportation device, control system thereof and integrated liquid supply equipment |
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| US9772018B2 (en) * | 2013-03-27 | 2017-09-26 | Kubota Corporation | Working machine |
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