CN108121348A - Travel speed control method, device, system and engineering machinery - Google Patents
Travel speed control method, device, system and engineering machinery Download PDFInfo
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- CN108121348A CN108121348A CN201810132389.3A CN201810132389A CN108121348A CN 108121348 A CN108121348 A CN 108121348A CN 201810132389 A CN201810132389 A CN 201810132389A CN 108121348 A CN108121348 A CN 108121348A
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- 238000001914 filtration Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 3
- 239000010720 hydraulic oil Substances 0.000 claims description 3
- 230000005055 memory storage Effects 0.000 claims description 2
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- 238000010586 diagram Methods 0.000 description 17
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Abstract
The disclosure provides a kind of travel speed control method, device, system and engineering machinery.The travel speed control device includes：Benchmark controlled quentity controlled variable determining module, for according to the current rotating speed of engine and current setting speed, determining the benchmark controlled quentity controlled variable of travel speed；Deviation determining module, for determining the deviation of current setting speed and current driving speed；Selecting module for deviation to be supplied to pid control module, is additionally operable to generate valve selection information according to the direction of current setting speed；Pid control module, the deviation information for being provided using selecting module carries out PID control, to obtain accurate adjustment controlled quentity controlled variable；The sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable for selecting information according to valve, are supplied in hydraulic valve bank corresponding advance valve or retreat valve by output control module.The disclosure, so as to effectively overcome the velocity perturbation of engineering machinery in the process of moving, realizes the accurate control of travel speed by being combined with accurate adjustment control benchmark control.
Description
Technical field
This disclosure relates to control field, more particularly to a kind of travel speed control method, device, system and engineering machinery.
Background technology
Wheel excavator is important construction machinery.With " new urbanization " strategy redefine Urban Construction in China into
Journey, the Chinese market demand are also stealthily changing, and are suitable for farmland, the building of communities and urban duct laying, material and remove
The wheel excavator of running industry increasingly causes the concerns of relevant industries, become numerous leading enterprises strategic development product it
One.Wheel excavator is the constructure type excavator of tire running, and travel speed is fast, can voluntarily transition at a distance, in national basis
Irreplaceable role is played in Facilities Construction, with technology development and the continuous improvement of construction requirement, wheel excavator is just
Develop towards accurate construction and unmanned direction, and the accuracy travelled directly affects the positioning accuracy of wheel excavator and applies
Work precision.
At present, China's major part wheel excavator driving system uses manual control, although what is had has automatic cruising function,
Also be stationary engine rotating speed of target and travel valve target aperture opened loop control.Opened loop control scheme refers to by travelling
Pedal output valve directly controls driving motors, is completed by manual operation, and it is wheeled that manipulator rule of thumb operates travel board realization
Excavator traveling control.Since this scheme is without speed closed loop feedback, operation is dependent on artificial experience, therefore precision is low, stable state
Error is big, is not easy to realize accurate construction, unmanned manipulation.Especially for valve control wheel excavator, due to valve control hydraulic system
Negative-feedback response problem, so as to cause larger velocity perturbation.
The content of the invention
Embodiment of the disclosure solve a technical problem be：Engineering machinery can not effectively not inhibited in the process of moving
Velocity perturbation.
According to the one side of one or more other embodiments of the present disclosure, a kind of travel speed control device is provided, including：
Benchmark controlled quentity controlled variable determining module is configured as according to the current rotating speed of engine and current setting speed, determines traveling
The benchmark controlled quentity controlled variable of rate；
Deviation determining module is configured to determine that the deviation of current setting speed and current driving speed；
Selecting module is configured as deviation being supplied to pid control module；It is additionally configured to according to current setting speed
Direction generation valve selection information；
Pid control module, the deviation information for being configured as providing using selecting module carries out PID control, to obtain accurate adjustment
Controlled quentity controlled variable；
Output control module is configured as selecting information according to valve, the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable is provided
To corresponding advance valve in hydraulic valve bank or retreat valve.
Optionally, above-mentioned control device further includes：
Filter module is configured as being filtered deviation, to obtain filter result；
Selecting module is additionally configured to that deviation is supplied to PID control mould not less than in the case of the first thresholding in deviation
The input of pid control module in the case where deviation is less than the second thresholding, is set to 0 by block, is less than the first thresholding and not in deviation
In the case of less than the second thresholding, filter result is supplied to pid control module.
Optionally, filter module includes multiple filter units, and the filtering cycle of each filter unit differs, wherein：
Filter unit is configured as being filtered deviation；
Selecting module is additionally configured to according to deviation less than the first thresholding and not less than belonging in the range of the second thresholding
Section, the filter result of corresponding filter unit is supplied to pid control module.
Optionally, pid control module is configured as that corresponding adjust of the deviation information provided with selecting module is utilized to join
Number carries out PID control, to obtain accurate adjustment controlled quentity controlled variable.
Optionally, benchmark controlled quentity controlled variable determining module is configured as searching and turn with the engine of the current rotational speed matches of engine
Fast model is determined and the corresponding benchmark controlled quentity controlled variable of current setting speed using engine speed model.
Optionally, output control module is configured as selecting information according to valve, is positive in the direction of current driving speed
In the case of, the advance valve that is supplied to using the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable as advance valve controlled quentity controlled variable in hydraulic valve bank；
In the case where the direction of current driving speed is bears, using the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable as retrogressing valve controlled quentity controlled variable
The retrogressing valve being supplied in hydraulic valve bank.
According to the other side of one or more other embodiments of the present disclosure, a kind of travel speed control method is provided, is wrapped
It includes：
According to the current rotating speed of engine and current setting speed, the benchmark controlled quentity controlled variable of travel speed is determined；
Determine the deviation of current setting speed and current driving speed；
PID control is carried out to deviation information using pid control module, to obtain accurate adjustment controlled quentity controlled variable；
Valve selection information is generated according to the direction of current setting speed；
Information is selected according to valve, the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable are supplied in hydraulic valve bank and advanced accordingly
Valve retreats valve.
Optionally, deviation is filtered using filter module, to obtain filter result；
In deviation not less than in the case of the first thresholding, using deviation as the input of pid control module, in deviation less than the
In the case of two thresholdings, using 0 as pid control module input, be less than the first thresholding and not less than the second thresholding in deviation
In the case of, using filter result as the input of pid control module.
Optionally, each filter unit in filter module is respectively filtered deviation, wherein each filter unit
Filtering cycle differs；
According to deviation less than the first thresholding and not less than section affiliated in the range of the second thresholding, corresponding will filter single
Input of the filter result of member as pid control module.
Optionally, carrying out PID control to deviation information using pid control module includes：
In pid control module, PID control is carried out using adjustment parameter corresponding with deviation information, to obtain accurate adjustment
Controlled quentity controlled variable.
Optionally it is determined that the benchmark controlled quentity controlled variable of travel speed includes：
Search the engine speed model with the current rotational speed matches of engine；
It is determined and the corresponding benchmark controlled quentity controlled variable of current setting speed using engine speed model.
Optionally, the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable are supplied in hydraulic valve bank corresponding advance valve or retrogressing
Valve includes：
Information is selected according to valve, in the case of being just in the direction of current driving speed, by benchmark controlled quentity controlled variable and accurate adjustment control
The sum of amount processed is supplied to the advance valve in hydraulic valve bank as advance valve controlled quentity controlled variable；It is negative feelings in the direction of current driving speed
Under condition, retrogressing valve in hydraulic valve bank is supplied to using the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable as valve controlled quentity controlled variable is retreated.
According to the other side of one or more other embodiments of the present disclosure, a kind of travel speed control device is provided, is wrapped
It includes：
Memory is configured as store instruction；
Processor, is coupled to memory, and processor is configured as the instruction execution based on memory storage and realizes as above-mentioned
The method that any embodiment is related to.
According to the other side of one or more other embodiments of the present disclosure, a kind of travel speed control system is provided, is wrapped
It includes：
The travel speed control device being related to such as above-mentioned any embodiment；
Hydraulic valve bank is configured as the controlled quentity controlled variable information provided according to travel speed control device, to corresponding advance valve
Or retreat valve and controlled, hydraulic oil to be controlled to flow into direction and the speed of driving motors.
Optionally, above-mentioned control system further includes：
Velocity sensor, is configured as the current driving speed of detection vehicle, and travel speed detect but preceding is carried
Supply travel speed control device.
According to the other side of one or more other embodiments of the present disclosure, a kind of engineering machinery is provided, including：
The travel speed control system being related to such as above-mentioned any embodiment.
According to the other side of one or more other embodiments of the present disclosure, a kind of computer readable storage medium is provided,
Wherein, computer-readable recording medium storage has computer instruction, and such as any of the above-described implementation is realized when instruction is executed by processor
The method that example is related to.
By referring to the drawings to the detailed description of the exemplary embodiment of the disclosure, the other feature of the disclosure and its
Advantage will become apparent.
Description of the drawings
It, below will be to embodiment or existing in order to illustrate more clearly of the embodiment of the present disclosure or technical solution of the prior art
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some disclosed embodiments for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other attached drawings according to these attached drawings.
Fig. 1 is the exemplary block diagram of the travel speed control device of an embodiment of the present disclosure.
Fig. 2 is the exemplary block diagram of the travel speed control device of the disclosure another embodiment.
Fig. 3 is the exemplary block diagram of the travel speed control device of the disclosure another embodiment.
Fig. 4 is the exemplary process diagram of the travel speed control method of an embodiment of the present disclosure.
Fig. 5 is the exemplary block diagram of the travel speed control device of the disclosure another embodiment.
Fig. 6 is the exemplary block diagram of the travel speed control system of an embodiment of the present disclosure.
Fig. 7 is the exemplary block diagram of the travel speed control system of the disclosure another embodiment.
Fig. 8 is the exemplary block diagram of the travel speed control system of the disclosure another embodiment.
Fig. 9 is the exemplary block diagram of the engineering machinery of an embodiment of the present disclosure.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present disclosure, the technical solution in the embodiment of the present disclosure is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only disclosure part of the embodiment, instead of all the embodiments.Below
Description only actually at least one exemplary embodiment is illustrative, is never used as to the disclosure and its application or makes
Any restrictions.Based on the embodiment in the disclosure, those of ordinary skill in the art are not making creative work premise
Lower all other embodiments obtained belong to the scope of disclosure protection.
Unless specifically stated otherwise, the component and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Up to the unlimited the scope of the present disclosure processed of formula and numerical value.
Simultaneously, it should be appreciated that for ease of description, the size of the various pieces shown in attached drawing is not according to reality
Proportionate relationship draw.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely illustrative, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent attached drawing in a attached drawing.
Fig. 1 is the exemplary block diagram of the travel speed control device of an embodiment of the present disclosure.As shown in Figure 1, the traveling
Speed control unit includes benchmark controlled quentity controlled variable determining module 11, deviation determining module 12, selecting module 13, pid control module 14
With output control module 15.
Benchmark controlled quentity controlled variable determining module 11 is configured as according to the current rotating speed of engine and current setting speed, determines traveling
The benchmark controlled quentity controlled variable of rate.
Optionally, benchmark controlled quentity controlled variable determining module 11 is by searching for the engine speed with the current rotational speed matches of engine
Model is determined to set with the corresponding benchmark controlled quentity controlled variable of current setting speed, as engineering machinery using engine speed model
Determine the opened loop control amount needed for the valve group corresponding to travel speed.
For example, engineering machinery is wheel excavator.In view of different wheel excavator speed setting values and benchmark controlled quentity controlled variable
Between be nonlinear, and both sides relation curve is inconsistent under different engine, therefore the curve is according to actual wheeled digging
Rolling stock experiment is dug to determine.It can be prestored in benchmark controlled quentity controlled variable determining module 11 wheeled under the multiple representative engine rotating speeds of characterization
Excavator sets travel speed and the multinomial of benchmark control magnitude relation.In calculating benchmark controlled quentity controlled variable, benchmark controlled quentity controlled variable determines
Module 11 first finds out immediate representative engine rotating speed therewith according to practical engine speeds value, then finds this typical case and starts
Machine rotating speed corresponding wheel excavator setting travel speed and the multinomial of benchmark control magnitude relation, finally according to this multinomial and
Speed setting value calculates benchmark controlled quentity controlled variable.
Deviation determining module 12 is configured to determine that the deviation of current setting speed and current driving speed.
Selecting module 13 is configured as deviation being supplied to pid control module, is additionally configured to according to current setting speed
Direction generation valve selection information.
The deviation information that pid control module 14 is configured as providing using selecting module carries out PID control, to obtain accurate adjustment
Controlled quentity controlled variable.
Optionally, pid control module 14 is carried out using the corresponding adjustment parameter of the deviation information provided with selecting module
PID control, to obtain accurate adjustment controlled quentity controlled variable.
Output control module 15 is configured as selecting information according to valve, and the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable are provided
To corresponding advance valve in hydraulic valve bank or retreat valve.
Optionally, output control module 15 selects information according to valve, in the case of being just in the direction of current driving speed,
The advance valve being supplied to using the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable as advance valve controlled quentity controlled variable in hydraulic valve bank；In current line
In the case of the direction of speed is sailed to bear, liquid is supplied to using the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable as valve controlled quentity controlled variable is retreated
Retrogressing valve in pressure valve group.
In the embodiment of above-mentioned travel speed control device, by the way that benchmark control is combined with accurate adjustment control, so as to
The velocity perturbation of engineering machinery in the process of moving can effectively be overcome, while wheel excavator travel speed response speed can also be improved
Degree, realizes the accurate control of travel speed, and good basis is laid for accurate construction and unmanned manipulation.
Fig. 2 is the exemplary block diagram of the travel speed control device of the disclosure another embodiment.With embodiment illustrated in fig. 1
It compares, in the embodiment depicted in figure 2, travel speed control device still further comprises filter module 16.Wherein：
Filter module 16 is configured as being filtered deviation, to obtain filter result.
Selecting module 13 is used for the feelings for being not less than the first thresholding T1 in the deviation of current setting speed and current driving speed
Under condition, deviation is directly supplied to pid control module 14；In the case where deviation is less than the second thresholding T2, by pid control module
Input be set to 0；In the case where deviation is less than the first thresholding T1 and is not less than the second thresholding T2, by the filtering of filter module 16
As a result it is supplied to pid control module 14.
If that is, deviation E >=T1, the input Epid=E of pid control module 14；If E<T2, then Epid=0；If
T2≤E<The filter result of T1, then Epid=filter modules 16.
It is filtered by the deviation to current setting speed and current driving speed, can effectively ensure that system is steady
Into steady-state process.
Fig. 3 is the exemplary block diagram of the travel speed control device of the disclosure another embodiment.With embodiment illustrated in fig. 2
It compares, in the embodiment shown in fig. 3, filter module 16 includes multiple filter units, and the filtering cycle of each filter unit is equal
It differs.As an example, be presented in Fig. 3 three filter units, i.e. level-one filter unit 161,162 and of secondary filter unit
Three-level filtering unit 163, the filtering time of each filter unit successively increase.The quantity of filter unit can carry out accordingly as needed
Adjustment.
As shown in figure 3, each filter unit is respectively filtered deviation.
Selecting module 13 is according to deviation less than the first thresholding T1 and not less than area affiliated in the range of the second thresholding T2
Between, the filter result of corresponding filter unit is supplied to pid control module 14.
If for example, deviation E >=T1, the input Epid=E of pid control module 14；If E<T2, then Epid=0.T2≤
E<In T1, if V1≤E<The filter result of T1, then Epid=level-ones filter unit 161；If V2≤E<V1, then Epid=two levels filter
The filter result of ripple unit 162；If T2≤E<The filter result of V2, then Epid=three-level filterings unit 163.Wherein, V1, V2 are
Corresponding threshold speed.
It follows that when velocity deviation is not less than T1, PID control processing is carried out using without the deviation of filtering,
When velocity deviation is less than T2, the input of pid control module is set to 0.In T2≤E<In T1, according to the section where deviation E,
Select input value of the filtering output of corresponding filter unit as pid control module.Thus, it can be ensured that system is steadily into steady
The state stage, so as to effectively reduce the steady-sxtate wave motion of travel speed.
Fig. 4 is the exemplary process diagram of the travel speed control method of an embodiment of the present disclosure.Optionally, the present embodiment
Method and step can be performed by travel speed control device.
Step 401, according to the current rotating speed of engine and current setting speed, the benchmark controlled quentity controlled variable of travel speed is determined.
Optionally it is determined that the step of benchmark controlled quentity controlled variable of travel speed, may include：It searches and the current rotating speed phase of engine
The engine speed model matched somebody with somebody is determined and the corresponding benchmark controlled quentity controlled variable of current setting speed using engine speed model.
Step 402, the deviation of current setting speed and current driving speed is determined.
Step 403, PID control is carried out to deviation information using pid control module, to obtain accurate adjustment controlled quentity controlled variable.
Optionally, the step of carrying out PID control to deviation information using pid control module may include：In pid control module
In, PID control is carried out using adjustment parameter corresponding with deviation information, to obtain accurate adjustment controlled quentity controlled variable.
Step 404, valve selection information is generated according to the direction of current setting speed.
Step 405, information is selected according to valve, the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable is supplied to phase in hydraulic valve bank
The advance valve or retrogressing valve answered.
Optionally, it is above-mentioned by the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable be supplied in hydraulic valve bank corresponding advance valve or
The step of retreating valve may include：Information is selected according to valve, in the case of being just in the direction of current driving speed, benchmark is controlled
The sum of amount and accurate adjustment controlled quentity controlled variable are supplied to the advance valve in hydraulic valve bank as advance valve controlled quentity controlled variable；In the side of current driving speed
In the case of to bear, it is supplied to using the sum of benchmark controlled quentity controlled variable and accurate adjustment controlled quentity controlled variable as valve controlled quentity controlled variable is retreated in hydraulic valve bank
Retreat valve.
In the embodiment of above-mentioned travel speed control method, by the way that benchmark control is combined with accurate adjustment control, so as to
The velocity perturbation of engineering machinery in the process of moving can effectively be overcome, while wheel excavator travel speed response speed can also be improved
Degree, realizes the accurate control of travel speed, and good basis is laid for accurate construction and unmanned manipulation.
Optionally, in the above-described embodiments, also deviation is filtered using filter module, to obtain filtering knot
Fruit.In deviation not less than in the case of the first thresholding, using deviation as the input of pid control module, it is less than second in deviation
In the case of limit, using 0 as pid control module input, deviation be less than the first thresholding and not less than the second thresholding situation
Under, using filter result as the input of pid control module.
Optionally, multiple filter units are may include in filter module.Each filter unit in filter module is respectively to deviation
It is filtered, wherein the filtering cycle of each filter unit differs.So as to according to deviation less than the first thresholding and not
Less than section affiliated in the range of the second thresholding, input of the filter result as pid control module of filter unit will be corresponded to.
Fig. 5 is the exemplary block diagram of the travel speed control device of the disclosure another embodiment.As shown in figure 5, the dress
It puts including memory 51 and processor 52.Wherein：
For storing instruction, processor 52 is coupled to memory 51 to memory 51, and processor 52 is configured as based on storage
The instruction of device storage performs the method realized as any embodiment is related in Fig. 4.
As shown in figure 5, the device further includes communication interface 53, for carrying out information exchange with miscellaneous equipment.Meanwhile the dress
It puts and further includes bus 54, processor 52, communication interface 53 and memory 51 complete mutual communication by bus 54.
Memory 51 can include high-speed RAM memory, can also further include nonvolatile memory (non-volatile
Memory), a for example, at least magnetic disk storage.Memory 51 can also be memory array.Memory 51 is also possible to be divided
Block, and block can be combined into virtual volume by certain rule.
In addition, processor 52 can be a central processor CPU can be either application-specific integrated circuit ASIC or
It is arranged to implement one or more integrated circuits of the embodiment of the present disclosure.
The disclosure also relates to a kind of computer readable storage medium, and wherein computer-readable recording medium storage has meter
Calculation machine instructs, and the method that any embodiment is related in such as Fig. 4 is realized when instruction is executed by processor.
Fig. 6 is the exemplary block diagram of the travel speed control system of an embodiment of the present disclosure.As shown in fig. 6, the traveling
Speed control system may include travel speed control device 61 and hydraulic valve bank 62.
Travel speed control device 61 can be the travel speed control device that any embodiment is related in Fig. 1-3,5.Hydraulic pressure
The controlled quentity controlled variable information that valve group 62 is provided according to travel speed control device 61 controls corresponding advance valve or retrogressing valve,
Hydraulic oil to be controlled to flow into direction and the speed of driving motors 63.
Fig. 7 is the exemplary block diagram of the travel speed control system of the disclosure another embodiment.With embodiment illustrated in fig. 6
It compares, in the embodiment shown in fig. 7, further includes velocity sensor 64, for detecting the current driving speed of vehicle, and will detection
To but preceding travel speed be supplied to travel speed control device 61.
One exemplary architecture of disclosure travel speed control system is as shown in Figure 8.
Fig. 9 is the exemplary block diagram of the engineering machinery of an embodiment of the present disclosure.As shown in figure 9, it is wrapped in engineering machinery 91
Include the travel speed control system 92 that any embodiment is related into Fig. 8 such as Fig. 6.
Optionally, engineering machinery 91 can be wheel excavator or other relevant engineering trucks.
Optionally, functional unit block described above can be implemented as performing function described by the disclosure
General processor, programmable logic controller (PLC) (Programmable LogicController, abbreviation：PLC), at digital signal
Manage device (Digital Signal Processor, abbreviation：DSP), application-specific integrated circuit (Application Specific
Integrated Circuit, referred to as：ASIC), field programmable gate array (Field-Programmable Gate Array,
Referred to as：FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components or its
It is arbitrary appropriately combined.
The mode that the disclosure is combined by using benchmark control and accurate adjustment control, improves engineering machinery travel speed
Response speed, reduces the steady-sxtate wave motion of engineering machinery, realize the engineering machinery of such as wheel excavator travel speed it is accurate
Control.
One of ordinary skill in the art will appreciate that hardware can be passed through by realizing all or part of step of above-described embodiment
It completes, relevant hardware can also be instructed to complete by program, the program can be stored in a kind of computer-readable
In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..
The description of the disclosure provides for the sake of example and description, and is not exhaustively or by the disclosure
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches
It states embodiment and is to more preferably illustrate the principle and practical application of the disclosure, and those of ordinary skill in the art is enable to manage
The disclosure is solved so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (17)
1. a kind of travel speed control device, including：
Benchmark controlled quentity controlled variable determining module is configured as, according to the current rotating speed of engine and current setting speed, determining travel speed
Benchmark controlled quentity controlled variable；
Deviation determining module is configured to determine that the deviation of the current setting speed and current driving speed；
Selecting module is configured as the deviation being supplied to pid control module；It is additionally configured to according to the current setting speed
The direction generation valve selection information of degree；
Pid control module, the deviation information for being configured as providing using selecting module carries out PID control, to obtain accurate adjustment control
Amount；
Output control module is configured as selecting information according to the valve, by the benchmark controlled quentity controlled variable and the accurate adjustment controlled quentity controlled variable
The sum of be supplied in hydraulic valve bank corresponding advance valve or retreat valve.
2. control device according to claim 1, further includes：
Filter module is configured as being filtered the deviation, to obtain filter result；
Selecting module is additionally configured to PID is supplied to control the deviation not less than in the case of the first thresholding in the deviation
The input of pid control module in the case where the deviation is less than the second thresholding, is set to 0, is less than in the deviation by molding block
First thresholding and not less than in the case of the second thresholding, pid control module is supplied to by the filter result.
3. control device according to claim 2, the filter module includes multiple filter units, each filter unit
Filtering cycle differs, wherein：
Filter unit is configured as being filtered the deviation；
Selecting module is additionally configured to according to the deviation less than the first thresholding and not less than belonging in the range of the second thresholding
Section, the filter result of corresponding filter unit is supplied to pid control module.
4. control device according to claim 1, wherein,
Pid control module is configured as carrying out PID controls using the corresponding adjustment parameter of the deviation information provided with selecting module
System, to obtain accurate adjustment controlled quentity controlled variable.
5. control device according to claim 1, wherein,
Benchmark controlled quentity controlled variable determining module is configured as searching the engine speed model with the current rotational speed matches of the engine,
It is determined and the current corresponding benchmark controlled quentity controlled variable of setting speed using the engine speed model.
6. according to the control device any one of claim 1-5, wherein,
Output control module is configured as selecting information according to the valve, is positive situation in the direction of the current driving speed
Under, the advance that the sum of the benchmark controlled quentity controlled variable and described accurate adjustment controlled quentity controlled variable is supplied to as advance valve controlled quentity controlled variable in hydraulic valve bank
Valve；In the case where the direction of the current driving speed is bears, by the sum of the benchmark controlled quentity controlled variable and the accurate adjustment controlled quentity controlled variable
The retrogressing valve being supplied to as retrogressing valve controlled quentity controlled variable in hydraulic valve bank.
7. a kind of travel speed control method, including：
According to the current rotating speed of engine and current setting speed, the benchmark controlled quentity controlled variable of travel speed is determined；
Determine the deviation of the current setting speed and current driving speed；
PID control is carried out to the deviation information using pid control module, to obtain accurate adjustment controlled quentity controlled variable；
Valve selection information is generated according to the direction of the current setting speed；
Information is selected according to the valve, the sum of the benchmark controlled quentity controlled variable and the accurate adjustment controlled quentity controlled variable are supplied to phase in hydraulic valve bank
The advance valve or retrogressing valve answered.
8. control method according to claim 7, further includes：
The deviation is filtered using filter module, to obtain filter result；
In the case where the deviation is not less than the first thresholding, using the deviation as the input of pid control module, described inclined
In the case that difference is less than the second thresholding, using 0 as pid control module input, in the deviation less than the first thresholding and not small
In the case of the second thresholding, using the filter result as the input of pid control module.
9. control method according to claim 8, further includes：
Each filter unit in filter module is respectively filtered the deviation, wherein the filtering cycle of each filter unit
Differ；
According to the deviation less than the first thresholding and not less than section affiliated in the range of the second thresholding, corresponding will filter single
Input of the filter result of member as pid control module.
10. control method according to claim 7, wherein,
Carrying out PID control to the deviation information using pid control module includes：
In pid control module, PID control is carried out using adjustment parameter corresponding with deviation information, to obtain accurate adjustment control
Amount.
11. control method according to claim 7, wherein,
Determining the benchmark controlled quentity controlled variable of travel speed includes：
Search the engine speed model with the current rotational speed matches of the engine；
It is determined and the current corresponding benchmark controlled quentity controlled variable of setting speed using the engine speed model.
12. according to the control method any one of claim 7-11, wherein,
The sum of the benchmark controlled quentity controlled variable and the accurate adjustment controlled quentity controlled variable are supplied in hydraulic valve bank corresponding advance valve or retreat valve
Including：
Information is selected according to the valve, in the case of being just in the direction of the current driving speed, by the benchmark controlled quentity controlled variable
The advance valve being supplied to the sum of the accurate adjustment controlled quentity controlled variable as advance valve controlled quentity controlled variable in hydraulic valve bank；In current driving speed
In the case that the direction of degree is bears, provided using the sum of the benchmark controlled quentity controlled variable and the accurate adjustment controlled quentity controlled variable as valve controlled quentity controlled variable is retreated
To the retrogressing valve in hydraulic valve bank.
13. a kind of travel speed control device, including：
Memory is configured as store instruction；
Processor, is coupled to memory, and processor is configured as the instruction based on memory storage and performs realization such as claim
Method any one of 7-12.
14. a kind of travel speed control system, including：
Travel speed control device as any one of claim 1-6,13；
Hydraulic valve bank, be configured as according to travel speed control device provide controlled quentity controlled variable information, to corresponding advance valve or after
It moves back valve to be controlled, hydraulic oil to be controlled to flow into direction and the speed of driving motors.
15. control system according to claim 14, further includes：
Velocity sensor, is configured as the current driving speed of detection vehicle, and travel speed detect but preceding is supplied to
Travel speed control device.
16. a kind of engineering machinery, including：
Travel speed control system as described in claims 14 or 15.
17. a kind of computer readable storage medium, wherein, computer-readable recording medium storage has computer instruction, instructs quilt
The method as any one of claim 7-12 is realized when processor performs.
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