CN111017839A - Driving control method, controller, control system and overhead working truck - Google Patents
Driving control method, controller, control system and overhead working truck Download PDFInfo
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- CN111017839A CN111017839A CN202010001673.4A CN202010001673A CN111017839A CN 111017839 A CN111017839 A CN 111017839A CN 202010001673 A CN202010001673 A CN 202010001673A CN 111017839 A CN111017839 A CN 111017839A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
- B66F11/044—Working platforms suspended from booms
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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
- B60W30/02—Control of vehicle driving stability
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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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
Abstract
The invention relates to a driving control method, wherein a walking pump provides power for driving action, and the control method comprises the following steps: inquiring the current driving state according to a preset driving state table; acquiring a related driving parameter signal: the real-time rotating speed of the engine; obtaining a judgment result of whether the current driving state accelerates on the condition that whether the rotating speed of the engine is greater than a preset rotating speed; selectively sending out a control signal for reducing the output flow of the walking pump according to the judgment result; and when the judgment result shows that the current driving state is a downhill state and the driving is accelerated, sending a control signal for reducing the output flow of the walking pump. The invention can lead the vehicle to go down stably when the vehicle is in the state of going up-down slope. The application also provides a driving controller, a driving control system and an overhead working truck.
Description
Technical Field
The invention relates to the technical field of overhead working trucks, in particular to a traveling control method, a controller, a control system and an overhead working truck.
Background
The high-altitude operation vehicle mainly comprises an underframe assembly, an arm support assembly and a working platform, wherein the arm support assembly is arranged on the underframe assembly, the working platform is arranged on the arm support assembly, and a closed type walking hydraulic system is mainly adopted.
The closed type walking hydraulic system comprises a walking pump and a hydraulic motor, and high-pressure oil output by the walking pump directly drives the motor and drives a vehicle to walk through a speed reducer during working. Specifically, the engine is directly connected with a walking pump through a coupler, an A port of the walking pump is connected with an A port of a hydraulic motor, a B port of the walking pump is connected with a B port of the hydraulic motor, and the hydraulic motor drives a walking wheel through a speed reducer.
When the high-altitude operation vehicle is in a downhill working condition, mechanical energy of the high-altitude operation vehicle is reversely transmitted to the hydraulic motor through the speed reducer due to the fact that the vehicle slides down under the action of motion inertia or gravity to drive the hydraulic motor to rotate, when the pressure of an oil outlet of the hydraulic motor is larger than the pressure of an oil inlet of the hydraulic motor, the hydraulic motor is substantially in an oil pumping working condition, an oil suction port of the oil pump is in a high-pressure oil path, the oil outlet is in a low-pressure oil path, and the oil pump is in a motor working condition that the oil. The oil pump at this time drags the engine back through the coupling, i.e., the engine is dragged like a load at this time. The engine is reversely dragged to rotate in an accelerated manner, the engine stalls, the whole vehicle slides down in an accelerated manner, equipment is damaged if the engine is light, and casualties occur if the engine is heavy.
Disclosure of Invention
The present invention is directed to a driving control method for enabling a vehicle to run down a slope smoothly in a downhill acceleration driving state. On the basis, the invention also provides a traveling controller, a control system and an overhead working truck with the control system, which can achieve the effects.
The technical scheme of the invention is as follows:
a driving control method, a walking pump provides power for driving action, the control method comprises:
inquiring the current driving state according to a preset driving state table;
acquiring a related driving parameter signal: the real-time rotating speed of the engine;
obtaining a judgment result of whether the current driving state accelerates on the condition that whether the rotating speed of the engine is greater than a preset rotating speed;
selectively sending out a control signal for reducing the output flow of the walking pump according to the judgment result;
and when the judgment result shows that the current driving state is a downhill state and the driving is accelerated, sending a control signal for reducing the output flow of the walking pump.
Preferably, the result of the driving state table is obtained on the condition that the corresponding relation between the position of the arm support relative to the underframe, the slope inclination angle, the swing direction of the walking handle and the driving state is established.
Preferably, the judgment result is that the current driving state is an uphill slope, and a control signal for reducing the output flow of the walking pump is not sent out,
and acquiring a preset maximum current value of the uphill, outputting high-pressure oil by a walking pump, and accelerating the traveling.
Preferably, the initial maximum current value of the walking pump under the current slope inclination angle is obtained according to the function relation between the preset initial maximum current value of the walking pump and the slope inclination angle;
when the rotating speed of the engine is less than or equal to the preset rotating speed, the initial maximum current value of the walking pump is unchanged, and a control signal for reducing the output flow of the walking pump is not sent out;
preferably, the initial maximum current value of the walking pump under the current slope inclination angle is obtained according to the function relation between the preset initial maximum current value of the walking pump and the slope inclination angle;
and when the rotating speed of the engine is greater than the preset rotating speed, reducing the initial maximum current value of the walking pump, sending a control signal for reducing the output flow of the walking pump, and circulating the step until the rotating speed of the engine is equal to the preset rotating speed.
A vehicle controller, the controller comprising:
the current driving state query unit is used for querying the current driving state according to a preset driving state table;
the relevant driving parameter signal acquisition unit is used for acquiring the real-time rotating speed of the engine;
the current driving acceleration judging unit is used for obtaining a judging result of whether the current driving state is accelerated or not on the condition that whether the real-time rotating speed of the engine is greater than the preset vehicle speed or not;
the control signal output unit is used for selectively sending out a control signal for reducing the output flow of the walking pump according to the judgment result;
and the control parameter storage unit is used for storing the driving control related parameters.
Preferably, the boom position acquisition unit is used for acquiring the position of the boom relative to the base frame;
the slope inclination angle measuring unit is used for measuring the inclination angle of the current vehicle on the slope;
the walking handle swinging direction detection unit is used for detecting the swinging direction of the driving handle and acquiring the walking direction of the vehicle by a driving handle swinging method;
the arm support position acquisition unit relative to the underframe, the slope inclination angle measurement unit and the walking handle swinging direction detection unit can provide parameters for the control parameter storage unit.
Preferably, the walking pump initial maximum current value obtaining unit is configured to obtain a walking pump initial maximum current value under a current slope inclination angle according to a function relationship between a preset walking pump initial maximum current value and a slope inclination angle;
and the walking pump initial maximum current value control unit is used for not changing or reducing the walking pump initial maximum current value according to whether the rotating speed of the engine is greater than the preset rotating speed or not.
A driving control system comprises the driving controller;
the controller comprises a tilt angle sensor, a rotary table proximity switch, an engine rotating speed sensor and a driving direction control device which are connected with the controller.
An overhead working truck comprises the traveling control system.
Compared with the prior art, the method can compare the real-time rotating speed of the engine with the preset rotating speed of the engine in the current driving state, and if the rotating speed of the engine is greater than the preset rotating speed, the walking pump is controlled by utilizing a strategy to reduce the flow of the walking pump, namely, the flow of the walking pump can be matched under the driving state and whether the driving is accelerated or not, so that the problem of stalling caused by the acceleration of the rotating speed of the engine is solved by reducing the output flow of the walking pump, and the smooth downhill of the whole vehicle is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a logic diagram of a driving control method according to the present embodiment;
FIG. 2 is a schematic diagram illustrating the conventional area and the rear area in this embodiment;
FIG. 3 is a schematic diagram of a downhill acceleration condition in the present embodiment;
FIG. 4 is a second schematic diagram of a downhill acceleration condition in the present embodiment;
FIG. 5 is a third schematic diagram of a downhill acceleration condition in the present embodiment;
FIG. 6 is a fourth schematic diagram illustrating a downhill acceleration condition in accordance with the present embodiment;
FIG. 7 is a schematic structural diagram of a driving control system according to the present embodiment;
FIG. 8 is a schematic diagram of a logic structure of the driving control method in this embodiment;
fig. 9 is a schematic diagram of the function relationship between the initial maximum current value of the walking pump and the inclination angle of the slope in this embodiment.
Description of reference numerals: 1. an engine; 2. a walking pump; 3. a motor; 4. a speed reducer; 5. a traveling wheel; 6. a tilt sensor; 7. a walking handle; 8. a controller; 9. a turntable proximity switch; 10. a rotation speed sensor.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present invention, it is to be understood that the terms "upper", "lower", and the like, indicate an orientation or positional relationship only for convenience of description and simplicity of description, but do not indicate or imply that the referenced components or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the prior art, the closed type walking hydraulic system is widely applied to the overhead working truck due to the advantages of simple structure, small volume, large starting torque, small reversing impact and the like. By adopting the closed type walking hydraulic system, the inertia potential energy of the high-altitude operation vehicle when going downhill is gradually increased along with the increase of the gradient. The working conditions of the walking pump 2 and the hydraulic motor 3 can be interchanged, namely, the walking pump 2 becomes the working condition of the motor 3, and the working condition of the motor 3 becomes the working condition of the pump. Generally, the engine 1 is positively towed when doing work to drive the vehicle to move forward, and the traveling pump 2 is reversely towed to the engine 1 when the overhead working truck is in a downhill state, and the engine 1 is towed similarly to a load. The engine 1 is reversely dragged to rotate in an accelerating way, the engine 1 can stall, the whole vehicle slides down in an accelerating way, equipment is damaged if the engine is light, and casualties occur if the engine is heavy.
Without loss of generality, the following description will take an aerial work vehicle as an example.
As shown in fig. 2, the aerial lift platform comprises a chassis and an arm support, a rotary table is connected with the chassis and the arm support, and the position of the arm support relative to the chassis is adjusted through 360-degree rotation of the rotary table. The revolving area of the turntable is usually divided into a conventional area and a rear area, and the arm support has two working conditions in the front area or the rear area. Meanwhile, the traveling direction of the overhead working truck is forward or backward; and whether the aerial cage is ascending or descending. Therefore, when the overhead working truck is used for controlling the traveling, the influence of external factors on the control result needs to be fully considered, wherein the external factors refer to the traveling posture.
As shown in fig. 2 to 6, referring to table 1, table 1 is a driving state table showing the concentrated combined working condition of the aerial work platform vehicle on a downhill;
TABLE 1 running state table
Please refer to fig. 1, which is a control flow chart of a driving control method according to the present invention, and is described in detail with reference to the combinations in table 1, and specifically includes the following steps:
s101, inquiring the current driving state according to a preset driving state table: the driving state is specifically as follows: whether the overhead working truck is on an uphill slope or a downhill slope. With reference to the traveling state table of table 1, it is accurately determined whether the aerial work vehicle is in an uphill state or a downhill state.
S102, acquiring a relevant driving parameter signal: the real-time rotating speed of the engine 1; after knowing whether the aerial lift truck is ascending or descending, the rotation speed of the engine 1 is fed back at the same time.
S103, obtaining a judgment result whether the current driving state is accelerated or not on the condition that whether the rotating speed of the engine 1 is greater than a preset rotating speed or not; the actual rotating speed of the engine 1 is compared with the preset rotating speed, and whether the overhead working truck accelerates, decelerates at a constant speed or uphill slope or at a constant speed or decelerates at a downhill slope is judged.
S104, selectively sending out a control signal for reducing the output flow of the walking pump 2 according to the judgment result; and according to the judgment result, configuring according to the strategy of the actual demand to see whether a control signal for reducing the flow of the walking pump 2 is sent out.
And S105, when the judgment result shows that the current driving state is a downhill state and the driving is accelerated, sending a control signal for reducing the output flow of the walking pump 2. When the determination result is present, the control signal for reducing the flow rate of the traveling pump 2 is immediately issued when the vehicle is running downhill and accelerated. And then returns to step S102 again.
At a downward slope of oneUnder certain conditions, the load of the hydraulic system is the decomposition force of the gravity of the whole vehicle in the slope direction, the decomposition force is basically kept unchanged in the process of descending the slope, meanwhile, the pressure oil of the walking pump 2 balances the load through the hydraulic motor 3, therefore, according to the relationship among the pressure P of the walking pump 2, the flow V of the walking pump 2 and the output torque T of the walking pump 2,
when the flow V of the walking pump 2 is reduced, the torque T applied to the engine 1 by the walking pump 2 is correspondingly reduced, so that the torque applied to the engine 1 by the walking pump 2 is always smaller than the rated torque of the engine 1, the engine 1 cannot be dragged, the vehicle cannot rotate in an accelerated manner, and the problems that the engine 1 stalls and the whole vehicle slides in an accelerated manner are solved.
And S106, judging that the current driving state is an uphill slope, not sending a control signal for reducing the output flow of the traveling pump, obtaining a preset maximum current value of the uphill slope, outputting high-pressure oil by the traveling pump, and accelerating driving. The obtaining of the preset maximum current value of the uphill can be completed through the walking handle, the current value is correspondingly increased along with the increase of the swing angle of the walking handle, when the walking handle is located at the maximum angle, the preset maximum current value of the uphill is reached, then the walking pump outputs high-pressure oil, the traveling speed is accelerated, and the whole vehicle is uphill at a higher speed.
S100, obtaining a driving state table as a result under the condition that the corresponding relation between the position of the arm support relative to the underframe, the slope inclination angle, the driving direction and the driving state is established. Step S100 may be provided before step S101, where it is to be noted that, as shown in fig. 2, an application example is provided for explaining data acquisition of a boom box gauge and a boom position, and according to a difference that a signal output device and a signal input device are arranged at the front and the rear of the aerial work platform, a 360-degree rotation region of the boom relative to the underframe is divided into a conventional region and a rear region, where the conventional region may have the signal output device and the signal input device, and the rear may not have the difference between the signal output device and the signal input device, and the 360-degree rotation region of the boom relative to the underframe is defined by itself according to a requirement, so that a position of the boom relative to the underframe is known, and driving safety is further improved.
As shown in fig. 3 to 6, in addition to ensuring the accuracy of the slope angle value, the slope angle output value can be in a positive or negative form by taking into account the fact that the measuring tool is mounted on the rotary table and eliminating the influence of the rotation of the measuring tool along with the rotary table on the determination result of whether the vehicle actually ascends or descends.
The driving direction of the overhead working truck is known by controlling the direction of an electric control driving handle, and can be defined as that the arm support is in a conventional area, the swinging direction of the driving handle is consistent with the driving direction of the whole truck, and the whole truck moves forwards when the driving handle swings forwards; when the walking handle swings backwards, the whole vehicle backs backwards. Or the arm support is arranged in the rear area, the swinging direction of the walking handle is opposite to the walking direction of the whole vehicle, and the whole vehicle moves backwards when the walking handle swings forwards; when the walking handle swings backwards, the whole vehicle moves forwards.
It should be noted that how to acquire data about the position of the boom relative to the underframe, the inclination angle of the slope, and the swing direction of the walking handle is simply enumerated, and the adjustment is made according to the actual conditions, and is within the protection range of the embodiment on the premise that the corresponding relationship between the position of the boom relative to the underframe, the inclination angle of the slope, the swing direction of the walking handle, and the actual driving state is not established.
S107, obtaining the initial maximum current value of the walking pump 2 under the current slope inclination angle according to the function relation between the preset initial maximum current value of the walking pump 2 and the slope inclination angle;
when the rotating speed of the engine is less than or equal to the preset rotating speed, the initial maximum current value of the walking pump is unchanged, and a control signal for reducing the output flow of the walking pump is not sent out;
and when the rotating speed of the engine is greater than the preset rotating speed, reducing the initial maximum current value of the walking pump, sending a control signal for reducing the output flow of the walking pump, and circulating the step until the rotating speed of the engine is equal to the preset rotating speed.
As shown in fig. 9, after the driving state is determined, the inclination angle of the slope is obtained, a function relationship between a preset initial maximum current value of the traveling pump 2 and the inclination angle of the slope is called, an initial maximum current value of the traveling pump 2 at the current inclination angle of the slope is obtained, whether the starting rotation speed is greater than or equal to a preset rotation speed or greater than a preset rotation speed is determined, whether the initial maximum current value of the traveling pump is changed or not is determined, whether a control signal for reducing the output flow of the traveling pump is sent or not is determined, and if the control signal is sent, the steps of comparing the cyclic rotation speeds, reducing the current values and reducing the flow of the traveling pump are performed until the rotation speed of the.
The following describes the running controller 8 according to the present invention on the basis of the above control method.
The driving controller 8 comprises a current driving state query unit for querying a current driving state according to a preset driving state table;
the system comprises a relevant driving parameter signal acquisition unit, a driving parameter signal acquisition unit and a driving parameter signal acquisition unit, wherein the relevant driving parameter signal acquisition unit is used for acquiring the real-time rotating speed of an engine 1;
the current driving acceleration judging unit is used for obtaining a judging result of whether the current driving state is accelerated or not on the condition that whether the real-time rotating speed of the engine 1 is greater than the preset vehicle speed or not;
a control signal output unit for selectively sending out a control signal for reducing the output flow of the walking pump 2 according to the judgment result;
and the control parameter storage unit is used for storing the driving control related parameters.
Further, the controller 8 further includes a boom position acquisition unit for acquiring a position of the boom relative to the base frame; the slope inclination angle measuring unit is used for measuring the inclination angle of the current vehicle on the slope; the walking handle swinging direction detection unit is used for detecting the swinging direction of the driving handle and acquiring the walking direction of the vehicle by a driving handle swinging method; the arm support position acquisition unit relative to the underframe, the slope inclination angle measurement unit and the walking handle swing direction detection unit can provide parameters for the control parameter storage unit.
Further, the controller 8 includes an initial maximum current value obtaining unit of the walking pump 2, configured to obtain an initial maximum current value of the walking pump 2 at a current slope inclination angle according to a function relationship between a preset initial maximum current value of the walking pump 2 and the slope inclination angle;
and the walking pump initial maximum current value control unit is used for not changing or reducing the walking pump initial maximum current value according to whether the rotating speed of the engine is greater than the preset rotating speed or not.
As shown in fig. 7, the driving control system includes a driving controller 8, and a tilt sensor 6, a rotary table proximity switch 9, a rotation speed sensor 10 of the engine 1 and a driving direction control device connected to the controller 8, wherein the driving direction control device may be a driving handle.
It should be noted that the controller 8 monitors various relevant parameters in real time through the CAN bus system, and when the preset range is no longer set (when the overhead working truck is running at an accelerated speed on a downhill), the current signal is controlled to the electromagnetic valve of the traveling pump 2, and the valve controls the flow rate of the traveling pump 2 by controlling the pressure difference of the port of the traveling pump 2A, B, so as to reduce the absorption torque of the traveling pump 2, so that the engine 1 is not dragged reversely to rotate at an accelerated speed in the downhill process, and the situation that the whole truck slides down at an accelerated speed due to the stalling of the engine 1 is avoided. In addition, when the power of the engine 1 is rich, the movement speed of the working mechanism can be increased through the control system, so that the efficiency is improved.
In order to more clearly understand the purpose of the present invention, as shown in fig. 1 to 9, the following description is further made for the driving control system:
the walking handle 7 acts to send a forward or backward walking command to the controller 8, meanwhile, the inclination angle sensor 6 sends the inclination angle (namely the slope angle theta) of the whole vehicle and the output signal of the rotary table proximity switch 9 to the controller 8, and the controller 8 judges whether the whole vehicle is in an uphill state or a downhill state by comparing the inclination angle of the rotary table and the output signal of the rotary table proximity switch 9 with the electric control walking handle 7.
When the whole vehicle is determined to be on the uphill, the electric control program calls a maximum current value set by climbing and controls the traveling pump 2 to increase the displacement and output high-pressure oil by combining the electric control traveling handle 7 (along with the increase of the angle of the electric control traveling handle 7, the output current value of the controller 8 is correspondingly increased, and when the electric control traveling handle 7 is driven to the maximum angle, the controller 8 outputs the maximum current value set in the program), and the whole vehicle is driven to ascend the uphill by the hydraulic motor 3, so that the whole vehicle can climb at a high speed.
When the whole vehicle is determined to be in a downhill, according to the inclination angle (namely the slope angle theta) of the whole vehicle detected by the inclination angle sensor 6, the controller 8 calls the initial maximum set current value of the downhill in the program, the electric control walking handle 7 is combined to control the displacement change of the walking pump 2 so as to drive the whole vehicle to go downhill, meanwhile, the rotating speed sensor 10 for detecting the rotating speed of the engine 1 sends data to the controller 8 in real time, the real-time rotating speed of the engine 1 is compared with the preset rotating speed in the downhill, if the real-time rotating speed of the engine 1 is smaller than the preset rotating speed of the engine 1, the torque of the walking pump 2 dragging the engine 1 is smaller than the rated torque of the engine 1, the flow of the walking pump.
If the real-time rotating speed of the engine 1 is greater than the preset rotating speed of the engine 1, the fact that the torque of the engine 1 dragged by the walking pump 2 is greater than the rated torque of the engine 1 is shown, the rotating speed of the engine 1 is increased, the displacement of the walking pump 2 is reduced, and the stable speed and the descending slope of the whole vehicle are finally achieved through the closed-loop feedback of the rotating speed sensor 10.
As shown in fig. 3 to 6, the aerial lift truck includes the above-described vehicle control system. It should be noted that other main functional components of the chassis, the turntable, the arm support and the like of the aerial work platform are not the invention points of the patent, and are not described again.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A driving control method is characterized in that a traveling pump provides power for driving action, and the control method comprises the following steps:
inquiring the current driving state according to a preset driving state table;
acquiring a related driving parameter signal: the real-time rotating speed of the engine;
obtaining a judgment result of whether the current driving state accelerates on the condition that whether the rotating speed of the engine is greater than a preset rotating speed;
selectively sending out a control signal for reducing the output flow of the walking pump according to the judgment result;
and when the judgment result shows that the current driving state is a downhill state and the driving is accelerated, sending a control signal for reducing the output flow of the walking pump.
2. The traveling control method according to claim 1,
and obtaining a driving state table as a result under the condition that the corresponding relation between the position of the arm support relative to the underframe, the inclination angle of the slope, the swinging direction of the walking handle and the driving state is established.
3. The traveling control method according to claim 2,
the judgment result is that the current driving state is an uphill slope, and a control signal for reducing the output flow of the walking pump is not sent out,
and acquiring a preset maximum current value of the uphill, outputting high-pressure oil by a walking pump, and accelerating the traveling.
4. The traveling control method according to claim 2,
obtaining the initial maximum current value of the walking pump under the current slope inclination angle according to the function relation between the preset initial maximum current value of the walking pump and the slope inclination angle;
when the rotating speed of the engine is less than or equal to the preset rotating speed, the initial maximum current value of the walking pump is unchanged, and a control signal for reducing the output flow of the walking pump is not sent out.
5. The traveling control method according to claim 2,
obtaining the initial maximum current value of the walking pump under the current slope inclination angle according to the function relation between the preset initial maximum current value of the walking pump and the slope inclination angle;
and when the rotating speed of the engine is greater than the preset rotating speed, reducing the initial maximum current value of the walking pump, sending a control signal for reducing the output flow of the walking pump, and circulating the step until the rotating speed of the engine is equal to the preset rotating speed.
6. A traveling vehicle controller, characterized in that the controller comprises:
the current driving state query unit is used for querying the current driving state according to a preset driving state table;
the relevant driving parameter signal acquisition unit is used for acquiring the real-time rotating speed of the engine;
the current driving acceleration judging unit is used for obtaining a judging result of whether the current driving state is accelerated or not on the condition that whether the real-time rotating speed of the engine is greater than the preset vehicle speed or not;
the control signal output unit is used for selectively sending out a control signal for reducing the output flow of the walking pump according to the judgment result;
and the control parameter storage unit is used for storing the driving control related parameters.
7. The traveling vehicle controller according to claim 6, further comprising:
the boom position acquisition unit is used for acquiring the position of the boom relative to the base frame;
the slope inclination angle measuring unit is used for measuring the inclination angle of the current vehicle on the slope;
the walking handle swinging direction detection unit is used for detecting the swinging direction of the driving handle and acquiring the walking direction of the vehicle by a driving handle swinging method;
the arm support position acquisition unit relative to the underframe, the slope inclination angle measurement unit and the walking handle swinging direction detection unit can provide parameters for the control parameter storage unit.
8. The traveling vehicle controller according to claim 7, further comprising
The walking pump initial maximum current value acquisition unit is used for acquiring the walking pump initial maximum current value under the current slope inclination angle according to the function relation between the preset walking pump initial maximum current value and the slope inclination angle;
and the walking pump initial maximum current value control unit is used for not changing or reducing the walking pump initial maximum current value according to whether the rotating speed of the engine is greater than the preset rotating speed or not.
9. A driving control system, characterized by comprising a driving controller according to any one of claims 6-8;
the controller comprises a tilt angle sensor, a rotary table proximity switch, an engine rotating speed sensor and a driving direction control device which are connected with the controller.
10. An aerial lift truck comprising a ride control system as claimed in claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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