A kind of bulldozer straight driving control method and system

Abstract

The invention discloses a method for controlling straight running of a bulldozer. The method comprises the steps of 1) obtaining the speed difference delta n of left and right motors; 2) determining whether the rotation speed of the left motor is large, performing step 3) if the rotation speed of the left motor is large, and performing step 4) if the rotation speed of the left motor is not large; 3) controlling the control current of a left hydraulic pump to reduce delta i and / or the control current of a right hydraulic pump to increase delta i; 4) controlling the control current of the left hydraulic pump to increase delta i and / or the control current of the right hydraulic pump to reduce delta i. According to the method for controlling straight running of the bulldozer, a small amount approaching principle is used, in each scanning period, the pump displacement of the fast side is reduced by a small amount delta i and / or the pump displacement of the slow side is increased by a same small amount delta i, and balance of speeds of the two sides can be reached within a short time by the aid of the high-speed processing capacity of a controller; besides, overregulation and shock cannot occur as the rectifying amount of each time is small. The invention further discloses engineering machinery using the method for controlling straight running of the bulldozer.

Description

technical field [0001] The invention relates to the technical field of deviation correction methods, and more specifically, to a method and system for controlling straight-line travel of a bulldozer. Background technique [0002] The crawler-type full-hydraulic walking machinery driven by double pumps and double motors usually does not have an independent steering system, and the control of its walking direction is completely realized by adjusting the speed of the left and right crawlers. When it is necessary to drive straight, the control system gives the left and right hydraulic pumps the same amount of control, so that the tracks on both sides have the same running speed; The amount of control, so that the tracks on both sides form a differential speed to achieve steering. [0003] Theoretically, the hydraulic components on the left and right sides have the same type and specification, and the relationship between the pump displacement and the control current (proportion...

AI Technical Summary

Problems solved by technology

But in fact, due to the influence of the manufacturing quality and the inherent nonlinear factors of the proportional electromagnet, the ideal linear relationship does not exist

This non-linearity combined with the combined effects of the difference in the tension force of the track on both sides and the different ground adhesion conditions, when the machine needs to travel in a straight line, even under the same given control conditions, the speed of the left and right sides will still be different. Inconsistency caused by deviation

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