Control method for constant speed of hydraulic motor of multifunctional spraying vehicle and multifunctional spraying vehicle

Abstract

The invention belongs to the technical field of vehicle control and particularly relates to a control method of the constant rotating speed of a hydraulic motor of a multifunctional spraying vehicle and the multifunctional spraying vehicle. The method comprises the following steps that hydraulic system efficiency values under delivery capacities of m different hydraulic pumps and rotating speeds of n different engines are calculated, a system efficiency graph with m*n points is generated, the system efficiency graph is input into a feed-forward controller, under the delivery capacities of thedifferent hydraulic pumps and the rotating speeds of the different engines, the system efficiency graph is searched for determining a new hydraulic pump set delivery capacity, the hydraulic pump finaldelivery capacity is calculated and obtained according to the hydraulic pump set delivery capacity newly determined and a hydraulic pump delivery capacity correction value, and it is ensured that therotating speed of the hydraulic motor is constant. By using the control method of the constant rotating speed of the hydraulic motor of the multifunctional spraying vehicle and the multifunctional spraying vehicle, precision of feed-forward control can be improved effectively, it is ensured that the control system can adjust the hydraulic pump delivery capacity fast and accurately, it is ensuredthat the rotating speed of the hydraulic motor is constant, and uniformity of water flow spraying is ensured.

Description

technical field [0001] The invention belongs to the technical field of vehicle control, and in particular relates to a method for controlling the constant rotational speed of a hydraulic motor of a multifunctional spraying vehicle and the multifunctional spraying vehicle. Background technique [0002] At present, multi-functional spraying vehicles are mostly directly modified on the chassis of heavy trucks. The variable hydraulic pump is driven by the engine and then forms a closed circuit with the quantitative hydraulic motor. The spraying device is directly driven by the hydraulic motor. During the spraying operation, the driver controls the speed of the vehicle and the engine speed through the accelerator pedal. Since it is difficult to keep the pedal opening constant, the engine speed is prone to fluctuations, and once the engine speed fluctuates, the spray flow will be unstable, resulting in waste of spray liquid or insufficient spray volume locally. [0003] At presen...

AI Technical Summary

Problems solved by technology

However, since the engine speed is controlled by the foot pedal and the power from the engine is usually increased to the hydraulic pump, the engine speed changes very quickly. It is difficult to quickly and accurately adjust the displacement of the hydraulic pump and keep the motor speed constant by relying on closed-loop control. , closed-loop PID parameter tuning is also extremely difficult

Images