阅读说明：本技术 一种无液压系统起重机及跛行作业方法 (Crane without hydraulic system and limping operation method ) 是由 李敏 雷献明 陈灿 于 2021-07-20 设计创作，主要内容包括：本发明提供一种无液压系统起重机及跛行作业方法,涉及起重设备技术领域,无液压系统起重机包括主控制器和发动机控制器,主控制器用于检测电池的状态,在确定电池出现故障的情况下给发动机控制器发送恒转速工作指令；发动机控制器分别与主控制器、发动机电连接,发动机控制器用于根据恒转速工作指令控制发动机恒转速工作。通过主控制器检测电池的状态,在确定电池出现故障的情况下给发动机控制器发送恒转速工作指令,发动机控制器根据恒转速工作指令控制发动机恒转速工作,通过发动机发电功率和驱动电机需求功率进行预先设定,解决了发动机和驱动电机功率匹配的问题,避免了当电池出现故障时起重机无法收车的问题,有效提高起重机的安全性。(The invention provides a crane without a hydraulic system and a limp operation method, and relates to the technical field of hoisting equipment, wherein the crane without the hydraulic system comprises a main controller and an engine controller, wherein the main controller is used for detecting the state of a battery and sending a constant-rotating-speed working instruction to the engine controller under the condition that the battery is determined to be in fault; the engine controller is respectively electrically connected with the main controller and the engine and is used for controlling the engine to work at a constant rotating speed according to a constant rotating speed working instruction. The state of the battery is detected through the main controller, a constant rotating speed working instruction is sent to the engine controller under the condition that the battery is determined to be in fault, the engine controller controls the engine to work at a constant rotating speed according to the constant rotating speed working instruction, the generated power of the engine and the required power of the driving motor are preset, the problem that the power of the engine is matched with that of the driving motor is solved, the problem that the crane cannot take up the crane when the battery is in fault is avoided, and the safety of the crane is effectively improved.)

1. A hydraulic system free crane comprising:

the main controller is used for detecting the state of the battery and sending a constant rotating speed working instruction to the engine controller under the condition that the battery is determined to be in fault;

the engine controller is respectively electrically connected with the main controller and the engine and is used for controlling the engine to work at a constant rotating speed according to a constant rotating speed working instruction.

2. The hydraulic-system-free crane according to claim 1, wherein the main controller comprises a vehicle control unit and a vehicle controller, and the vehicle control unit is electrically connected with the engine controller and the vehicle controller respectively.

3. The hydraulic system-free crane according to claim 2, further comprising:

the winch controller is electrically connected with the vehicle-mounted controller;

the rotary motor controller is electrically connected with the vehicle loading controller;

the telescopic electric cylinder controller is electrically connected with the vehicle-mounted controller;

the amplitude electric cylinder controller is electrically connected with the upper vehicle controller;

the supporting leg electric cylinder controller is electrically connected with the vehicle control unit;

the generator controller is electrically connected with the whole vehicle controller.

4. The hydraulic system-free crane according to claim 2 or 3, further comprising:

the vehicle-mounted charger is electrically connected with the vehicle control unit;

and the battery management system is electrically connected with the vehicle-mounted charger, the vehicle control unit and the vehicle-mounted controller respectively.

5. A limp-home operation method of a crane without a hydraulic system is characterized by comprising the following steps:

the main controller detects the state of the battery and sends a constant rotating speed working instruction to the engine controller under the condition that the battery is determined to be in fault;

the engine controller controls the engine to work at a constant rotating speed according to the constant rotating speed working instruction;

the main controller controls the generator to work according to a first set torque and a first set rotating speed, and controls the winding motor to work according to the operation speed limited by the limp mode.

6. The limp work method of the crane without the hydraulic system as claimed in claim 5, wherein the main controller comprises a whole vehicle controller and a boarding vehicle controller;

the main controller controls the generator to work according to a first set torque and a first set rotating speed, and controls the winding motor to work according to the work speed limited by the limp mode, and the steps comprise:

the vehicle control unit sends a first limping operation instruction to the vehicle controller;

the vehicle-mounted controller calculates to obtain the current output torque of the winch motor according to the obtained current hoisting weight of the winch and reduction ratios of all levels, calculates to obtain limp power according to the output torque and the operation rate limited by the limp mode, sends the limp power to the vehicle controller, and sends the operation rate limited by the limp mode to the winch controller;

the winch controller controls the winch motor to work according to the operation rate limited by the limp mode;

the vehicle control unit finds a first set torque and a first set rotating speed according to the limp power and a built-in limp power meter, and sends the first set torque and the first set rotating speed to the generator controller;

the generator controller controls the generator to work according to a first set torque and a first set rotating speed.

7. The limp home operation method of the crane without the hydraulic system as claimed in claim 6, wherein the following steps are further performed after the main controller controls the generator to operate at a first set torque and a first set rotation speed and controls the winding motor to operate at an operation rate defined in a limp home mode:

the vehicle control unit finds out a target torque according to a built-in table and sends the target torque to the generator controller;

the generator controller controls the generator to work according to the target torque;

the vehicle control unit sends a second limp-home operation instruction to the telescopic electric cylinder controller through the vehicle loading controller, wherein the second limp-home operation instruction comprises a second set rotating speed and a second set torque;

and the telescopic electric cylinder controller controls the telescopic electric cylinder to work according to a second set rotating speed and a second set torque.

8. The limp home operation method of the crane without the hydraulic system as claimed in claim 6 or 7, wherein the following steps are further performed after the main controller is executed to control the generator to operate at the first set torque and the first set rotation speed and control the winding motor to operate at an operation rate defined in a limp home mode:

the vehicle control unit finds out a target torque according to a built-in table and sends the target torque to the generator controller;

the generator controller controls the generator to work according to the target torque;

the vehicle control unit sends a third limp-home operation instruction to the amplitude electric cylinder controller through the vehicle loading controller, wherein the third limp-home operation instruction comprises a third set rotating speed and a third set torque;

and the amplitude electric cylinder controller controls the amplitude electric cylinder to work according to a third set rotating speed and a third set torque.

9. The limp home operation method of the crane without the hydraulic system as claimed in claim 6 or 7, wherein the following steps are further performed after the main controller is executed to control the generator to operate at the first set torque and the first set rotation speed and control the winding motor to operate at an operation rate defined in a limp home mode:

the vehicle control unit finds out a target torque according to a built-in table and sends the target torque to the generator controller;

the generator controller controls the generator to work according to the target torque;

the vehicle control unit sends a fourth limp work instruction to the rotary electric cylinder controller through the vehicle loading controller, wherein the fourth limp work instruction comprises a fourth set rotating speed and a fourth set torque;

and the rotary electric cylinder controller controls the rotary electric cylinder to work according to a fourth set rotating speed and a fourth set torque.

10. The limp home operation method of the crane without the hydraulic system as claimed in claim 6 or 7, wherein the following steps are further performed after the main controller is executed to control the generator to operate at the first set torque and the first set rotation speed and control the winding motor to operate at an operation rate defined in a limp home mode:

the vehicle control unit finds out a target torque according to a built-in table and sends the target torque to the generator controller;

the generator controller controls the generator to work according to the target torque;

the vehicle control unit sends a fifth limp home work instruction to the support leg electric cylinder controller, wherein the fifth limp home work instruction comprises a fifth set rotating speed and a fifth set torque;

and the electric landing leg cylinder controller controls the electric landing leg cylinder to work according to a fifth set rotating speed and a fifth set torque.

Technical Field

The invention relates to the technical field of hoisting equipment, in particular to a crane without a hydraulic system and a limp operation method.

Background

At present, the crane mainly realizes each operation action through mechanical energy to hydraulic energy and then from the hydraulic energy to the mechanical energy. Although this method has a high reliability, there still exist some problems, such as high noise, low control accuracy, low efficiency, no failure emergency measures, etc. It is these problems that make the crane have many challenges in terms of job disturbance and job safety.

In the closest prior art, researchers mainly adopt a hoisting motor and a rotary motor to replace a traditional hydraulic system to achieve the purposes of reducing noise and improving precision and efficiency, and the method achieves the purposes of obviously improving operation noise, operation efficiency and operation precision, realizing potential energy recovery and improving oil saving rate on the hoisting and rotating related actions.

In this type of technology, it does not provide an effective strategy to restore the vehicle to a safe state when the battery fails.

Disclosure of Invention

The invention provides a crane without a hydraulic system and a limp operation method, which are used for solving the problem that a vehicle cannot be recovered to a safe state when a battery fails in the prior art.

The invention provides a crane without a hydraulic system, which comprises:

the main controller is used for detecting the state of the battery and sending a constant rotating speed working instruction to the engine controller under the condition that the battery is determined to be in fault;

the engine controller is respectively electrically connected with the main controller and the engine and is used for controlling the engine to work at a constant rotating speed according to a constant rotating speed working instruction.

According to the crane without the hydraulic system, the main controller comprises a vehicle control unit and a vehicle loading controller, and the vehicle control unit is electrically connected with the engine controller and the vehicle loading controller respectively.

According to the invention, the crane without the hydraulic system further comprises:

the winch controller is electrically connected with the vehicle-mounted controller;

the rotary motor controller is electrically connected with the vehicle loading controller;

the telescopic electric cylinder controller is electrically connected with the vehicle-mounted controller;

the amplitude electric cylinder controller is electrically connected with the upper vehicle controller;

the supporting leg electric cylinder controller is electrically connected with the vehicle control unit;

the generator controller is electrically connected with the whole vehicle controller.

According to the invention, the crane without the hydraulic system further comprises:

the vehicle-mounted charger is electrically connected with the vehicle control unit;

and the battery management system is electrically connected with the vehicle-mounted charger, the vehicle control unit and the vehicle-mounted controller respectively.

The invention also provides a limp-home operation method of the crane without the hydraulic system, which comprises the following steps:

the main controller detects the state of the battery and sends a constant rotating speed working instruction to the engine controller under the condition that the battery is determined to be in fault;

the engine controller controls the engine to work at a constant rotating speed according to the constant rotating speed working instruction;

the main controller controls the generator to work according to a first set torque and a first set rotating speed, and controls the winding motor to work according to the operation speed limited by the limp mode.

According to the limp operation method of the crane without the hydraulic system, which is provided by the invention, the main controller comprises a whole vehicle controller and a loading controller;

the main controller controls the generator to work according to a first set torque and a first set rotating speed, and controls the winding motor to work according to the work speed limited by the limp mode, and the steps comprise:

the vehicle control unit sends a first limping operation instruction to the vehicle controller;

the vehicle-mounted controller calculates to obtain the current output torque of the winch motor according to the obtained current hoisting weight of the winch and reduction ratios of all levels, calculates to obtain limp power according to the output torque and the operation rate limited by the limp mode, sends the limp power to the vehicle controller, and sends the operation rate limited by the limp mode to the winch controller;

the winch controller controls the winch motor to work according to the operation rate limited by the limp mode;

the vehicle control unit finds a first set torque and a first set rotating speed according to the limp power and a built-in limp power meter, and sends the first set torque and the first set rotating speed to the generator controller;

the generator controller controls the generator to work according to a first set torque and a first set rotating speed.

According to the limp-home operation method of the crane without the hydraulic system, after the main controller is executed to control the generator to work according to the first set torque and the first set rotating speed and control the winch motor to work according to the operation speed limited by the limp-home mode, the following steps are further executed:

the vehicle control unit finds out a target torque according to a built-in table and sends the target torque to the generator controller;

the generator controller controls the generator to work according to the target torque;

the vehicle control unit sends a second limp-home operation instruction to the telescopic electric cylinder controller through the vehicle loading controller, wherein the second limp-home operation instruction comprises a second set rotating speed and a second set torque;

and the telescopic electric cylinder controller controls the telescopic electric cylinder to work according to a second set rotating speed and a second set torque.

According to the limp-home operation method of the crane without the hydraulic system, after the main controller is executed to control the generator to work according to the first set torque and the first set rotating speed and control the winch motor to work according to the operation speed limited by the limp-home mode, the following steps are further executed:

the vehicle control unit finds out a target torque according to a built-in table and sends the target torque to the generator controller;

the generator controller controls the generator to work according to the target torque;

the vehicle control unit sends a third limp-home operation instruction to the amplitude electric cylinder controller through the vehicle loading controller, wherein the third limp-home operation instruction comprises a third set rotating speed and a third set torque;

and the amplitude electric cylinder controller controls the amplitude electric cylinder to work according to a third set rotating speed and a third set torque.

According to the limp-home operation method of the crane without the hydraulic system, after the main controller is executed to control the generator to work according to the first set torque and the first set rotating speed and control the winch motor to work according to the operation speed limited by the limp-home mode, the following steps are further executed:

the vehicle control unit finds out a target torque according to a built-in table and sends the target torque to the generator controller;

the generator controller controls the generator to work according to the target torque;

the vehicle control unit sends a fourth limp work instruction to the rotary electric cylinder controller through the vehicle loading controller, wherein the fourth limp work instruction comprises a fourth set rotating speed and a fourth set torque;

and the rotary electric cylinder controller controls the rotary electric cylinder to work according to a fourth set rotating speed and a fourth set torque.

According to the limp-home operation method of the crane without the hydraulic system, after the main controller is executed to control the generator to work according to the first set torque and the first set rotating speed and control the winch motor to work according to the operation speed limited by the limp-home mode, the following steps are further executed:

the vehicle control unit finds out a target torque according to a built-in table and sends the target torque to the generator controller;

the generator controller controls the generator to work according to the target torque;

the vehicle control unit sends a fifth limp home work instruction to the support leg electric cylinder controller, wherein the fifth limp home work instruction comprises a fifth set rotating speed and a fifth set torque;

and the electric landing leg cylinder controller controls the electric landing leg cylinder to work according to a fifth set rotating speed and a fifth set torque.

According to the crane without the hydraulic system, the state of the battery is detected through the main controller, the constant rotating speed working instruction is sent to the engine controller under the condition that the battery is determined to be in fault, the engine controller controls the engine to work at the constant rotating speed according to the constant rotating speed working instruction, the power generated by the engine and the power required by the driving motor are preset, the problem that the power of the engine is matched with that of the driving motor is solved, the problem that the crane cannot take up the crane when the battery is in fault is avoided, and the safety of the crane is effectively improved.

Drawings

In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a crane without a hydraulic system provided by the invention;

fig. 2 is a schematic flow chart of a limp-home operation method of a crane without a hydraulic system provided by the invention.

Reference numerals: 10. a main controller; 11. a vehicle control unit; 12. a vehicle-entering controller; 21. an engine controller; 22. a hoist controller; 23. a rotary motor controller; 24. a telescopic electric cylinder controller; 25. a framing electric cylinder controller; 26. a leg electric cylinder controller; 27. a generator controller; 30. a vehicle-mounted charger; 31. a battery management system.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.

The following describes the crane without hydraulic system and the limp home operation method according to the present invention with reference to fig. 1 to 2.

As shown in fig. 1, the crane without the hydraulic system includes a main controller 10 and an engine controller 21, wherein the main controller 10 is configured to detect a state of a battery and send a constant rotation speed operation command to the engine controller 21 in case that it is determined that the battery is out of order. The engine controller 21 is electrically connected with the main controller 10 and the engine respectively, and the engine controller 21 is used for controlling the engine to work at a constant rotating speed according to a constant rotating speed working instruction.

According to the crane without the hydraulic system, the state of the battery is detected through the main controller 10, the constant rotating speed working instruction is sent to the engine controller 21 under the condition that the battery is determined to be in fault, the engine controller 21 controls the engine to work at the constant rotating speed according to the constant rotating speed working instruction, the power generated by the engine and the power required by the driving motor are preset, the problem that the power of the engine is matched with that of the driving motor is solved, the problem that the crane cannot take up the crane when the battery is in fault is avoided, and the safety of the crane is effectively improved.

According to the embodiment of the invention, the main controller 10 comprises a vehicle control unit 11 and a vehicle controller 12, and the vehicle control unit 11 is electrically connected with the engine controller 21 and the vehicle controller 12 respectively. The vehicle control unit 11, i.e. the VCU, is configured to detect a state of the battery, send a constant rotation speed operation command to the engine controller 21 when it is determined that the battery is in a fault, send a first limp home operation command to the upper vehicle controller 12, find a first set torque and a first set rotation speed according to the limp home power and a built-in limp home power table, and send the first set torque and the first set rotation speed to the generator controller 27. The vehicle-mounted controller 12 is configured to calculate a current output torque of the hoisting motor according to the acquired current hoisting weight of the hoisting motor and reduction ratios of all stages, calculate limp power according to the output torque and an operation rate defined in the limp mode, send the limp power to the vehicle control unit 11, and send the operation rate defined in the limp mode to the hoisting controller 22.

According to the embodiment of the invention, the crane without the hydraulic system further comprises a winch controller 22, a rotary motor controller 23, a telescopic electric cylinder controller 24, a hoisting electric cylinder controller 25, a support leg electric cylinder controller 26 and a generator controller 27. The winch controller 22 is electrically connected with the upper vehicle controller 12, the winch controller 22 is electrically connected with the winch, and the winch controller 22 is used for controlling the rotation of the winch. The rotary motor controller 23 is electrically connected with the upper vehicle controller 12, the rotary motor controller 23 is electrically connected with the rotary motor, and the rotary motor controller 23 is used for controlling the rotation of the rotary motor. The telescopic electric cylinder controller 24 is electrically connected with the upper vehicle controller 12, the telescopic electric cylinder controller 24 is electrically connected with the telescopic electric cylinder, and the telescopic electric cylinder controller 24 is used for controlling the rotation of the telescopic electric cylinder. The amplitude electric cylinder controller 25 is electrically connected with the upper vehicle controller 12, the amplitude electric cylinder controller 25 is electrically connected with the amplitude electric cylinder, and the amplitude electric cylinder controller 25 is used for controlling the rotation of the amplitude electric cylinder. The supporting leg electric cylinder controller 26 is electrically connected with the vehicle control unit 11, the supporting leg electric cylinder controller 26 is electrically connected with the supporting leg electric cylinder, and the supporting leg electric cylinder controller 26 is used for controlling the work of the supporting leg telescopic electric cylinder. The generator controller 27 is electrically connected with the vehicle control unit 11, the generator controller 27 is electrically connected with the engine, and the generator controller 27 is used for controlling the work of the engine.

The crane without the hydraulic system provided by the invention realizes all actions by using the hoisting motor, the amplitude electric cylinder, the telescopic electric cylinder, the rotary motor and the supporting leg telescopic electric cylinder, effectively solves the problems of high operation noise, low control precision and low operation efficiency, and realizes quick response and high-precision operation control of the crane.

According to the embodiment of the invention, the crane without the hydraulic system further comprises a vehicle-mounted charger 30 and a battery management system 31, wherein the vehicle-mounted charger 30 is an OBC, the vehicle-mounted charger 30 is electrically connected with the vehicle control unit 11, the battery management system 31 is a BMS, and the battery management system 31 is electrically connected with the vehicle-mounted charger 30, the vehicle control unit 11 and the vehicle control unit 12 respectively.

As shown in fig. 2, the present invention further provides a limp home operation method for a crane without a hydraulic system, including:

step S100, the main controller 10 detects the state of the battery and sends a constant rotating speed working instruction to the engine controller 21 under the condition that the battery is determined to be in failure;

step S200, controlling the constant rotating speed of the engine to work by the engine controller 21 according to a constant rotating speed working instruction;

in step S300, the main controller 10 controls the generator to operate according to a first set torque and a first set rotational speed, and controls the winding motor to operate at an operation rate defined in a limp home mode.

When the main controller 10 detects that the battery fails, a constant rotating speed working instruction is sent to the engine controller 21, the engine controller 21 controls the engine to work at a constant rotating speed according to the constant rotating speed working instruction, the engine drives the generator to rotate to generate electricity, and at the moment, the engine and the generator can be regarded as a constant voltage source to provide electricity for each driving motor on the crane. The power generation power of the engine and the required power of the driving motor are preset, so that the problem that the power of the engine is matched with that of the driving motor is solved, the problem that the crane cannot be folded when a battery fails is avoided, and the safety of the crane is effectively improved.

The first set torque and the first set rotational speed are obtained by simulating a limp home mode in the real vehicle verification.

According to the embodiment of the invention, the main controller 10 comprises a whole vehicle controller 11 and a vehicle controller 12;

the steps of the main controller 10 controlling the generator to operate at a first set torque and a first set rotation speed, and controlling the winding motor to operate at an operation rate defined in a limp home mode include:

step S310, the vehicle control unit 11 sends a first limp home operation instruction to the vehicle controller 12;

step S320, the vehicle-mounted controller 12 calculates current output torque of the winch motor according to the obtained current hoisting weight of the winch and reduction ratios of all levels, calculates limp power according to the output torque and the limited operation rate of the limp mode, sends the limp power to the vehicle control unit 11, and sends the limited operation rate of the limp mode to the winch controller 22;

under the condition that the vehicle control unit 11 determines that the battery fails, the vehicle control unit 11 sends a first limping operation instruction to the vehicle controller 12, after the vehicle controller 12 receives the first limping operation instruction, the current output torque of the hoisting motor is calculated according to the obtained current hoisting weight of the hoisting machine and reduction ratios of all levels, and then limping power is calculated according to the output torque and the operation rate limited by the limping mode.

Step S330, the winch controller 22 controls the winch motor to work according to the operation rate limited by the limp home mode;

in the limp mode, the hoist controller 22 controls the rotation of the hoist motor according to the operation rate limited in the limp mode, so that the heavy object can be safely placed on the ground, and the situation that the heavy object is suspended in the air due to the fact that each driving motor of the crane cannot work when a battery fails is avoided. The operation speed limited by the limp mode is lower than the rotating speed of the hoisting motor during normal work, and the hoisting motor is controlled to rotate according to the operation speed limited by the limp mode in the limp operation mode, so that the heavy object is placed on the ground, the dangerous condition can be avoided, and the operation safety is further improved.

Step S340, the vehicle control unit 11 finds a first set torque and a first set rotational speed according to the limp home power and the built-in limp home power meter, and sends the first set torque and the first set rotational speed to the generator controller 27;

here, the limp home power meter is stored in the vehicle control unit 11 in advance, and includes, but is not limited to, data such as the first set torque and the first set rotational speed of the engine. The limping power meter is obtained in advance by simulating a limping mode in real vehicle verification, and data such as torque, rotating speed and the like of the limping power meter are changed according to the weight of a heavy object.

In step S350, the generator controller 27 controls the generator to operate at the first set torque and the first set rotational speed.

According to an embodiment of the present invention, the following steps are performed while the main controller 10 controls the generator to operate at the first set torque and the first set rotation speed, and controls the winding motor to operate at the operation rate defined in the limp home mode:

the vehicle control unit 11 obtains the current power of the winch motor, and controls the torque of the generator through a PID algorithm, so that the limp power is equal to the current power.

The torque of the generator is adjusted by utilizing a PID algorithm, so that the power difference value between the limping power and the current power reaches the minimum value, and the energy consumption is effectively reduced.

According to the embodiment of the present invention, after the limp work mode of the hoisting motor is executed, the operation of the rotary motor, the telescopic electric cylinder, the amplitude electric cylinder and the support leg electric cylinder is controlled, so that the following steps are executed after the main execution controller 10 controls the generator to rotate according to the first set torque and the first set rotating speed, and controls the hoisting motor to rotate according to the work speed defined by the limp work mode:

step S400, the vehicle control unit 11 finds a target torque according to a built-in table and sends the target torque to the generator controller 27;

here, it should be noted that the table is obtained by simulating a limp home mode in the real vehicle verification, and the rotation speed, the power and the torque of the motor when the telescopic electric cylinder is telescopic are stored in the vehicle control unit 11 in the form of the table. When the vehicle control unit 11 determines that the battery is faulty, the vehicle control unit 11 finds a target torque in the table and sends the target torque to the generator controller 27.

Step S410, the generator controller 27 controls the generator to rotate according to the target torque;

step S420, the vehicle control unit 11 sends a second limp home work instruction to the telescopic electric cylinder controller 24 through the vehicle-mounted controller 12, where the second limp home work instruction includes a second set rotation speed and a second set torque;

in step S430, the telescopic electric cylinder controller 24 controls the telescopic electric cylinder to rotate according to the second set rotation speed and the second set torque.

The vehicle control unit 11 sends a second limping operation instruction to the upper vehicle control unit 12, the upper vehicle control unit 12 sends the second limping operation instruction to the telescopic electric cylinder controller 24, and the telescopic electric cylinder controller 24 controls the telescopic electric cylinder to work according to a second set rotating speed and a second set torque of the second limping operation instruction, wherein the second set torque and the second set rotating speed are obtained through a limping simulation mode in the real vehicle verification.

According to an embodiment of the present invention, after the main controller 10 is executed to control the generator to rotate at the first set torque and the first set rotation speed, and control the winding motor to rotate at the operation rate defined in the limp home mode, the following steps are further executed:

the vehicle control unit 11 obtains the current power of the telescopic electric cylinder, and controls the torque of the generator through a PID algorithm, so that the set power is equal to the current power.

According to an embodiment of the present invention, after the main controller 10 is executed to control the generator to rotate at the first set torque and the first set rotation speed, and control the winding motor to rotate at the operation rate defined in the limp home mode, the following steps are further executed:

step S500, the vehicle control unit 11 finds a target torque according to a built-in table and sends the target torque to the generator controller 27;

it should be noted that the table is also obtained by simulating a limp home mode in the real vehicle verification, and the rotation speed, the power and the torque of the motor when the amplitude electric cylinder expands and contracts are stored in the vehicle control unit 11 in the form of a table.

Step S510, the generator controller 27 controls the rotation of the generator according to the target torque;

step S520, the vehicle control unit 11 sends a third limp home work instruction to the amplitude electric cylinder controller 25 through the vehicle control unit 12, wherein the third limp home work instruction comprises a third set rotating speed and a third set torque;

in step S530, the electric amplitude cylinder controller 25 controls the electric amplitude cylinder to rotate at the third set rotation speed and the third set torque.

The third set torque and the third set rotational speed are obtained by simulating a limp home mode in the real vehicle verification.

According to an embodiment of the present invention, after the main controller 10 is executed to control the generator to rotate at the first set torque and the first set rotation speed, and control the winding motor to rotate at the operation rate defined in the limp home mode, the following steps are further executed:

the vehicle control unit 11 obtains the current power of the starting electric cylinder, and controls the torque of the generator through a PID algorithm, so that the set power is equal to the current power.

According to an embodiment of the present invention, after the main controller 10 is executed to control the generator to rotate at the first set torque and the first set rotation speed, and control the winding motor to rotate at the operation rate defined in the limp home mode, the following steps are further executed:

step S600, the vehicle control unit 11 finds a target torque according to a built-in table and sends the target torque to the generator controller 27;

here, it should be noted that the table is also obtained by simulating a limp home mode in the real vehicle verification, and the rotation speed, the power, and the torque of the motor when the rotary electric cylinder extends and contracts are stored in the vehicle control unit 11 in the form of the table.

Step S610, the generator controller 27 controls the rotation of the generator according to the target torque;

step S620, the vehicle control unit 11 sends a fourth limp home work instruction to the rotary electric cylinder controller through the vehicle control unit 12, wherein the fourth limp home work instruction comprises a fourth set rotating speed and a fourth set torque;

in step S630, the electric swiveling cylinder controller controls the electric swiveling cylinder to rotate at a fourth set rotational speed and a fourth set torque.

The fourth set torque and the fourth set rotational speed are obtained by simulating a limp home mode in the real vehicle verification.

According to an embodiment of the present invention, after the main controller 10 is executed to control the generator to rotate at the first set torque and the first set rotation speed, and control the winding motor to rotate at the operation rate defined in the limp home mode, the following steps are further executed:

the vehicle control unit 11 obtains the current power of the rotary electric cylinder, and controls the torque of the generator through a PID algorithm, so that the set power is equal to the current power.

According to an embodiment of the present invention, after the main controller 10 is executed to control the generator to rotate at the first set torque and the first set rotation speed, and control the winding motor to rotate at the operation rate defined in the limp home mode, the following steps are further executed:

step S700, the vehicle control unit 11 finds a target torque according to a built-in table, and sends the target torque to the generator controller 27;

it should be noted that the table is also obtained by simulating a limp home mode in the real vehicle verification, and the rotation speed, the power and the torque of the motor when the support leg electric cylinder extends and retracts are stored in the vehicle control unit 11 in the form of a table.

Step S710, the generator controller 27 controls the rotation of the generator according to the target torque;

step S720, the vehicle control unit 11 sends a fifth limp home work instruction to the leg electric cylinder controller 26, where the fifth limp home work instruction includes a fifth set rotation speed and a fifth set torque;

in step S730, the electric landing leg cylinder controller 26 controls the electric landing leg cylinder to rotate at a fifth set rotation speed and a fifth set torque.

The fifth set torque and the fifth set rotational speed are obtained by simulating the limp home mode in the real vehicle verification.

According to an embodiment of the present invention, after the main controller 10 is executed to control the generator to rotate at the first set torque and the first set rotation speed, and control the winding motor to rotate at the operation rate defined in the limp home mode, the following steps are further executed:

the vehicle control unit 11 obtains the current power of the electric cylinder of the support leg, and controls the torque of the generator through a PID algorithm, so that the set power is equal to the current power.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.