CN100464036C - Path control system used for hydraulic digger operating device and its method - Google Patents
Path control system used for hydraulic digger operating device and its method Download PDFInfo
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- CN100464036C CN100464036C CNB2005102001866A CN200510200186A CN100464036C CN 100464036 C CN100464036 C CN 100464036C CN B2005102001866 A CNB2005102001866 A CN B2005102001866A CN 200510200186 A CN200510200186 A CN 200510200186A CN 100464036 C CN100464036 C CN 100464036C
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Abstract
The present invention relates to a track control system for hydraulic excavator working equipment and its method. Said system includes the following main components: DSP, moving arm angle detection mechanism, bucket arm angle detection mechanism, bucket angle detection mechanism, hydraulic cylinder, engine, working equipment and its driving cylinder and CAN bus. Said invention also provides the concrete steps of said control method. It can implement automatic control of hydraulic excavator working equipment, and can accurately and stably control the position and attitute of said hydraulic excavator working equipment so as to raise its working efficiency.
Description
Technical field
The present invention relates to a kind of tracking control system and method that is used for hydraulic digger operating device.
Background technology
1, hydraulic crawler excavator is mainly used in occasions such as earthwork construction, the driver need have certain dexterity when operating hydraulically operated digger operating device, in the smooth and slope mining process of straight line, often to lean on driver's operating experience to finish complicated action, increase driver's labour intensity, reduced labor productivity.And adopting automatic manipulation can increase substantially operating efficiency and operation quality, task better fulfils assignment.
2, fail to consider the influence of the variation of hydraulic crawler excavator rotating speed, load and attitude of working device in more existing control device at present, cause stability and control accuracy variation, influence the precision of digger operating device operation control performance.
3, Chang Yong general position method of servo-controlling, great majority are to adopt relatively more typical pid algorithm, but at the special like this object of hydraulic digger operating device, pid parameter is difficult for adjusting, and often can not obtain good control effect, and owing to external load changes greatly, parameter is difficult for adjusting, the operating mode complexity, the coupled relation between each member of equipment causes the control performance variation of PID adjuster.
Summary of the invention
Purpose of the present invention just provides a kind of hydraulic digger operating device tracking control system and method for being used for, can realize that by this control system hydraulic digger operating device handles automatically, accurately and stably control the position and the attitude of equipment, make equipment according to predefined orbiting motion, task fulfils assignment.Swing arm dipper that dsp controller 201 obtains according to angular transducer and scraper bowl relatively rotate angle information and pressure, engine speed information, after dsp controller 201 process data processing sections calculating, send controlled quentity controlled variable, drive the action of swing arm hydraulic cylinder dipper hydraulic cylinder and scraper bowl hydraulic cylinder respectively, thereby control the position and the attitude of scraper bowl exactly, realize the automatic manipulation of hydraulic digger operating device.
Solution of the present invention is such:
Constitute system of the present invention and include swing arm hydraulic cylinder 208, dipper hydraulic cylinder 209, scraper bowl hydraulic cylinder 210, main control valve 207, solenoid-operated proportional pilot valve 205, gear pump 211, overflow valve 206, oil filter 212, swing arm 104, dipper 106, scraper bowl 108 is characterized in that:
1, hinged place, the swing arm 104 at swing arm 104 and equipment 102 is respectively arranged with swing arm angle detection mechanism 103, dipper angle detection mechanism 105, scraper bowl angle detection mechanism 107 with hinged place, the dipper 106 of dipper 106 with scraper bowl 108 hinged places;
2, have dsp controller 201, be used to receive swing arm angle detection mechanism 103, the dipper sent into by the A/D data transaction
The angle signal that angle detection mechanism 105, scraper bowl angle detection mechanism 107 are measured, and swing arm hydraulic cylinder 208 pressure, dipper hydraulic cylinder 209 pressure, scraper bowl hydraulic cylinder 210 pressure signals, engine rotational speed signal, obtain the magnitude of voltage of angle, and pressure and rotating speed magnitude of voltage, the data that receive are carried out data storage and processing; And the target location and the attitude of storing predefined equipment; Compare by position, attitude and predefined position, attitude, produce correction signal digger operating device reality;
3, dsp controller 201 has the control output, and the control instruction that is used to send produces the different pwm signal of dutycycle; By driving amplifier section signal is amplified, produce the corresponding driving electric current, drive 205 actions of guide's electromagnetic proportional valve;
4, dsp controller 201 has data display unit: the locus and the attitude information that are used for showing hydraulic crawler excavator current working state, hydraulic digger operating device 102 scraper bowls 108;
5, have control crank (1,2), the control crank movable signal is transmitted by digital quantity,, send to dsp controller 201 with the data transfer mode of controller area network bus.
The control method of Cai Yonging is in the present invention:
1, detects the angle that relatively rotates of swing arm (104), dipper (106) and scraper bowl (108) by swing arm angle detection mechanism 103, dipper angle detection mechanism 105, scraper bowl angle detection mechanism 107, will detect data and send into dsp controller 201;
2, the angular displacement information of being gathered according to angular transducer by the data transaction part becomes the digital quantity that computer can be discerned by calculating to convert;
3, carrying out data by dsp controller 201 handles: swing arm 104, dipper 106 and scraper bowl 108 relatively rotate angle signal in the hydraulic digger operating device 102 that measures, by obtaining the space coordinates and the attitude of scraper bowl 108 in the equipment after the algorithm computing; Otherwise,, then can obtain the angle that relatively rotates of swing arm 104 in the equipment, dipper 106 and scraper bowl 108 by inverse operation if preestablish the position and the attitude of scraper bowl in the space;
4, carry out adjuster algorithm arithmetic section by dsp controller 201,, compare, produce correction signal with the angle that relatively rotates that obtains by inverse operation according to the actual measurement angle signal of swing arm, dipper and scraper bowl in the equipment;
5, by dsp controller 201 output control signals: the correction signal with adjuster produces, be converted to corresponding pwm signal, big by discharge signal, drive 205 actions of solenoid-operated proportional pilot valve, make main control valve 207 actions, thereby promote the hydraulic cylinder action;
6, carry out the data store branch by dsp controller 201, store measuring-signal, and when teaching is excavated, the running orbit of swing arm 104, dipper 106 and scraper bowl 108 in the record mining process, control system is according to the data of record, and the mining track sequence when forming automatic mining is when controller sends the excavation order, control system is carried out the control corresponding algorithm, realizes the teaching excavation; The data store branch is also stored the data that measure, and comprises the information such as angle, engine speed and cylinder pressure that relatively rotate of hydraulic digger operating device 102 each mechanism; Store the motion track information of predefined equipment scraper bowl crown when typical operation.
7, by dsp controller 201 locus of scraper bowl 108 in hydraulic crawler excavator current working state, the hydraulic digger operating device 102 and attitude information being delivered to the display part shows;
8, by carrying out transfer of data by the CAN bus mode between control crank (1,2) and the dsp controller 201.
Advantage of the present invention is to realize the automatic manipulation of hydraulic digger operating device, control the position and the attitude of hydraulic digger operating device accurate and stablely, make equipment according to predefined orbiting motion, task fulfils assignment, shorten duty cycle, improve operating efficiency and operation quality.
Description of drawings
Accompanying drawing is embodiments of the invention.
Accompanying drawing 1 is the schematic diagram that the present invention is installed in hydraulic crawler excavator.
Accompanying drawing 2 hydraulic digger operating device electrohydraulic control system schematic diagrames.
Accompanying drawing 3 is according to the structure principle chart of the dsp controller of the embodiment of the invention.
Accompanying drawing 4CAN bus connects schematic diagram.
Accompanying drawing 5 control crank schematic diagrames.
Accompanying drawing 6 swing arm dippers or scraper bowl angle detection mechanism schematic diagram.
Accompanying drawing 7 hydraulic digger operating device locus, attitude and angular transformation concern schematic diagram.
Accompanying drawing 8 correcting controller structure charts.
Accompanying drawing 9 engine speed change gain compensation curve synoptic diagrams.
Accompanying drawing 10 load variations gain compensation curve synoptic diagrams.
Accompanying drawing 11 is that non-linear pid control parameter KP revises schematic diagram.
Accompanying drawing 12 is that non-linear pid control parameter KD revises schematic diagram.
Accompanying drawing 13 is that non-linear pid control parameter KI revises schematic diagram.
The smooth place operation of accompanying drawing 14 hydraulic crawler excavators schematic diagram.
Accompanying drawing 15 hydraulic crawler excavator straight line digging operation schematic diagrames.
Scheme attached 16 control crank direction of motion schematic diagrames.
The specific embodiment
Control system of the present invention includes swing arm hydraulic cylinder 208, dipper hydraulic cylinder 209, scraper bowl hydraulic cylinder 210, main control valve 207, and solenoid-operated proportional pilot valve 205, gear pump 211, overflow valve 206, oil filter 212, swing arm 104, dipper 106, scraper bowl 108, wherein:
1, hinged place, the swing arm 104 at swing arm 104 and equipment 102 is respectively arranged with swing arm angle detection mechanism 103, dipper angle detection mechanism 105, scraper bowl angle detection mechanism 107 with hinged place, the dipper 106 of dipper 106 with scraper bowl 108 hinged places;
2, has dsp controller 201, be used to receive the angle signal that the swing arm angle detection mechanism 103 sent into by the A/D data transaction, dipper angle detection mechanism 105, scraper bowl angle detection mechanism 107 are measured, and swing arm hydraulic cylinder 208 pressure, dipper hydraulic cylinder 209 pressure, scraper bowl hydraulic cylinder 210 pressure signals and engine speed tach signal, obtain the magnitude of voltage of angle, and pressure and rotating speed magnitude of voltage, the data that receive are carried out data storage and processing; And the target location and the attitude of storing predefined equipment; Compare by position, attitude and predefined position, attitude, produce correction signal digger operating device reality;
3, dsp controller 201 has the control output, and the control instruction that is used to send produces the different pwm signal of dutycycle; By driving amplifier section signal is amplified, produce the corresponding driving electric current, drive 205 actions of guide's electromagnetic proportional valve;
4, dsp controller 201 has data display unit: the locus and the attitude information that are used for showing hydraulic crawler excavator current working state, hydraulic digger operating device 102 scraper bowls 108;
5, have control crank (1,2), the control crank movable signal is transmitted by digital quantity, send to dsp controller 201 with the data transfer mode of CAN bus.
Pressure sensor 218,219,220 is measured the pressure of swing arm hydraulic cylinder 208, dipper hydraulic cylinder 209 and scraper bowl hydraulic cylinder 210 respectively, obtains the load information of each hydraulic cylinder according to the magnitude of voltage from pressure sensor.
Dsp controller 201 is by carrying out exchanges data between CAN bus and other controllers.
Swing arm angle detection mechanism 103, dipper angle detection mechanism 105, scraper bowl angle detection mechanism 107 are to adopt the rotary type angular transducer, detect between swing arm 104, dipper 106 and the scraper bowl 108 angle in relative rotation.
Present embodiment provides a control system 101 to comprise dsp controller 201, as shown in Figure 3, be used for realizing the digger operating device TRAJECTORY CONTROL, wherein dsp controller 201 is as key control unit, and its model is TMS320LF2407, has the instruction cycle of 25ns, the disposal ability of 40MIPS, the FLASH EEPROM that 32K * 16 are arranged in the sheet, as program storage, the RAM of 2.5K * 16.2 groups * 8 tunnel 16 PWM outputs, and have dead band able to programme protection and PDP protection.2 groups * 8 tunnel 10 A/D converters have the pattern of multiple synchronous triggering, built-in watchdog circuit.Phase-locked loop circuit is arranged in the sheet, can external oscillator than low frequency.Has CAN bus communication interface.
Signal from each sensor is input to the dsp controller 201 that is installed on the hydraulic crawler excavator, dsp controller 201 is according to measuring-signal, and control crank signal, through output pwm signal after data processing and the algorithm computing, amplify through amplifying circuit, output control electric current, drive electromagnetic proportional valve 205 actions, main control valve 207 is according to the pilot pressure that comes at electromagnetic proportional valve 205, control swing arm hydraulic cylinder 208, dipper hydraulic cylinder 209 and 210 actions of scraper bowl hydraulic cylinder, make the track action of scraper bowl, realize the automatic manipulation of digger operating device, finish corresponding job task by design in advance.
Angle detection mechanism among the present invention, as shown in Figure 6, comprise: an angular transducer 303, be fixed on bearing pin 305 places of 306 times twisted points of swing arm by outer cover 304, by bearing pin 301 and the pin 301 that is fixed on the swing arm, drive 303 rotations of angular transducer that connect with it by driving lever 302, angle provides with voltage form in relative rotation, is used for detecting swing arm 104 relatively and revolving dial plane angle in relative rotation; Have angle detection mechanism same as shown in Figure 6, be installed in the angular transducer at dipper and swing arm connecting link pin place, be used for detecting the angle that relatively rotates between dipper 106 and the swing arm 104; Have angle detection mechanism same as shown in Figure 6, be installed in the angle detection mechanism at dipper and scraper bowl connecting link pin place, be used for detecting the angle in relative rotation between scraper bowl 108 and the dipper 106.
Data store divides the FLASH EEPROM by 32K among the DSP * 16 to realize, be used for storing measuring-signal, and in the teaching mining process, in the record mining process, swing arm 104, dipper 106 and scraper bowl 108 relatively rotate angle, dsp controller 201 is according to the data of record, mining track sequence when forming automatic mining, when dsp controller 201 sent the excavation order, control system was carried out the control corresponding algorithm, realized the teaching excavation.
The data transaction part is realized by A/D.The various sensors that are connected on the controller comprise: angular transducer, engine speed sensor, pressure sensor, dsp controller 201 is with the measuring-signal of gathering, after the A/D conversion, the realization analog signal is changed to data signal, magnitude of voltage of measuring-signal etc. is converted to the corresponding digital amount, sends in the dsp controller 201 by interface.
The control output is by pwm signal output, the input/output circuitry 202 of dsp controller 201, and signal conditioning circuit 203 and amplification driving circuit 204 drive 205 actions of solenoid-operated proportional pilot valve, make main control valve 207 actions, thereby promote the hydraulic cylinder action;
Data display unit adopts 128 * 64 LCDs, shows that work at present state and scraper bowl are in information such as the position in space and attitudes.
Transfer of data adopts CAN bus communication mode, by the CAN bus two traditional joysticks (1,2) and other control appliances is coupled together the formation LAN, as shown in Figure 4.Its connected mode adopts two twisted-pair feeders, and terminal has 120 ohm compensating resistance.CAN bus signals part realizes that site plant is connected with the signal of control appliance, has saved a large amount of leads, has improved the reliability of control signal, and antijamming capability is strong.The CAN bus is suitable for the hydraulic crawler excavator work under bad environment, guarantees the real-time and the flexibility of control, and extensibility constitutes the multi-controller network structure with other ancillary equipment; Adopt the coding method and the non-destructive priority bus president technology that send message, antijamming capability is strong, reliability is high, have higher real-time.CAN bus communication agreement meets the standard of SAE J1939, and the CAN Physical layer meets SAE J1939/15 standard, and traffic rate is 250Kbit/s, and terminal resistance is 120 ohm.
A joystick transmits control crank (1,2) movable signal by digital quantity, send to control device (data transfer mode of CAN bus).
Dsp controller 201 can also be by carrying out exchanges data between CAN bus and other controllers; Comprise that from the control signal of control crank (1,2) and the signal of each sensor the signal by the CAN bus transfer is input to dsp controller 201, controller 201 is according to detected signal, carry out the control corresponding algorithm, 205 actions of control solenoid-operated proportional pilot valve, thereby control main control valve 207, promote hydraulic cylinder and stretch out or indentation, realize electrically controlled manipulation digger operating device.
As above-mentioned control model, button A or B on the operating control handle (1,2) can realize different automatic job model selections.Control crank (1,2) is connected on the CAN EBI of dsp controller 201 as the equipment with CAN EBI.Control crank comprises control button on (1,2), as Fig. 5, shown in Figure 16.Control crank has CAN bus apparatus interface, and its communication meets the SAEJ1939 agreement.When pressing model selection button A or B, according to selected function, performing a programme is realized the control corresponding function by control software.Excavation mode according to different push-botton operation correspondences comprises: smooth place operating type, mode is excavated in straight line digging operation mode and teaching.
The signal conversion part branch of control device comprises: an input interface circuit (203,204), be used for receiving detection signal from angular transducer 215,216,217, measure the relative rotation of swing arm 104, dipper 106 and scraper bowl 108, pressure sensor 218,219,220 signals and signals of rotational speed sensor (not shown), through signal conditioning circuit 202 and input/output interface circuit 203, send into the A/D interface end of dsp controller 201.
Control method of the present invention is:
1, detects actuator by swing arm angle detection mechanism 103, dipper angle detection mechanism 105, scraper bowl angle detection mechanism 107 and relatively rotate angle, will detect data and send into dsp controller 201;
2, the angular displacement information of being gathered according to angular transducer by the data transaction part becomes the digital quantity that computer can be discerned by calculating to convert;
3, carrying out data by dsp controller 201 handles: swing arm 104, dipper 106 and scraper bowl 108 relatively rotate angle signal in the hydraulic digger operating device 102 that measures, by obtaining the space coordinates of scraper bowl in the equipment after the algorithm computing; Otherwise,, then can obtain the angle that relatively rotates of swing arm 104 in the equipment, dipper 106 and scraper bowl 108 by inverse operation if preestablish the position and the attitude of scraper bowl in space coordinates;
4, carry out adjuster algorithm arithmetic section by dsp controller 201, compare with angle position given in advance, produce correction signal according to the angle position signal of actual measurement;
5, dsp controller 201 output control signals produce the different pwm signal of dutycycle; By driving amplifier section signal is amplified, produce the corresponding driving electric current, drive 205 actions of guide's electromagnetic proportional valve, make main control valve 207 actions, thereby promote the hydraulic cylinder action;
6, carry out the data store branch by dsp controller 201, the storage measuring-signal, and at the teaching mining process, the running orbit of swing arm 104, dipper 106 and scraper bowl 108 in the record mining process, control system is according to the data of record, and the mining track sequence when forming automatic mining is when dsp controller 201 sends the excavation order, control system is carried out the control corresponding algorithm, realizes the teaching excavation; The data store branch is also stored the data that measure, and comprises the information such as angle, engine speed and cylinder pressure that relatively rotate of hydraulic digger operating device 102 each mechanism; Store the running orbit information of predefined equipment scraper bowl crown when typical operation.
7, the data display unit of dsp controller 201 is used for showing the locus and the attitude information of hydraulic crawler excavator current working state, hydraulic digger operating device 102 scraper bowls 108;
8, by carrying out transfer of data by the CAN bus mode between control crank (1,2) and the dsp controller 201; Dsp controller 201 can also be by carrying out exchanges data between CAN bus and other controllers;
Described control algolithm is to adopt the non-linearity PID algorithm, when dsp controller 201 sends the excavation order, calculates through the non-linearity PID adjuster, and as the input controlled quentity controlled variable, the motion of control digger operating device.
Take out signal at digger operating device (102) position output, carry out forward feedback correction, the controlled quentity controlled variable that forward feedback correction produces produces controlled quentity controlled variable with the non-linearity PID adjuster, as the input controlled quentity controlled variable.
According to the angle that detects, adopt kinetics equation, obtain gravity torque by calculating, the gravity compensation parameter that calculates produces controlled quentity controlled variable with the non-linearity PID adjuster that the present invention adopts, as the input controlled quentity controlled variable of digger operating device.
When adopting the compensation of forward feedback correction and weight parameter to produce controlled quentity controlled variable with the non-linearity PID adjuster together simultaneously, during as the input controlled quentity controlled variable of digger operating device, can obtain best control effect.
Present embodiment adopts forward feedback correction and weight parameter compensation to produce controlled quentity controlled variable with the non-linearity PID adjuster together exactly, as the input controlled quentity controlled variable of digger operating device.
Data processing section of the present invention:
In the accompanying drawing 7, the rectangular coordinate system in space of scraper bowl crown V be with the hydraulic crawler excavator centre of gyration as the origin of coordinates, the Z axle overlaps with hydraulic crawler excavator centre of gyration line, perpendicular to the ground direction, X-axis overlaps with horizontal plane, and points to the direction that excavator advances, and Y-axis is vertical with X-axis along horizontal plane.l
0Expression C point is to the distance of Y-axis; d
1Expression C point is to the distance of X-axis; l
1The distance that expression swing arm C point is ordered to F; l
2The distance that expression swing arm F point is ordered to Q; l
3The distance that expression swing arm Q point is ordered to V.θ
1The angle of expression line segment CF and horizontal plane; θ
2The angle of expression line segment CF and FQ; θ
3The angle of expression line segment FQ and QV; V
xV
yV
zThe coordinate of expression scraper bowl in space coordinates, β represents scraper bowl crown V and the line of scraper bowl anchor point Q and the angle of horizontal plane;
According to shown in Figure 7, the data processing section of dsp controller 201 calculates position and the attitude V of scraper bowl 108 in rectangular coordinate system in space
xV
yV
zβ obtains the relative rotation θ between swing arm 104, dipper 106 and the scraper bowl 108 in the equipment by inverse operation
1θ
2θ
3 Swing arm 104, dipper 106 and scraper bowl 108 in the equipment that measures are relatively rotated angle θ
1θ
2θ
3, by obtaining the space coordinates and the attitude of scraper bowl 108 in the equipment after the algorithm computing.
The hydraulic crawler excavator electrohydraulic servo system exist to lag behind, characteristic of nonlinear, in order to improve the control characteristic of hydraulic crawler excavator electrohydraulic servo system, improves the stability of control system, makes that it is adjusted rapidly, overshoot is little, increases the pid correction device at control loop.At the special like this object of hydraulic crawler excavator, the common pid algorithm often can not obtain good control effect.As shown in Figure 8,, comprise nonlinear PID controller, the feedforward compensation control of feedback compensation characteristic according to correcting controller provided by the invention, and gravity compensation control.The pid correction device belongs to FEEDBACK CONTROL, feedforward compensation control comprises load and rotating speed compensation, according to the angle that detects by kinetics equation, obtain gravity torque, obtain the gravity compensation parameter K by calculating, after dsp controller 201 process non-linearity PID adjusters and the feedforward compensation computing, produce control signal, be converted to corresponding pwm signal, after the amplification driving circuit amplification, for proportion magnetic valve provides the control electric current, drive 205 actions of solenoid-operated proportional pilot valve, finally promote the hydraulic cylinder action by main control valve 207.
Feedforward compensation control comprises load gain compensation COEFFICIENT K f and engine speed gain compensation COEFFICIENT K e, and kinetics compensating parameter, wherein the kinetics compensating parameter is by the angle of kinetics equation according to detection, obtain gravity item torque compensation parameter K by calculating, and as the part of feedforward compensation amount, with the controlled quentity controlled variable of adjuster output,, drive the action of solenoid-operated proportional pilot valve 205 as the input controlled quentity controlled variable of solenoid-operated proportional pilot valve 205.According to the engine speed compensated curve as shown in Figure 9, the current value of each solenoid-operated proportional pilot valve of dsp controller 201 outputs, multiply each other with the correction coefficient that obtains in the engine speed change gain compensation curve, with product as corrected electromagnetic proportional valve control instruction numerical value, output to controlled solenoid-operated proportional pilot valve 205, realize carrying out feedforward compensation according to engine speed change.
Engine speed is the determining positions that throttle is set by the driver, the tach signal that different throttle position is corresponding different, even engine throttle fixed-site, the rotating speed of motor also can change along with the variation of load, because gear pump 211 is directly connected on the motor, if so engine speed changes, the discharge capacity of gear pump 211 also changes so.In addition, if the rotating speed of motor is because variations such as applied loads, then the rotating speed of gear pump 211 can change because of the change in rotational speed of motor and the output quantity of pump also changes, even it is the same therefore exporting to the current value of solenoid-operated proportional pilot valve 205, the speed of stretching out of hydraulic cylinder also will change.Because engine speed change causes pump discharge to change, and perhaps load variations causes the influence of engine speed change to pump discharge, to improve the performance of control system in order compensating, speed probe to be installed on motor, engine speed is changed compensating.The engine speed value that dsp controller 201 records, according to engine speed change gain compensation curve as shown in Figure 9, obtain engine speed gain compensation COEFFICIENT K e, the current value and the engine speed gain compensation COEFFICIENT K e of each solenoid-operated proportional pilot valve of dsp controller 201 outputs multiply each other, with product as corrected electromagnetic proportional valve control instruction numerical value, output to controlled solenoid-operated proportional pilot valve 205, realize carrying out feedforward compensation according to engine speed change.
Dsp controller 201 to the assignment of traffic problem that causes owing to load variations, carries out feedforward compensation control according to the pressure signal in swing arm hydraulic cylinder 208 dipper hydraulic cylinders 209 and the scraper bowl hydraulic cylinder 210.Swing arm, the load detection of dipper and scraper bowl hydraulic cylinder is by pressure sensor (218,219,220) constitute etc., and according to the load information that detects hydraulic cylinder from the information of pressure sensor, load gain calibration curve as shown in figure 10, obtain load gain compensation COEFFICIENT K f, the pwm control signal of the proportioning valve of control section output multiplies each other with it, after amplifying driving, input control signal as electromagnetic proportional valve 205, driving ratio valve events, the final hydraulic cylinder that promotes moves, realization is to the position of equipment and the accurate control of attitude, and has certain stability.
According to hydraulic crawler excavator is carried out dynamic analysis, quality according to equipment gravity item moment and equipment swing arm, dipper and scraper bowl is calculated, obtain the gravity compensation parameter K, part as the feedforward compensation amount, the controlled quentity controlled variable addition that provides with the non-linearity PID adjuster, as the control current value of solenoid-operated proportional pilot valve 205, drive the action of solenoid-operated proportional pilot valve 205.
FEEDBACK CONTROL adopts the non-linearity PID algorithm in the correcting controller, wherein the fair curve shape that changes with error e of KP as shown in figure 11, system has response speed faster when the control beginning, proportional gain KP is bigger, when error e reduced gradually, proportional gain was along with reducing; The fair curve shape that KD changes with error e as shown in figure 12, the fair curve shape that KI changes with error e as shown in figure 13, when the error e signal is big, storage gain KI is less relatively, prevent to produce concussion, reduce overshoot, when error e hour, storage gain KI increases, and eliminates the steady-state error of system.
Following description dsp controller 201 carries out digging operation according to predefined track, as: smooth place, straight line excavate and the teaching digging operation.As shown in figure 14, when the excavator tracking control system 101 with aforesaid way carried out the operation of smooth place, scraper bowl 108 inclination angle over the ground remained unchanged, the motion parallel to the ground of scraper bowl crown place.
When controlling in real time, according to target location and the attitude of the scraper bowl crown of setting in the data storage from dsp controller 201 in the space, carry out inverse operation by the data processing section in the dsp controller 201, obtain swing arm 104, the target rotational angle of dipper 106 and scraper bowl 108, dsp controller 201 is according to the deviation size of target rotational angle and actual angle, by feedforward compensation and FEEDBACK CONTROL, produce control signal corresponding, 205 actions of control guide proportion electromagnetic valve, thereby drive corresponding hydraulic cylinder action, make the scraper bowl crown along predefined orbiting motion, realize various digging operations.Dsp controller 201 is by being stored in the rectilinear motion space coordinates that preestablishes the scraper bowl crown in the program storage, calculate the acquisition swing arm by inverse kinematics, the target of dipper and scraper bowl relatively rotates angle, with swing arm 104 through sensor measurement, the actual angle that relatively rotates of dipper 106 and scraper bowl 108 compares, according to the deviation size, produce pwm control signal by dsp controller 201 output control part, through signal amplification circuit 203, drive solenoid-operated proportional pilot valve 205, make main control valve 207 actions, thereby promote the hydraulic cylinder action, scraper bowl crown in the hydraulic digger operating device 102 is moved along being parallel to the ground direction, realize the operation of smooth place.
As shown in Figure 15, identical with smooth place operation process, by drawing the position coordinates of scraper bowl 108 after the positive computing of foregoing kinematics in the space, and target location coordinate, the target by inverse operation acquisition swing arm 104, dipper 106 and scraper bowl 108 relatively rotates angle then, and dsp controller 201 is by calculating, send controlled quentity controlled variable, drive corresponding hydraulic cylinder action,, realize the straight line digging operation according to predefined straight line digging operation control program.
The teaching digging operation is exactly at first by hand control digger operating device 102, dsp controller 201 is pressed the relative rotation of time sequential recording scraper bowl 108, dipper 106 and swing arm 104 respectively, and with the signal storage of gathering data store branch at dsp controller 201, after teaching operation is finished, by the running orbit of dsp controller 201 according to storage, repeat aforesaid operations, realize the teaching digging operation.
As mentioned above according to being used for a kind of hydraulic digger operating device tracking control system 101 of the present invention, a kind of hydraulic digger operating device 102 tracking control systems that are used for are provided, can realize the automatic manipulation of hydraulic digger operating device 102 by this control system 101, control the position and the attitude of the equipment of hydraulic crawler excavator accurate and stablely, make equipment according to predefined orbiting motion, task fulfils assignment, shorten duty cycle, improve operating efficiency and operation quality, so in hydraulic crawler excavator, adopt this control system 101, have very high practicality and using value.
Claims (10)
1.[claim 1] a kind of tracking control system that is used for hydraulic digger operating device, include swing arm hydraulic cylinder (208), dipper hydraulic cylinder (209), scraper bowl hydraulic cylinder (210), main control valve (207), solenoid-operated proportional pilot valve (205), gear pump (211), overflow valve (206), oil filter (212), swing arm (104), dipper (106), scraper bowl (108) is characterized in that:
(1), hinged place, the swing arm (104) at swing arm (104) and equipment (102) is respectively arranged with swing arm angle detection mechanism (103), dipper angle detection mechanism (105), scraper bowl angle detection mechanism (107) with hinged place, the dipper (106) of dipper (106) with scraper bowl (108) hinged place;
(2), has digital signal processor, be used to receive the angle signal that the swing arm angle detection mechanism (103) sent into by the A/D data transaction, dipper angle detection mechanism (105), scraper bowl angle detection mechanism (107) are measured, and swing arm hydraulic cylinder (208) pressure, dipper hydraulic cylinder (209) pressure, scraper bowl hydraulic cylinder (210) pressure signal, engine rotational speed signal, obtain the magnitude of voltage of angle, and pressure and rotating speed magnitude of voltage, to the data that receive, carry out data storage and processing; And the target location and the attitude of storing predefined equipment; Compare by physical location, attitude and predefined position, attitude, produce correction signal scraper bowl in the digger operating device (108);
(3), digital signal processor (201) has the control output, is used to send control instruction, produces the different pulse-width signal of dutycycle; By driving amplifier section signal is amplified, produce the corresponding driving electric current, drive guide's electromagnetic proportional valve (205) action;
(4), digital signal processor (201) has data display unit: the locus and the attitude information that are used for showing hydraulic crawler excavator current working state, hydraulic digger operating device (102) scraper bowl (108);
(5), have control crank (1,2), the control crank movable signal is transmitted by digital quantity, send to digital signal processor (201) with the data transfer mode of controller area network bus.
2.[claim 2] tracking control system that is used for hydraulic digger operating device according to claim 1, it is characterized in that pressure sensor (218,219,220) measures the pressure of swing arm hydraulic cylinder (208), dipper hydraulic cylinder (209) and scraper bowl hydraulic cylinder (210) respectively, obtain the load information of each hydraulic cylinder according to magnitude of voltage from pressure sensor.
3.[claim 3] tracking control system that is used for hydraulic digger operating device according to claim 1,
It is characterized in that digital signal processor (201) by controller area network bus, and carry out exchanges data between other controllers.
4.[claim 4] tracking control system that is used for hydraulic digger operating device according to claim 1, it is characterized in that swing arm angle detection mechanism (103), dipper angle detection mechanism (105), scraper bowl angle detection mechanism (107) are to adopt the rotary type angular transducer, detect angle in relative rotation.
5.[claim 5] a kind of method for controlling trajectory that is used for hydraulic digger operating device, it is characterized in that:
(1), measure swing arm (104), dipper (106) and scraper bowl (108) by swing arm angle detection mechanism (103), dipper angle detection mechanism (105), scraper bowl angle detection mechanism (107) and relatively rotate angle, survey data is sent into digital signal processor (201);
(2), by the angular displacement information that data transaction part is gathered according to angular transducer, become the digital quantity that computer can be discerned by calculating to convert;
(3), carrying out data by digital signal processor (201) handles: swing arm (104), dipper (106) and scraper bowl (108) relatively rotate angle signal in the hydraulic digger operating device that measures (102), by obtaining the locus and the attitude of scraper bowl (108) in the equipment after the algorithm computing; Otherwise,, then obtain the angle that relatively rotates of swing arm (104), dipper (106) and scraper bowl (108) in the equipment by inverse operation if preestablish the position and the attitude of scraper bowl (108) in the space;
(4), carry out adjuster algorithm arithmetic section,, compare, produce correction signal with the angle that relatively rotates that obtains by inverse operation according to the actual measurement angle signal of swing arm, dipper and scraper bowl in the equipment by digital signal processor (201);
(5), by digital signal processor (201) output control signal: with the correction signal of adjuster generation, be converted to relevant pulse width modulation signals, big by discharge signal, drive solenoid-operated proportional pilot valve (205) action, make main control valve (207) action, thereby promote the hydraulic cylinder action;
(6), carry out the data storage by digital signal processor (201), the position of storage equipment and the survey data of attitude, when teaching is excavated, the running orbit of swing arm (104), dipper (106) and scraper bowl (108) in the record mining process, control system is according to the data of record, and the mining track sequence when forming automatic mining is when controller sends the excavation order, control system is carried out the control corresponding algorithm, realizes the teaching excavation; The data store branch is also stored the data that measure, and comprises the information such as angle, engine speed and cylinder pressure that relatively rotate of each mechanism of hydraulic digger operating device (102); Store the running orbit information of predefined equipment scraper bowl crown when typical operation;
(7), by digital signal processor (201) locus of scraper bowl (108) in the hydraulic crawler excavator current working state, hydraulic digger operating device (102) and attitude information being delivered to the display part shows;
(8), by carrying out transfer of data by the CAN bus mode between control crank (1,2) and the controller (201).
6.[claim 6] method for controlling trajectory that is used for hydraulic digger operating device according to claim 5, it is characterized in that: the space coordinates of scraper bowl crown be with the hydraulic crawler excavator centre of gyration as the origin of coordinates, space coordinates comprise the coordinate axes that overlaps and overlap and point to perpendicular to the coordinate axes on ground, with horizontal plane the hydraulic crawler excavator direction of advance with hydraulic crawler excavator centre of gyration line, along horizontal plane and the coordinate axes vertical with the excavator direction of advance.Data processing section by digital signal processor (201) calculates position and the attitude of scraper bowl crown in space coordinates, obtains the relative rotation between swing arm (104), dipper (106) and the scraper bowl (108) in the equipment by inverse operation; Otherwise swing arm in the equipment that measures (104), dipper (106) and scraper bowl (108) relatively rotate angle, by obtaining the space coordinates of scraper bowl crown in the equipment after the algorithm computing.
7.[claim 7] method for controlling trajectory that is used for hydraulic digger operating device according to claim 5, it is characterized in that: described control algolithm is to adopt the non-linearity PID algorithm, when digital signal processor (201) sends the excavation order, according to the deviation of equipment setting value with actual value, calculate through the non-linearity PID adjuster, as the input controlled quentity controlled variable, control digger operating device (102) motion.
8.[claim 8] method for controlling trajectory that is used for hydraulic digger operating device according to claim 7, it is characterized in that: take out signal at digger operating device (102) position output, carry out forward feedback correction, the controlled quentity controlled variable that forward feedback correction produces produces controlled quentity controlled variable with the non-linearity PID adjuster, as the input controlled quentity controlled variable.
9.[claim 9] method for controlling trajectory that is used for hydraulic digger operating device according to claim 7, it is characterized in that: according to the angle that detects, calculate the gravity torque of digger operating device (102) by kinetics equation, obtain the gravity compensation parameter K, produce controlled quentity controlled variable with the non-linearity PID adjuster, as the input controlled quentity controlled variable.
10.[claim 10] method for controlling trajectory that is used for hydraulic digger operating device according to claim 8, it is characterized in that: forward feedback correction adopts load gain compensation COEFFICIENT K f and engine speed gain compensation COEFFICIENT K e, speed probe is installed on motor, the engine speed value that records by digital signal processor (201), according to engine speed change gain compensation curve, obtain engine speed gain compensation COEFFICIENT K e, the current value and the engine speed gain compensation COEFFICIENT K e of each solenoid-operated proportional pilot valve of digital signal processor (201) output multiply each other, with product as the electromagnetic proportional valve control instruction numerical value of revising, output to controlled solenoid-operated proportional pilot valve (205), realize carrying out feedforward compensation according to engine speed change; Digital signal processor (201) is according to the pressure sensor (218 in swing arm hydraulic cylinder (208) dipper hydraulic cylinder (209) and the scraper bowl hydraulic cylinder (210), 219,220) information detects the force value of hydraulic cylinder, by load variations gain compensation curve, obtain load gain compensation COEFFICIENT K f, the pulse-width signal of the proportioning valve of control section output multiplies each other with it, after amplifying driving, input control signal as electromagnetic proportional valve, drive solenoid-operated proportional pilot valve (205) action, the final hydraulic cylinder that promotes moves, and realizes the position of equipment and the accurate control of attitude.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101859121A (en) * | 2010-04-14 | 2010-10-13 | 武汉船用机械有限责任公司 | Hydraulic motor remote control system of towing winch and signal processing method thereof |
| CN101859121B (en) * | 2010-04-14 | 2012-01-11 | 武汉船用机械有限责任公司 | Hydraulic motor remote control system of towing winch and signal processing method thereof |
| CN101886405A (en) * | 2010-07-21 | 2010-11-17 | 湖南山河智能机械股份有限公司 | Main valve of small type hydraulic excavator with energy-saving excavation and high-efficient land leveling |
| WO2013113193A1 (en) * | 2012-02-03 | 2013-08-08 | 湖南三一智能控制设备有限公司 | Engineering machine, and control method and control system thereof |
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