CN102620705A - Rotary-angle detecting method, device, system and engineering machine of rotary mechanism - Google Patents
Rotary-angle detecting method, device, system and engineering machine of rotary mechanism Download PDFInfo
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- CN102620705A CN102620705A CN2012100966200A CN201210096620A CN102620705A CN 102620705 A CN102620705 A CN 102620705A CN 2012100966200 A CN2012100966200 A CN 2012100966200A CN 201210096620 A CN201210096620 A CN 201210096620A CN 102620705 A CN102620705 A CN 102620705A
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The invention provides a rotary-angle detecting method, device, system and engineering machine of a rotary mechanism. The rotary-angle detecting method comprises the following steps of: acquiring an actually-measured rotary angle of the rotary mechanism; calculating a theoretical rotary angle of the rotary mechanism according to a prestored initial rotary model of the rotary mechanism; calculating a difference between the actually-measured rotary angle and the theoretical rotary angle, and when the absolute value of the difference is less than the set value, using the actually-measured rotary angle as a detection result; or else, using the theoretical rotary angle as the detection result. According to the invention, by comparison of the actually-measured rotary angle and the theoretical rotary angle, the fault judgment of an angle sensor is realized, and under the condition that the sensor fails, more accurate rotary angle can be obtained still, so that the safety for rotary control is ensured.
Description
Technical field
The present invention relates to mechanical field, more specifically, relate to a kind of angle of revolution detection method, device, system and engineering machinery of slew gear.
Background technology
In operation with the engineering machinery of slew gear (for example concrete mixer); Realize that rotating mode is that pivoting part (the for example jib of concrete mixer) is hinged on the pedestal that is fixed in slew gear (for example turntable); Slew gear (for example turntable) receive engineering machinery hydraulic system driving and turn round, thereby make pivoting part rotation.
For the hydraulic system of anti-rotation stopping mechanism (for example turntable) because of the revolution excessive damage; And prevent that under special supporting way Mechanical Engineering Body from tumbling, must under various different operating modes, limit the angle of revolution of pivoting part (the for example jib of concrete mixer).Therefore, detect the safety that guarantees engineering machinery (for example concrete mixer) significant to the angle of revolution in real time and reliably.
Fig. 1 shows the synoptic diagram of angle of revolution of the prior art pick-up unit.As shown in Figure 1, angle of revolution of the prior art pick-up unit comprises angular transducer, zero point detecting sensor and controller.Wherein, angular transducer is used for the angle of revolution is detected in real time, and controller is connected with angular transducer, thereby can obtain the related data of angle of revolution in real time.Controller parses actual angle of revolution according to the related data of its acquisition.In addition, because can there be the detection error in sensor, long-term deviation accumulation can make the angle of revolution of measuring occur for this reason in the initial position of pivoting part, being provided with the detecting sensor at zero point than large deviation.Therefore, when null position (being initial position) was drawn in pivoting part (the for example jib of concrete mixer) revolution in, detecting sensor was triggered and was sent signal to controller zero point, when controller is received this signal, with the angle of revolution zero clearing.
Yet the fault that angle of revolution of the prior art pick-up unit can't the angle sensor is judged.In the prior art, be used for the angular transducer that the angle of revolution of engineering machinery slew gear is measured, be mostly absolute or incremental encoder, be damaged easily in use, pulse missing or problem such as increase.Can know that like Fig. 1 angle of revolution of the prior art pick-up unit does not have the feedback information of angle of revolution, the measurement of the angle angular transducer that places one's entire reliance upon.Therefore, when angular transducer breaks down, even detected angle of revolution occurs than large deviation; Controller can't be judged angular transducer fault has taken place; Further, because the angle of revolution is incorrect, therefore; Also can't effectively control, cause potential safety hazard revolution.
Summary of the invention
The present invention aims to provide a kind of angle of revolution detection method, device, system and engineering machinery of slew gear, to solve prior art owing to can't judge whether angular transducer breaks down and effectively judge, thereby cause the problem of potential safety hazard.
For solving the problems of the technologies described above, according to a first aspect of the invention, a kind of angle of revolution detection method of slew gear is provided, comprising: the actual measurement angle of revolution that obtains slew gear; According to the theoretical angle of revolution of initial revolution Model Calculation slew gear of the slew gear of storage in advance; Calculate the difference between actual measurement angle of revolution and the theoretical angle of revolution, when the absolute value of difference during less than setting value, with the actual measurement angle of revolution as testing result; Otherwise, with theoretical angle of revolution as testing result.
According to a second aspect of the invention; A kind of angle of revolution pick-up unit of slew gear is provided; Comprise: control module; Obtain the actual measurement angle of revolution of slew gear,, and calculate the difference between actual measurement angle of revolution and the theoretical angle of revolution according to the theoretical angle of revolution of the initial revolution Model Calculation slew gear of storing in advance; When the absolute value of difference during less than setting value, with the actual measurement angle of revolution as testing result; Otherwise, with theoretical angle of revolution as testing result.
According to a third aspect of the present invention, a kind of angle of revolution detection system of slew gear is provided, has comprised: angular transducer is used to detect the actual measurement angle of revolution of slew gear; The angle of revolution pick-up unit is connected with angular transducer, and this angle of revolution pick-up unit is above-mentioned angle of revolution pick-up unit.
According to a fourth aspect of the present invention, a kind of engineering machinery is provided, has comprised the angle of revolution pick-up unit of slew gear and the angle of revolution that is used to detect slew gear, this angle of revolution pick-up unit is above-mentioned angle of revolution pick-up unit.
The present invention is through the contrast to actual measurement angle of revolution and theoretical angle of revolution; Realized the failure judgment of angle sensor; And under the situation that sensor breaks down, still can obtain comparatively accurate angle of revolution, thereby guarantee the security of revolution control.
Description of drawings
The accompanying drawing that constitutes the application's a part is used to provide further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used to explain the present invention, do not constitute improper qualification of the present invention.In the accompanying drawings:
Fig. 1 has schematically shown the synoptic diagram of angle of revolution of the prior art pick-up unit;
Fig. 2 has schematically shown the process flow diagram of the angle of revolution detection method in the embodiment of the invention;
Fig. 3 has schematically shown the driving electric signal of slew gear in the initial revolution model in the embodiment of the invention and the graph of a relation between the speed of angle of revolution;
Fig. 4 has schematically shown the synoptic diagram of in the embodiment of the invention initial revolution model being revised;
Fig. 5 has schematically shown the structural representation of the angle of revolution pick-up unit of the slew gear in the embodiment of the invention; And
Fig. 6 has schematically shown the process flow diagram the when control module in the embodiment of the invention carries out an angular detection.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated, but the multitude of different ways that the present invention can be defined by the claims and cover is implemented.
As first aspect of the present invention, a kind of angle of revolution detection method is provided.As shown in Figure 2, this method comprises: the actual measurement angle of revolution θ that obtains slew gear
1According to the theoretical angle of revolution θ of initial revolution Model Calculation slew gear of the slew gear of storage in advance
2Calculate actual measurement angle of revolution θ
1With theoretical angle of revolution θ
2Between difference, when the absolute value of difference during less than setting value δ (for example 2 degree), with actual measurement angle of revolution θ
1As testing result; Otherwise, with theoretical angle of revolution θ
2As testing result.Preferably, when the absolute value of difference gives the alarm during greater than setting value, to show the angular transducer that is used for the actual measurement angle of revolution of slew gear is detected fault has taken place.
Specifically, the angle of revolution is detected earlier, obtained surveying angle of revolution θ through computing according to the signal of the angular transducer that collects through angular transducer
1Simultaneously, operational factor (for example controlling the size of electric signal, rotating angular velocity etc.) and the revolution model according to slew gear calculates theoretical angle of revolution θ
2To survey angle of revolution θ then
1With theoretical angle of revolution θ
2Difference and setting value δ compare.Though theoretical angle of revolution θ
2And have deviation between the true angle of revolution, but can not occur than large deviation, and angular transducer is when breaking down, bigger deviation then can take place in the detected actual measurement of angle sensor angle of revolution, therefore, and through relatively surveying angle of revolution θ
1With theoretical angle of revolution θ
2Difference can effectively realize the fault detect of angle sensor, prevent because wrong angle information causes adverse consequences to revolution control.When the absolute value of difference during, show the actual measurement angle of revolution θ of angular transducer less than setting value δ
1Or basic and theoretical angle of revolution θ
2Match, promptly angular transducer does not break down, at this moment, and the actual measurement angle of revolution θ that directly angular transducer is recorded
1As the result who detects.Otherwise, then show the actual measurement angle of revolution θ of angular transducer
1With theoretical angle of revolution θ
2Deviation bigger.Further, if actual measurement angle of revolution θ
1With theoretical angle of revolution θ
2Deviation bigger, be likely so owing to angular transducer breaks down to cause.At this moment, if the actual measurement angle of revolution θ that still angular transducer is recorded
1As testing result, can't effectively control revolution, even may cause security incident.Therefore, can use theoretical angle of revolution θ in this case
2As testing result, thereby can avoid, and the problem that can't control effectively to revolution has been eliminated potential safety hazard because angular transducer breaks down.
As a preferred embodiment, as shown in Figure 2, further, in preset time, when the absolute value of difference reaches set point number value M greater than the number of times Count of setting value δ, with theoretical angle of revolution θ
2As testing result; Otherwise, with actual measurement angle of revolution θ
1As testing result.Because factors such as interference, abnormal variation may take place in the output signal of angular transducer, and this abnormal variation only can continue one time (for example several seconds) usually, therefore, if in a certain period, actual measurement angle of revolution θ
1With theoretical angle of revolution θ
2Though between difference have several times not in allowed limits; But after this a certain period, this difference has returned to again in the normal scope; So; This difference change can still can be adopted actual measurement angle of revolution θ because factors such as interference cause, and itself does not break down angular transducer
1As the result who detects.Otherwise if in rationally long time bar, the number of times that this difference occurs is more, has surpassed set point number value M, then shows the fault that angular transducer has taken place probably.
As a preferred embodiment, driving input quantity (for example flowing into flow, the rotating drive current of driving rotational mechanism and the voltage etc. of the hydraulic oil of slew gear) and the relation between the speed of angle of revolution according to slew gear of initially turning round model and be set up.
For example, slew gear rotates under the driving of drive system (for example hydraulic system), and its rotational angular is proportional to the driving input quantity of drive system.Drive system can be a hydraulic system, also can be motor etc.For the embodiment that adopts hydraulic system as drive system; The flow of angle of revolution speed direct ratio and hydraulic system; And the working control electric current of the flow direct ratio of hydraulic system and electromagnetic proportional valve and the product of pump speed, therefore, angular velocity is directly proportional with above-mentioned product.Therefore, can set up the revolution model through the relation between above-mentioned product and the angular velocity.In theory, have linear relationship between the flow of angular velocity and hydraulic system, but because the restriction and the error of actual product are approximate linear between the angular velocity in the actual revolution model and the flow of hydraulic system.Special, in an embodiment shown in Figure 3, the rotating speed of oil pump is certain, this moment the flow of hydraulic system and being directly proportional of hydraulic system, under normal conditions, when operation was turned round, pump speed was all fixed.The longitudinal axis of Fig. 3 is represented angular velocity, and transverse axis is represented electric current.A is the angular velocity of reality and the relation curve between the electric current, and B is the linear relationship curve that draws after A is carried out curve fitting.As can be seen from Figure 3, has approximate linear between angular velocity in the revolution model of reality and the electric current.Therefore, on the basis that obtains driving input quantity (for example electric current and pump speed), just can pass through angular velocity and time relation, obtain the theoretical angle of revolution θ of slew gear
2
Preferably, theoretical angle of revolution is that the initial revolution model of slew gear according to storage in advance calculates; Method also comprises: in the time will surveying the angle of revolution as testing result, according to the actual measurement angle of revolution initial revolution model is revised.For any engineering machinery (for example concrete mixer); The present invention is given initial revolution model; But because the individual difference of every desk-top engineering machinery (based on for same equipment; Also can there are differences after using a period of time with previous state), same initial revolution model can not guarantee to be applicable to fully arbitrary equipment with in a kind of engineering machinery.Therefore, utilize the method in the embodiment of the invention to revise to the initial revolution model in every equipment.Concerning every equipment; In its rotating process; Can be with the relation (the for example slope of a curve in these two models) between revolution model that obtains according to actual measurement and the initial revolution model; Corresponding relation between angular velocity in the initial revolution model and the driving electric signal is revised, to guarantee the accuracy of model.
As one preferred embodiment, as shown in Figure 4, the present invention adopts the method for approaching of taking out stitches that initial revolution model is revised.Need to prove, also can adopt other numerical computation method, for example fitting of a polynomial, curve fitting etc. repeatedly the correction of initial revolution model.Longitudinal axis ω represents angular velocity among Fig. 4; Transverse axis Q represents the product of electric current and pump speed, in the present embodiment, adopts the HYDRAULIC CONTROL SYSTEM slew gear to be rotated; Therefore; Through the electric current I and the pump speed of control electromagnetic proportional valve, just can control the flow of the hydraulic oil that gets into slew gear, thus the rotating speed (being angular velocity omega) of control slew gear.In fact, when the electric current I that provides to electromagnetic proportional valve during less than initial current, electromagnetic proportional valve is in closed condition, therefore can not driving rotational mechanism turn round; When the electric current I that provides to electromagnetic proportional valve surpassed saturation current, the aperture of solenoid valve reached maximal value, and this moment, starting a banquet of solenoid valve no longer increased along with the increase of electric current.In addition, because pump speed also is that higher limit is arranged, therefore, also influence the size of flow.Therefore, revolution model (comprising initial revolution model) is only at certain interval (Q
0, Q
N) in be linear relationship, wherein, N is a positive integer.
In a preferred embodiment, Q is divided into N section in its scope: (Q
0, Q
1..., Q
M-1, Q
m, Q
M+1, I
M+2..., Q
N), wherein, m and N are positive integer.Each section, for example (Q
m, Q
M+1) in angular velocity omega and Q be linear relationship, the mathematic(al) representation that can obtain turning round model does
ω＝k
m(Q-Q
m)+ω
m(1)
Wherein, ω is an angular velocity;
K is (Q in the revolution model
m, Q
M+1) slope of section;
Q is the product of electric current and pump speed, and Q ∈ (Q
m, Q
M+1);
M is a positive integer, and 0≤m≤N, and N is the section number (positive integer) of electric current.
When the revolution model is revised, at first new revolution model and initial revolution model are compared (slope that for example, compares each section).If the two is close, then new data is replaced the corresponding data in the initial revolution model, and the curve on each section in the initial revolution model is carried out match again; Otherwise, continue to use original revolution model.
Especially, in revolution model shown in Figure 4, electric current I is divided into three section (Q
0, Q
1, Q
2, Q
3), below in conjunction with (the Q of Fig. 4 to initial revolution model
1, Q
2) makeover process of section is elaborated.
As shown in Figure 4, when angular velocity omega was zero, Q was non-vanishing, have only when Q greater than Q
0The time, angular velocity omega just begins to increase (being that slew gear just begins to rotate).A is the corresponding curve of current revolution model among Fig. 4, the Q in current revolution model
1And Q
2The corresponding angular velocity in place is ω
1And ω
2At a time t records one group of data (Q
t, ω
t), if Q
tFall into interval (Q
1, Q
2), so, with data (Q
t, ω
t) and the original curve in this interval match again (like least square method etc.), obtain curve C.Calculate at Q by curve C
1And Q
2The corresponding angular velocity in place is ω
1' and ω
2', and and Q
1And Q
2Original two angular velocity omegas at place
1And ω
2Value averages, to obtain revised Q
1And Q
2The angular velocity omega at place
1" and ω
2", simultaneously, recomputating the slope (being the parameter k in the formula (1)) of other section of these section both sides, thereby obtain revised revolution model, its curve is shown in B.
As second aspect of the present invention, a kind of angle of revolution pick-up unit of slew gear is provided.As shown in Figure 5; This angle of revolution pick-up unit comprises: control module; Obtain the actual measurement angle of revolution of slew gear,, and calculate the difference between actual measurement angle of revolution and the theoretical angle of revolution according to the theoretical angle of revolution of the initial revolution Model Calculation slew gear of storing in advance; When the absolute value of difference during less than setting value, with the actual measurement angle of revolution as testing result; Otherwise, with theoretical angle of revolution as testing result.Preferably, angular transducer can be incremental encoder or absolute type encoder, certainly, also can be other sensor except that scrambler.
Wherein, Control module is connected with the revolution operating grip; When operating personnel operate the revolution operating grip; Controller can send the driving electric signal of corresponding size to driver element (for example hydraulic system) according to the amplitude of revolution operating grip, and simultaneously, controller is through the size and the pump speed of the actual signal of sensor acquisition driver element feedback.For example, in the embodiment shown in fig. 4, control module sends Control current to electromagnetic proportional valve, and with the aperture of control electromagnetic proportional valve, thereby control flows to the hydraulic oil of hydraulic actuator, to reach the purpose of the speed of gyration of controlling slew gear.Simultaneously; Because the electric current when Control current that control module sends and electromagnetic proportional valve actual act maybe be inconsistent, therefore, is necessary the real work electric current of electromagnetic proportional valve is gathered; And the size of the feedback current that arrives according to actual acquisition, confirm the value of theoretical angle of revolution.Simultaneously, angular transducer can be realized the detection to the angle of revolution, and controller is connected with angular transducer, and obtains the data of the angle of revolution of actual measurement from angular transducer, thereby obtains surveying the angle of revolution.For example, when slew gear rotates, the umber of pulse that angular transducer output is directly proportional with the angle of revolution, control module just can calculate the value of actual measurement angle of revolution based on umber of pulse.Again for example, the number of pulses of scrambler own is counted, and the value that will survey the angle of revolution then directly feeds back to control module.
Then, control module difference and the setting value that will survey angle of revolution and theoretical angle of revolution compares (please refer to Fig. 2).Though have deviation between theoretical angle of revolution and the true angle of revolution, can not occur, and angular transducer is when breaking down than large deviation, bigger deviation then can take place in the detected actual measurement of angle sensor angle of revolution, therefore, through relatively surveying angle of revolution θ
1With theoretical angle of revolution θ
2Difference can effectively realize the fault detect of angle sensor, prevent because wrong angle information causes adverse consequences to revolution control.When the absolute value of difference during less than setting value; The actual measurement angle of revolution that shows angular transducer still is basic and theoretical angle of revolution matches; Be that angular transducer does not break down, at this moment, the direct actual measurement angle of revolution that angular transducer is recorded is as the result who detects.Otherwise, show that then the deviation of actual measurement angle of revolution and theoretical angle of revolution of angular transducer is bigger.Further, if the deviation of actual measurement angle of revolution and theoretical angle of revolution is bigger, be likely so owing to angular transducer breaks down to cause.At this moment, if the actual measurement angle of revolution that still angular transducer is recorded can't effectively be controlled revolution, even may cause security incident as testing result.Therefore, can use theoretical angle of revolution in this case, thereby can avoid, and the problem that can't control effectively to revolution has been eliminated potential safety hazard because angular transducer breaks down as testing result.
In preferred embodiment, further, in preset time, when the absolute value of difference reaches the set point number value greater than the number of times of setting value, control module with theoretical angle of revolution as testing result; Otherwise, to survey the angle of revolution as testing result.Because factors such as interference, abnormal variation may take place in the output signal of angular transducer, and this abnormal variation only can continue one time (for example several seconds) usually; Therefore, if in a certain period, though the difference between actual measurement angle of revolution and the theoretical angle of revolution has several times not in allowed limits; But after this a certain period, this difference has returned to again in the normal scope; So; This difference change can still can adopt the actual measurement angle of revolution as the result who detects because factors such as interference cause, and itself does not break down angular transducer.Otherwise if in rationally long time bar, the number of times that this difference occurs is more, has surpassed the set point number value, then shows the fault that angular transducer has taken place probably.
For example, slew gear rotates under the driving of drive system (for example hydraulic system), and its rotational angular is proportional to the driving input quantity of drive system.Drive system can be a hydraulic system, also can be motor etc.For the embodiment that adopts hydraulic system as drive system; The flow of angle of revolution speed direct ratio and hydraulic system; And the working control electric current of the flow direct ratio of hydraulic system and electromagnetic proportional valve and the product of pump speed, therefore, angular velocity is directly proportional with above-mentioned product.Therefore, can set up the revolution model through the relation between above-mentioned product and the angular velocity.In theory, have linear relationship between the flow of angular velocity and hydraulic system, but because the restriction and the error of actual product are approximate linear between the angular velocity in the actual revolution model and the flow of hydraulic system.Special, in an embodiment shown in Figure 3, the rotating speed of oil pump is certain, this moment the flow of hydraulic system and being directly proportional of hydraulic system, under normal conditions, when operation was turned round, pump speed was all fixed.The longitudinal axis of Fig. 3 is represented angular velocity, and transverse axis is represented electric current.A is the angular velocity of reality and the relation curve between the electric current, and B is the linear relationship curve that draws after A is carried out curve fitting.As can be seen from Figure 3, has approximate linear between angular velocity in the revolution model of reality and the electric current.Therefore, on the basis that obtains driving input quantity (for example electric current and pump speed), just can pass through angular velocity and time relation, obtain the theoretical angle of revolution of slew gear.
Preferably, theoretical angle of revolution is that the initial revolution model of slew gear according to storage in advance calculates.In the time will surveying the angle of revolution as testing result, control module can be revised initial revolution model according to the actual measurement angle of revolution.For any engineering machinery (for example concrete mixer); The present invention is given initial revolution model; But because the individual difference of every desk-top engineering machinery (based on for same equipment; Also can there are differences after using a period of time with previous state), same initial revolution model can not guarantee to be applicable to fully arbitrary equipment with in a kind of engineering machinery.Therefore, utilize the method in the embodiment of the invention to revise to the initial revolution model in every equipment.Concerning every equipment; In its rotating process; Can be with the relation (the for example slope of a curve in these two models) between revolution model that obtains according to actual measurement and the initial revolution model; Corresponding relation between angular velocity in the initial revolution model and the driving electric signal is revised, to guarantee the accuracy of model.
As one preferred embodiment, as shown in Figure 4, the present invention adopts the method for approaching of taking out stitches that initial revolution model is revised.Need to prove, also can adopt other numerical computation method, for example fitting of a polynomial, curve fitting etc. repeatedly the correction of initial revolution model.Longitudinal axis ω represents angular velocity among Fig. 4; Transverse axis Q represents the product of electric current and pump speed, in the present embodiment, adopts the HYDRAULIC CONTROL SYSTEM slew gear to be rotated; Therefore; Through the electric current I and the pump speed of control electromagnetic proportional valve, just can control the flow of the hydraulic oil that gets into slew gear, thus the rotating speed (being angular velocity omega) of control slew gear.In fact, when the electric current I that provides to electromagnetic proportional valve during less than initial current, electromagnetic proportional valve is in closed condition, therefore can not driving rotational mechanism turn round; When the electric current I that provides to electromagnetic proportional valve surpassed saturation current, the aperture of solenoid valve reached maximal value, and this moment, starting a banquet of solenoid valve no longer increased along with the increase of electric current.In addition, because pump speed also is that higher limit is arranged, therefore, also influence the size of flow.Therefore, revolution model (comprising initial revolution model) is only at certain interval (Q
0, Q
N) in be linear relationship, wherein, N is a positive integer.
In a preferred embodiment, Q is divided into N section in its scope: (Q
0, Q
1..., Q
M-1, Q
m, Q
M+1, Q
M+2..., Q
N), wherein, m and N are positive integer.Each section, for example (Q
m, Q
M+1) in angular velocity omega and electric current I be linear relationship, the mathematic(al) representation that can obtain turning round model is above-mentioned formula (1).
When the revolution model is revised, at first new revolution model and initial revolution model are compared (slope that for example, compares each section).If the two is close, then new data is replaced the corresponding data in the initial revolution model, and the curve on each section in the initial revolution model is carried out match again; Otherwise, continue to use original revolution model.
Especially, in revolution model shown in Figure 4, electric current I is divided into three section (Q
0, Q
1, Q
2, Q
3), below in conjunction with (the Q of Fig. 4 to initial revolution model
1, Q
2) makeover process of section is elaborated.
As shown in Figure 4, when angular velocity omega was zero, Q was non-vanishing, have only when Q greater than Q
0The time, angular velocity omega just begins to increase (being that slew gear just begins to rotate).A is the corresponding curve of current revolution model among Fig. 4, the Q in current revolution model
1And Q
2The corresponding angular velocity in place is ω
1And ω
2At a time t records one group of data (Q
t, ω
t), if Q
tFall into interval (Q
1, Q
2), so, with data (Q
t, ω
t) and the original curve in this interval match again (like least square method etc.), obtain curve C.Calculate at Q by curve C
1And Q
2The corresponding angular velocity in place is ω
1' and ω
2', and and Q
1And Q
2Original two angular velocity omegas at place
1And ω
2Value averages, to obtain revised Q
1And Q
2The angular velocity omega at place
1" and ω
2", simultaneously, recomputating the slope (being the parameter k in the formula (1)) of other section of these section both sides, thereby obtain revised revolution model, its curve is shown in B.
In a preferred embodiment, the angle of revolution pick-up unit also comprises alarm unit, and when the absolute value of difference during greater than setting value, control module control alarm unit gives the alarm.For example, alarm unit can be phonetic alarm device, acoustic-optic alarm, be presented at character or image on the display etc.When operating personnel receive the alarm that warning device sends, can take the handled measure.
Preferably; The angle of revolution pick-up unit also comprises the detecting sensor at zero point; When slew gear is turned back to null position (being initial position), detecting sensor will be responded to and sent signal to control module at zero point, control module according to this signal with the angle of revolution zero clearing.Preferably, zero point detecting sensor can be travel switch, near switch etc.
Flow process when below in conjunction with Fig. 6 control module being carried out an angular detection is elaborated (control module can constantly circulate carry out following step) especially.
Step 2, control module judge whether angular transducer breaks down, if angular transducer breaks down, then use theoretical angle of revolution θ
2As angle of revolution θ, and execution in step five; Otherwise execution in step three.
Step 3 is used actual measurement angle of revolution θ
1As angle of revolution θ, and execution in step four.
Step 4; Driving input quantity that at a time records (for example product of feedback current and pump speed etc.) and angular velocity constitute first coordinate; The starting point of the driving input quantity that this a certain moment records pairing section in current revolution model constitutes second coordinate, calculates the slope of the line of first coordinate and second coordinate; And the slope of pairing section in this slope and the current revolution model compared, if the two is positioned at the scope (showing that angular transducer is in normal condition) of permission, execution in step five again after then current revolution model being revised; Otherwise, show that fault possibly take place angular transducer, therefore no longer current revolution model is made amendment, directly execution in step five.
For example, when drive system was hydraulic system, available following formula (2) was judged above-mentioned two slopes:
|(ω-ω
m)/(Q-Q
m)-k
m|＜γ(2)
Wherein, Q is the flow in a certain moment, i.e. the product of feedback current and pump speed; ω is the angular velocity of this a certain moment control module actual measurement; ω
mBe in current revolution model, the angular velocity of the starting point of the pairing section of flow Q during this a certain moment; Q
mBe in current revolution model, the pairing flow of starting point of the pairing section of flow Q during this a certain moment; Km is in current revolution model, the slope of the pairing section of flow Q in this a certain moment; γ is a threshold value.
Step 5 finishes this angular detection.
As the third aspect of the invention, a kind of angle of revolution detection system of slew gear is provided, comprising: angular transducer is used to detect the actual measurement angle of revolution of slew gear; The angle of revolution pick-up unit is connected with angular transducer, and this angle of revolution pick-up unit is the angle of revolution pick-up unit among above-mentioned each embodiment.
As fourth aspect of the present invention, a kind of engineering machinery is provided, comprise the angle of revolution pick-up unit of slew gear and the angle of revolution that is used to detect slew gear, this angle of revolution pick-up unit is the angle of revolution pick-up unit among above-mentioned each embodiment.
The present invention is through the contrast to actual measurement angle of revolution and theoretical angle of revolution; Realized the failure judgment of angle sensor; And under the situation that sensor breaks down, still can obtain comparatively accurate angle of revolution, thereby guarantee the security of revolution control.
The above is merely the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.All within spirit of the present invention and principle, any modification of being done, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. the angle of revolution detection method of a slew gear is characterized in that, comprising:
Obtain the actual measurement angle of revolution of said slew gear;
According to the theoretical angle of revolution of the said slew gear of initial revolution Model Calculation of the said slew gear of storage in advance;
Calculate the difference between said actual measurement angle of revolution and the said theoretical angle of revolution, when the absolute value of said difference during less than setting value, with the actual measurement angle of revolution as testing result; Otherwise, with said theoretical angle of revolution as testing result.
2. angle of revolution according to claim 1 detection method; It is characterized in that, further, in preset time; When the absolute value of said difference reaches the set point number value greater than the number of times of said setting value, with said theoretical angle of revolution as said testing result; Otherwise, with said actual measurement angle of revolution as said testing result.
3. angle of revolution according to claim 1 and 2 detection method is characterized in that, said method also comprises: when said actual measurement angle of revolution during as said testing result, is revised said initial revolution model according to said actual measurement angle of revolution.
4. angle of revolution according to claim 2 detection method is characterized in that, said initial revolution model is to set up according to the driving input quantity of said slew gear and the relation between the speed of angle of revolution.
5. angle of revolution according to claim 2 detection method is characterized in that, said method also comprises: when the absolute value of said difference gives the alarm during greater than said setting value.
6. the angle of revolution pick-up unit of a slew gear is characterized in that, comprising:
Control module, the difference between said actual measurement angle of revolution and the said theoretical angle of revolution according to the theoretical angle of revolution of the said slew gear of storing in advance of initial revolution Model Calculation, and is calculated in the actual measurement angle of revolution that obtains said slew gear;
When the absolute value of said difference during less than setting value, with said actual measurement angle of revolution as testing result; Otherwise, with said theoretical angle of revolution as testing result.
7. angle of revolution according to claim 6 pick-up unit; It is characterized in that, further, in preset time; When the absolute value of said difference reaches the set point number value greater than the number of times of said setting value, with said theoretical angle of revolution as testing result; Otherwise, with said actual measurement angle of revolution as testing result.
8. angle of revolution according to claim 6 pick-up unit is characterized in that, when with said actual measurement angle of revolution during as said testing result, said control module is revised said initial revolution model according to said actual measurement angle of revolution.
9. according to each described angle of revolution pick-up unit among the claim 6-8, it is characterized in that said initial revolution model is to set up according to the driving input quantity of said slew gear and the relation between the speed of angle of revolution.
10. angle of revolution according to claim 6 pick-up unit is characterized in that, said angle of revolution pick-up unit also comprises alarm unit, and when the absolute value of said difference during greater than said setting value, said control module is controlled said alarm unit and given the alarm.
11. the angle of revolution detection system of a slew gear is characterized in that, comprising:
Angular transducer is used to detect the actual measurement angle of revolution of said slew gear;
The angle of revolution pick-up unit is connected with said angular transducer, and said angle of revolution pick-up unit is each described angle of revolution pick-up unit among the claim 6-10.
12. an engineering machinery comprises the angle of revolution pick-up unit of slew gear and the angle of revolution that is used to detect said slew gear it is characterized in that said angle of revolution pick-up unit is each described angle of revolution pick-up unit among the claim 6-10.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN2012100966200A CN102620705A (en) | 2012-04-01 | 2012-04-01 | Rotary-angle detecting method, device, system and engineering machine of rotary mechanism |
| PCT/CN2012/081663 WO2013149452A1 (en) | 2012-04-01 | 2012-09-20 | Slewing angle detection method, device and system for slewing mechanism, and construction machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2012100966200A CN102620705A (en) | 2012-04-01 | 2012-04-01 | Rotary-angle detecting method, device, system and engineering machine of rotary mechanism |
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| CN102620705A true CN102620705A (en) | 2012-08-01 |
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| CN2012100966200A Pending CN102620705A (en) | 2012-04-01 | 2012-04-01 | Rotary-angle detecting method, device, system and engineering machine of rotary mechanism |
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| CN (1) | CN102620705A (en) |
| WO (1) | WO2013149452A1 (en) |
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| WO2013149452A1 (en) * | 2012-04-01 | 2013-10-10 | 中联重科股份有限公司 | Slewing angle detection method, device and system for slewing mechanism, and construction machinery |
| CN103532451A (en) * | 2013-10-31 | 2014-01-22 | 重庆长安汽车股份有限公司 | Fault diagnosis method for position signal of rotary transformer |
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