CN103217915B - The control method of vehicle platform level-regulating system - Google Patents
The control method of vehicle platform level-regulating system Download PDFInfo
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- CN103217915B CN103217915B CN201310103393.4A CN201310103393A CN103217915B CN 103217915 B CN103217915 B CN 103217915B CN 201310103393 A CN201310103393 A CN 201310103393A CN 103217915 B CN103217915 B CN 103217915B
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- programmable logic
- logic controller
- electric current
- obliquity sensor
- proportioning valve
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Abstract
The present invention relates to a kind of vehicle platform level-regulating system, it is characterized in that it comprises obliquity sensor (1), Programmable Logic Controller (3) and proportioning valve (4), Can-H, Can-L port of described obliquity sensor (1) accesses Can-H, Can-L port of described Programmable Logic Controller (3) by twisted-pair feeder (2), described proportioning valve (4) is connected with the PWM output port of Programmable Logic Controller (3).The present invention obtains angle of inclination by mounted angle sensor on vehicle, utilizes Programmable Logic Controller and proportioning valve to make it keep level to regulate the inclination of vehicle, this system can make vehicle platform leveling sooner, more steadily, more accurate.
Description
Technical field
The present invention relates to a kind of vehicle platform level-regulating system and method thereof, be applicable to the heavy goods vehicle with hydraulic suspension system.
Background technology
Heavy goods vehicle has the large characteristic of dead weight capacity, and generally all more than 50 tons, when the gradient travels, because vehicle platform is not in horizontality, the easy landing of goods, causes cargo damage.Therefore, need a kind of plateau levels control system, ensure that vehicle platform is in horizontality all the time in transportation, ensure cargo security.At present, generally feed back pitch angle by obliquity sensor, passing ratio valve is in conjunction with closed loop control algorithm implementation platform automatic levelings such as PID.And the pid algorithm of routine calculates leveling control electric current by pitch angle as feedback signal completely, the aperture of control ratio valve, can cause leveling system inaccurate, not in time.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency, a kind of vehicle platform level-regulating system be provided, this system can make platform erection sooner, more steadily, more accurate.
The object of the present invention is achieved like this: a kind of vehicle platform level-regulating system, it comprises obliquity sensor, Programmable Logic Controller and proportioning valve, Can-H, Can-L port of described obliquity sensor accesses Can-H, Can-L port of described Programmable Logic Controller by twisted-pair feeder, described proportioning valve is connected with the PWM output port of Programmable Logic Controller.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention obtains angle of inclination by mounted angle sensor on vehicle, utilizes Programmable Logic Controller and proportioning valve to make it keep level to regulate the inclination of vehicle, this system can make vehicle platform leveling sooner, more steadily, more accurate.
Accompanying drawing explanation
Fig. 1 is the structural drawing of vehicle platform level-regulating system in the embodiment of the present invention.
Fig. 2 is the installation diagram of vehicle platform level-regulating system in the embodiment of the present invention.
Fig. 3 is the process flow diagram of vehicle platform level-regulating system in the embodiment of the present invention.
Wherein:
Obliquity sensor 1
Twisted-pair feeder 2
Programmable Logic Controller 3
Proportioning valve 4
Vehicle frame 5
Pilothouse 6.
Embodiment
See Fig. 1-Fig. 3, the present invention relates to a kind of vehicle platform level-regulating system, it comprises obliquity sensor 1, Programmable Logic Controller 3, proportioning valve 4, described controller 3 of compiling is arranged in pilothouse 6, described obliquity sensor 1 and described proportioning valve 4 are arranged on the below of vehicle frame 5, the Can-H of described obliquity sensor 1, Can-L port accesses the Can-H of described Programmable Logic Controller 3 by twisted-pair feeder 2, Can-L port, described proportioning valve 4 is connected with the PWM output port of Programmable Logic Controller 3, described Programmable Logic Controller 3 calculates vehicle platform pitch angle with respect to the horizontal plane according to the data of obliquity sensor 1, preliminary leveling electric current I 1 is obtained according to pitch angle, again according to the preliminary leveling electric current I 1 of angle change rate correction, obtain leveling and control electric current I, leveling is controlled electric current I and exports to described proportioning valve 4 by described Programmable Logic Controller 3, described obliquity sensor is for detecting vehicle platform pitch angle with respect to the horizontal plane, described Programmable Logic Controller is for receiving obliquity sensor signal, calculate vehicle platform pitch angle with respect to the horizontal plane, preliminary leveling electric current I 1 is obtained according to pitch angle, again according to the preliminary leveling electric current I 1 of angle change rate correction, obtain leveling and control electric current I, finally export leveling and control electric current I, described proportioning valve, controls electric current I according to leveling, regulates valve port opening, output hydraulic pressure oil.
The present invention also provides a kind of method of vehicle platform level-regulating system, said method comprising the steps of:
Step 1: gather obliquity sensor dip angle signal;
In this step, obliquity sensor and Programmable Logic Controller carry out communication (as shown in Figure 2) by CAN protocol, and Programmable Logic Controller gathers dip angle signal to obliquity sensor;
Step 2: calculate tilt angle varied rate;
In this step, the Programmable Logic Controller setting sampling time is 100ms-200ms, an obliquity sensor signal is received every 100ms-200ms, difference relatively between this periods samples and upper periods samples draws tilt angle varied rate Δ e, and the formula of tilt angle varied rate is: Δ e=(e
2-e
1)/T, wherein:
E
2--this sampling period error
E
1--a front sampling period error
The T--sampling time.
Step 3: draw preliminary leveling electric current I 1 according to tilt angle calculation;
In this step, using the pitch angle of current for Programmable Logic Controller acquisition as feedback signal, PID closed loop control algorithm is adopted to draw preliminary leveling electric current I 1;
Step 4: adjust preliminary leveling electric current I 1 according to tilt angle varied rate, draw leveling electric current I;
In this step, the adjustment formula of employing includes but not limited to: I=I1+K* Δ e, and wherein K is regulation coefficient, and Δ e is change of pitch angle rate.
Step 5: export leveling electric current I, control for vehicle platform automatic leveling
In this step, Programmable Logic Controller exports leveling electric current I to proportioning valve (shown in Fig. 2), and proportioning valve adjusts valve port opening according to size of current.
Claims (1)
1. the control method of a vehicle platform level-regulating system, it comprises obliquity sensor (1), Programmable Logic Controller (3) and proportioning valve (4), Can-H, Can-L port of described obliquity sensor (1) accesses Can-H, Can-L port of described Programmable Logic Controller (3) by twisted-pair feeder (2), described proportioning valve (4) is connected with the PWM output port of Programmable Logic Controller (3), it is characterized in that said method comprising the steps of:
Step 1: gather obliquity sensor dip angle signal;
In this step, obliquity sensor and Programmable Logic Controller carry out communication by CAN protocol, and Programmable Logic Controller gathers dip angle signal to obliquity sensor;
Step 2: calculate tilt angle varied rate;
In this step, the Programmable Logic Controller setting sampling time is 100ms-200ms, and receive an obliquity sensor signal every 100ms-200ms, the difference relatively between this periods samples and upper periods samples draws tilt angle varied rate;
Step 3: draw preliminary leveling electric current I 1 according to tilt angle calculation;
In this step, using the pitch angle of current for Programmable Logic Controller acquisition as feedback signal, PID closed loop control algorithm is adopted to draw preliminary leveling electric current I 1;
Step 4: adjust preliminary leveling electric current I 1 according to tilt angle varied rate, draw leveling electric current I;
In this step, the adjustment formula of employing includes but not limited to: I=I1+K* Δ e, and wherein K is regulation coefficient, and Δ e is change of pitch angle rate;
Step 5: export leveling electric current I, control for vehicle platform automatic leveling
In this step, Programmable Logic Controller exports leveling electric current I to proportioning valve, and proportioning valve adjusts valve port opening according to size of current.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310103393.4A CN103217915B (en) | 2013-03-28 | 2013-03-28 | The control method of vehicle platform level-regulating system |
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| CN201310103393.4A CN103217915B (en) | 2013-03-28 | 2013-03-28 | The control method of vehicle platform level-regulating system |
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| CN103217915A CN103217915A (en) | 2013-07-24 |
| CN103217915B true CN103217915B (en) | 2015-11-18 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103692906B (en) * | 2013-12-24 | 2016-11-23 | 江苏海鹏特种车辆有限公司 | Driver for vehicle adaptive control system and its implementation |
| CN105644554A (en) * | 2015-12-31 | 2016-06-08 | 三汽车制造有限公司 | Anti-rollover control system and engineering machinery |
| CN115685737B (en) * | 2022-11-10 | 2023-07-04 | 桂林星辰科技股份有限公司 | Leveling leg touch electric measurement and control leveling system |
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