CN111007830A - Debugging device and debugging method for excavator control system - Google Patents
Debugging device and debugging method for excavator control system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The invention discloses a debugging device and a debugging method for an excavator control system, wherein the debugging device comprises a portable debugging tool, an electronic monitor, a main controller, a rotating speed sensor, an engine controller, a main pump pressure sensor, a pilot pressure sensor, a main pump displacement control proportional valve, a GPS control platform and a GPS controller; the main pump pressure sensor, the pilot pressure sensor and the main pump displacement control proportional valve are respectively electrically connected with the main controller; the engine controller is interconnected with the main controller through a CAN bus; the rotating speed sensor is electrically connected with the engine controller; the GPS controller and the GPS control platform realize wireless interconnection through GSM; the portable debugging tool, the electronic monitor, the GPS controller and the main controller are interconnected through a CAN bus, and the portable debugging tool realizes the operation on the debugging software platform through a self-contained operating system. The invention unifies the debugging software platform, simplifies the debugging operation, strengthens the data graphical analysis capability and improves the debugging efficiency.
Description
Technical Field
The invention relates to an excavator electrical control system, which is provided with a debugging device and a debugging method for improving the debugging efficiency and the data safety of an excavator control system, and belongs to the technical field of excavators.
Background
In recent years, the electro-hydraulic control technology of the excavator is rapidly developed, and the electro-hydraulic control of the excavator is taken as the key technology of the excavator and plays an important role in the performance of the excavator; the diversified development of the control system brings different control hardware and software requirements, different control software platforms cause different programming work, and the generalization degree of the excavator control program is reduced. Different main controller hardware can bring different debugging interfaces, which bring much inconvenience to programming and debugging work and greatly affect the debugging service capability of programs. At present, the debugging work is mainly to modify the key control parameters, and whether the modification of the key parameters can meet the requirements needs to be verified by means of rich debugging experience of programmers or by repeated tests to meet the debugging target. Meanwhile, the adaptability improvement of the control requirements in the current market mainly depends on the business trip of professional control technicians to on-site debugging, and the requirements show a diversified development trend due to large market demand difference. And the shortage of control personnel has caused the market service to respond slowly. The defects of low efficiency and high resource waste of the traditional debugging method are gradually shown, which can not meet the development requirement of the current control system.
At present, the conventional excavator electrical control system debugging mainly depends on professional control technicians to utilize a portable computer and connect with a main controller through a specific interface, and online debugging or program flashing is realized on a specific software platform, so that the debugging and changing work of the program is realized. And the modification verification of the program parameters in the debugging process is usually to ensure that the expected debugging purpose is achieved through multiple times of experimental verification. Different controller hardware may use different programming software platforms, so that the program generalization degree is poor, and the hardware debugging interfaces are not uniform. This affects the debugging work of the control system to some extent.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a debugging device and a debugging method for an excavator control system.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a debugging device for a control system of an excavator comprises a portable debugging tool, an electronic monitor, a main controller, a rotating speed sensor, an engine controller, a main pump pressure sensor, a pilot pressure sensor, a main pump displacement control proportional valve, a GPS control platform and a GPS controller; the main pump pressure sensor, the pilot pressure sensor and the main pump displacement control proportional valve are electrically connected with the main controller respectively; the engine controller is interconnected with the main controller through a CAN bus; the rotating speed sensor is electrically connected with the engine controller; the GPS controller and the GPS control platform realize wireless interconnection through GSM; the portable debugging tool, the electronic monitor, the GPS controller and the main controller are interconnected through a CAN bus, and the portable debugging tool realizes the operation on the debugging software platform through a self-contained operating system.
Further, the portable debugging tool is used as an upper computer and adopts a Windows operating system, an android system or an IOS operating system.
A debugging method of a debugging device of an excavator control system comprises the following steps: the portable debugging tool is used as an upper computer, a debugging software platform is required to be installed firstly, the type of an equipment operating system is selected during installation, the system enters a debugging software platform interface according to the type of the operating system, and the portable debugging tool can realize communication with a main controller, an electronic monitor and a GPS controller through a bus.
Furthermore, the debugging software platform is subjected to login authority setting in advance, and the authority levels of the login password of the debugging software platform are as follows from big to small in sequence: designing the highest authority, the primary service authority and the secondary service authority.
Furthermore, the system can be used for realizing the communication and program file writing between different controllers by defining program interfaces at the bottom layers of hardware of different controllers through a debugging software platform, realizing the monitoring of electrical parameters related to the main controller through the debugging software platform of the portable debugging tool, realizing the graphical display of key parameters through the GUI interface design of the debugging software platform and drawing a real-time change curve; therefore, the contrast display of different parameters under the same interface can be realized, and the debugging personnel can be assisted to confirm the debugging effect.
Further, when the debugging personnel finish debugging and need to write in a new program to the controller, the software platform prompts to update the controller software version, and the updated software version, the model information and the ID information of the portable debugging tool are uploaded to the GPS control platform through the GPS controller for backup.
The invention has the beneficial effects that:
through upper computer platform software, the software embedding interfaces of different control platforms are integrated, and a uniform upper computer platform is realized. Meanwhile, the system can also realize the quick reading, writing and modification of parameters by extracting key control parameters of the excavator control program. The key parameters of the hydraulic system and the engine system are graphically represented, and the modification effect of the program parameters is predicted through dynamic monitoring and analysis of the parameters. The permission hierarchical setting is adopted, so that the safety and the standardability of data modification are enhanced, and meanwhile, the technical service breadth and the technical service depth are further improved. The host factory can effectively track the relevant information of model software change by backing up the modification information. The management capability of the program change of the host is improved, and the traceability of the program change is improved.
Drawings
FIG. 1 is a schematic diagram of a control system framework of the present invention;
FIG. 2 is a controller software interface identification flow of the present invention;
FIG. 3 is a process for backing up program change data according to the present invention.
Detailed Description
In order to make the implementation objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below with reference to the accompanying drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are only some, but not all embodiments of the invention. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the debugging device for the control system of the excavator comprises a portable debugging tool 1, an electronic monitor 2, a main controller 3, a rotating speed sensor 4, an engine controller 5, a main pump pressure sensor 6, a pilot pressure sensor 7, a main pump displacement control proportional valve 8, other hydraulic control proportional valves 9, a GPS control platform 10 and a GPS controller 11; the portable debugging tool 1, the electronic monitor 2, the GPS controller 11 and the main controller 3 are interconnected through a CAN bus; the main pump pressure sensor 6, the pilot pressure sensor 7, the main pump displacement control proportional valve 8 and the other hydraulic control proportional valves 9 are respectively electrically connected with the main controller 3; the engine controller 5 is interconnected with the main controller 3 through a CAN bus, and the rotating speed sensor 4 is electrically connected with the engine controller 5. The GPS controller 11 and the GPS control platform 10 realize wireless interconnection through GSM.
The portable debugging tool 1 is used as an upper computer to realize communication between the CAN bus interface and the main controller 3, and the portable debugging tool 1 realizes the operation of a debugging software platform through an operating system in the portable debugging tool.
Furthermore, the debugging software platform is subjected to login authority setting in advance, and the authority levels of the login password of the debugging software platform are as follows from big to small in sequence: designing the highest authority, the first-level service authority and the second-level service authority, wherein different parameter monitoring and program modification authorities are respectively set in the three authority levels.
Furthermore, the system can be compatible with communication and program file flash among different controllers by defining bottom program interface programs of different controller hardware. And the debugging software platform of the portable debugging tool 1 can realize the monitoring of the electrical parameters related to the main controller 3, realize the graphical display of the key parameters through the GUI interface design of the debugging software platform, and draw the real-time change curve. Therefore, the contrast display of different parameters under the same interface can be realized, and the debugging personnel can be assisted to confirm the debugging effect.
Further, when the debugger finishes debugging and needs to write a new program into the controller, the software platform prompts to update the controller software version, and the updated software version, the model information, and the ID information of the portable debugging tool 1 are uploaded to the GPS control platform 10 through the GPS controller 11 for backup.
Wherein, the portable debugging tool 1, the electronic monitor 2, the GPS controller 11 and the main controller 3 all adopt CAN bus communication. The portable debugging tool 1 is used as an upper computer and adopts a Windows operating system, an android system or an IOS operating system.
The specific implementation method of the present invention needs to be described in detail in conjunction with the control flow chart of the present invention:
the portable debugging tool 1 is used as an upper computer, a debugging software platform is required to be installed firstly, the type of an equipment operating system can be selected during installation, a system enters a corresponding debugging software platform interface according to the type of the operating system, and after the debugging software platform is installed, the portable debugging tool 1 can be communicated with the main controller 3, the electronic monitor 2 and the GPS controller 11 through buses. The software platform presets various main controller 3 hardware interface programs, and can realize modification and online debugging of various main controller 3 hardware programs. Meanwhile, the portable debugging tool 1 can set three different authorities when debugging the software platform, and the authority levels of the login password of the debugging software platform are sequentially as follows: designing the highest authority, the first-level service authority and the second-level service authority, wherein different parameter monitoring and program modification authorities are respectively set in the three authority levels. The design authority corresponding to the highest design authority can check and modify parameters preset by all debugging software platforms, and the primary service authority mainly aims at factory service personnel and in-factory debugging personnel, can check all parameters preset by all debugging software platforms and can modify most preset parameters of the debugging software platforms. The secondary service authority is mainly directed to agent service personnel, and the authority can view partial debugging software platform parameters and modify a few key parameters. The normative and technical confidentiality of program modification can be improved through the setting of the authority.
Further, after the portable debugging tool 1 is connected to the vehicle-mounted control system through the vehicle-mounted debugging interface, the system can judge the type of the main controller 3 as shown in fig. 2, and after the main controller 3 recognizes the hardware information, the main controller 3 calls a corresponding interface program so as to realize normal communication with the current main controller 3, and at the moment, the system enters a debugging mode. The system can read all information related to power matching electro-hydraulic control and key control parameters on the main controller 3. The main controller 3 monitors the relevant operating parameters of the engine, such as instantaneous oil consumption, average oil consumption, engine rotating speed and the like, through communication with the engine controller 5, and meanwhile, the main controller 3 can also acquire pressure signals of a pilot pressure sensor 7, a main pump pressure sensor 6 and other hydraulic systems. When the host needs to adjust the power matching parameters to meet actual requirements, debugging personnel can adjust parameters such as rotating speed values corresponding to various accelerator gears and current values of the main pump displacement control proportional valve 8 according to own authority, and parameter values of partial control process parameters such as slope time and PID parameters can be modified. After the parameters are modified, debugging personnel can realize online debugging, the debugging personnel can select parameters needing to be displayed in real time in a GUI interface of software of a debugging software platform at the moment, multiple groups of parameters can be displayed simultaneously, after the debugging personnel begin to write in the debugging modified parameters, the system begins to operate according to new parameters, and the currently selected parameter operation conditions, such as pilot pressure, main pump pressure, pump displacement control proportional valve, other hydraulic control proportional valves 9, the change conditions of the parameters of the engine speed, oil consumption and the like, can be displayed on the interface in real time at the moment, so that the debugging personnel can be visually helped to judge whether the debugging meets the target requirements.
Furthermore, after the debugging personnel confirm the debugging result, the debugging personnel can select to store the debugging modification parameters and select to generate the program file and the debugging modification information document. At this time, if the debugging personnel selects to write a new program, the debugging software platform reads the number information of the current vehicle and the software and hardware version information of the main controller 3 from the main controller 3, the debugging software platform performs a backup process of software change information according to fig. 3, and finally backs up the software change record at a corresponding position.
The invention realizes the automatic identification of the controller hardware through the confirmation of the handshake information of the debugging system, designs the interface programs in the bottom layer programs of different controller hardware, realizes the purposes of modifying key parameters and rewriting programs, and realizes the real-time monitoring and fusion display of the key operation parameters through the GUI design of a debugging software platform. And a convenient analysis interface is provided for data analysis and program modification. Meanwhile, the data security of the control program when the software platform is in contact with the market or the control requirement of an internal client is effectively ensured through the graded setting of the login authority of the software platform, and meanwhile, the host factory can effectively track the relevant information of the model software change through the backup of the modified information of the GPS control platform.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (6)
1. The utility model provides an excavator control system debugging device which characterized in that: the system comprises a portable debugging tool, an electronic monitor, a main controller, a rotating speed sensor, an engine controller, a main pump pressure sensor, a pilot pressure sensor, a main pump displacement control proportional valve, a GPS control platform and a GPS controller;
the main pump pressure sensor, the pilot pressure sensor and the main pump displacement control proportional valve are electrically connected with the main controller respectively;
the engine controller is interconnected with the main controller through a CAN bus;
the rotating speed sensor is electrically connected with the engine controller;
the GPS controller and the GPS control platform realize wireless interconnection through GSM;
the portable debugging tool, the electronic monitor, the GPS controller and the main controller are interconnected through a CAN bus, and the portable debugging tool realizes the operation on the debugging software platform through a self-contained operating system.
2. The debugging device for a control system of an excavator according to claim 1, wherein: the portable debugging tool is used as an upper computer and adopts a Windows operating system, an android system or an IOS operating system.
3. A debugging method of an excavator control system, which employs the excavator control system debugging device of claim 1, characterized in that the debugging method is as follows: the portable debugging tool is used as an upper computer, a debugging software platform is required to be installed firstly, the type of an equipment operating system is selected during installation, the system enters a debugging software platform interface according to the type of the operating system, and the portable debugging tool can realize communication with a main controller, an electronic monitor and a GPS controller through a bus.
4. The commissioning method of an excavator control system of claim 3, wherein: the debugging software platform is subjected to login authority setting in advance, and authority levels of login passwords of the debugging software platform are as follows from big to small in sequence: designing the highest authority, the primary service authority and the secondary service authority.
5. The commissioning method of an excavator control system of claim 3, wherein: the system has the advantages that communication and program file writing among different controllers can be compatible through a debugging software platform of a portable debugging tool through definition of bottom layer program interface programs of different controller hardware, monitoring of electrical parameters related to a main controller can be achieved through the debugging software platform of the portable debugging tool, graphical display of key parameters is achieved through GUI interface design of the debugging software platform, and a real-time change curve is drawn; therefore, the contrast display of different parameters under the same interface can be realized, and the debugging personnel can be assisted to confirm the debugging effect.
6. The commissioning method of an excavator control system of claim 3, wherein: when debugging personnel finish debugging and need write in new program to the controller, the software platform can indicate to update controller software version, and the software version after the update, model information and portable debugging tool's ID information can pass through GPS controller and upload to GPS control platform and backup.
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| CN201911152454.XA CN111007830A (en) | 2019-11-22 | 2019-11-22 | Debugging device and debugging method for excavator control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113778051A (en) * | 2021-08-20 | 2021-12-10 | 徐州徐工挖掘机械有限公司 | Excavator parameter debugging system and method |
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