CN100361033C - Intelligent control system for paving machine - Google Patents
Intelligent control system for paving machine Download PDFInfo
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- CN100361033C CN100361033C CNB031305636A CN03130563A CN100361033C CN 100361033 C CN100361033 C CN 100361033C CN B031305636 A CNB031305636 A CN B031305636A CN 03130563 A CN03130563 A CN 03130563A CN 100361033 C CN100361033 C CN 100361033C
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Abstract
The present invention relates to an intelligent control system for a spreader, which is a system using an EPEC micro computer controller of a CAN bus and a GRAF pattern display to monitor and control a spreader. The system can smoothly and stably realize function control of travel, diversion, advance, retroversion, etc. of double tracks of a spreader, and can realize spreading travel at constant speed and constant speed control at ultra-low speed. The present invention adopts visual Chinese character display, can set, modify and spread the travelling speed and a turn radius, can monitor the actual travelling speed and the turn radius, can substitute partial conventional meters to monitor operation parameters of an engine and a complete machine, and can prompt periodic maintenance according to working hours. The present invention can monitor and alarm partial failure which comprises water temperature overrun, low engine oil pressure, partial line disconnection, etc., and can calibrate and modify partial control parameters on site. Simultaneously, the system is provided with an emergency travelling system. When the failure of an automatic system occurs, the present invention is changed into manual travel for control, and thereby, the failure of the automatic system does not affect the normal use of the spreader.
Description
Technical field
The invention belongs to the control system of engineering machinery paver, particularly a kind of paver intelligence control system.It is adopt paver based on the Finland EPEC microcomputer controller of CAN bus and German GRAF image-text display to travel control, state parameter are monitored, Chinese character device shown and method.
Background technology
Paver (bituminous concrete paver, stabilized soil paver, multi-functional paver) adopts hydraulic-driven to travel usually.The power of its internal combustion engine to the oil motor that travels, drives paver traveling mechanism (wheel side speed reducer+caterpillar system/tire system) by the hydraulic pump that travels, and realizes the various functions such as travel, turn to, advance, fall back of paver.Usually, adopt variable output pump to realize the electrodeless variable-speed of paver travel speed, and travel that oil motor discharge capacity or mechanical speed change are realized paving and the non-conversion of retaining of travelling that paves by change.The paver hydraulic system difference that control looks employing of travelling can have modes such as armstrong's patent, guide's hydraulic pressure, motorized valve control, and wherein motorized valve can combine with microcomputer controller, realizes the paver automatic constant speed control of travelling.Constant speed paves and has great importance for improving operation quality.But, more existing use the paver of microcomputer controllers, (～1m/min) poor stability can not adapt to big load Ultra-Low Speed operation needs to its Ultra-Low Speed usually; Display mostly is English interface, does not have the Chinese character of employing and shows, and is extremely inconvenient to Chinese user; Simultaneously, do not have some basic paver service data monitoring and fault diagnosis functions, also do not have the obvious prompting that gives at aspects such as use, maintenances.Like this, in order to solve above-mentioned in esse a plurality of problems, caused proposition of the present invention.
Summary of the invention:
The object of the invention provides a kind of paver intelligence control system, improves especially Ultra-Low Speed control performance of paver control performance, develops the paver Chinese-character display system and meets the display mode that China is accustomed to, and improves the general technical level of homemade paver.
The present invention seeks to realize like this:
A kind of paver intelligence control system is characterized in that, adopts the system that paver is monitored and controlled based on the Finland EPEC microcomputer controller and the German GRAF image-text display of CAN bus, and this system comprises:
Hardware has: the Finland EPEC microcomputer controller that adopts the CAN bus; Adopt the German GRAF image-text display of CAN bus; Being connected with the parameter setting element on Finland EPEC microcomputer controller comprises: speed potentiometer, handle potentiometer, turn to potentiometer; Also being connected with the control model conversion element comprises: at a high speed, low speed switch, and middle bit switch; Also being connected with the feedback element that tests the speed comprises: left and right crawler belt tachogenerator, also be connected with the state parameter monitoring element and comprise: cooling-water temperature sensor, engine oil pressure pickup, also are connected with control actuating component and comprise system voltage sensor: the right travel pump motorized valve that advances, falls back.
Software has: contain the travel Finland EPEC microcomputer controller software of control, tractor parameter monitoring, fault diagnosis, work timing, parameter calibration, CAN bus communication of paver: contain the German GRAF image-text display software that paver setting, monitoring parameter demonstration, fault alarm, maintenance prompting, parameter calibration, employing pictorial Chinese character show the CAN bus communication.
System software main control flow process, its operating procedure and process are as follows:
The first step: after the controller energising, input, output port and CAN bus are carried out initialization.
Second step: the input of three potentiometers of then sampling, and the input of three potentiometers carried out data processing.
The 3rd step: judge whether to carry out parameter calibration, if do not need calibrating parameters, treated data just directly enter the control model (see figure 3) in second step so, and calibrating parameters just carries out the demarcation of relevant parameter according to corresponding demarcation condition (coming from the CAN bus) if desired.
The 4th step: will handle with calibrated input and make up, as the choice criteria of control input and control model.
The 5th step: if control model is a low speed, walking just paves, just enter closed-loop control, the PID computing is carried out in feedback input and control input to the motor tachogenerator, the result of PID computing output is through treatment conversion, obtain desired control parameter, be converted to of the walking of PWM current signal as final output control paver through D/A.If control model is at a high speed, walking at a high speed just just enters open loop control, and the control input obtains desired control parameter through treatment conversion, is converted to the walking of PWM current signal as final output control paver through D/A.
The 6th step: utilize the feedback input of the input of three potentiometers and left and right sides motor tachogenerator to calculate setting speed, actual speed, setting radius of turn and actual radius of turn, utilize the input of each monitoring parameter to calculate the actual value and the virtual condition of each monitoring parameter.Utilize program fixed cycles cycle accumulative total working hours.
The 7th step: parameter and the working time data of storage through demarcating.
The 8th step: receive demarcation condition and the good parameter of demarcation that display is sent by the CAN bus, the transmitting supervisory parameter shows in real time to display and monitors.
The 9th step: program will be returned and circulate.This control program employing order executive mode.
System master molding formula is advanced, is fallen back by high, low speed, straight line, turns to (turn left or turn right) combination to determine.The decision of high, low speed switch is run at high speed or low speed paves; The front and back position decision of handle potentiometer is advanced and reverse mode; Turning to potentiometer is straight-line travelling at meta, and turning to potentiometer left-handed is left steering, and dextrorotation is right turn.
System's control and flow for displaying.Its operating procedure and process are as follows:
The first step: after the controller energising, system initialization and CAN bus are carried out initialization;
Second step: by the data of CAN bus interface admission controller:
The 3rd step: the data that receive are handled:
The 4th step: show the more detected state parameters of microcomputer controller, setup parameter: setting speed, set and turn to etc.; Feedback parameter: actual speed, actual steering etc.; Conventional state parameter: engine oil pressure, the gentle engine speed of engine water;
The 5th step: judged whether the warning amount, if any then reporting to the police, mainly comprise conventional the warning: engine oil pressure is low, engine water temperature is high; Fault alarm: sensor fault, electrical apparatus line fault;
The 6th step: judge paver work hours whether to arrive defects liability period, if arrived the maintenance device, then the system prompt user maintains: the replacing of the cleaning of hydraulic oil cooler, engine water filter, the replacing of air cleaner;
The 7th step: judge whether to carry out parameter calibration, calibrating parameters is at first inputed password if desired, just carries out the demarcation of relevant parameter according to corresponding demarcation condition then; Native system adopts the mode of soft keyboard to carry out password typing and random rotation cipher code protection method; The demarcation of potentiometer, at first the I/O by controller reads in the potentiometer value, by the CAN bus data is sent to display then, after display is received data, carry out certain processing and demonstration, finally return to controller by the CAN bus demarcating good data.The demarcation of pid parameter, at first use the suitable numerical value of digital regulation resistance input after, pass to controller by the CAN bus then;
The 8th step: last, the data after handling are sent on the CAN bus.
Superiority of the present invention and technique effect:
1. various functions controls such as smoothly realize that stably paver travels, turns to, advances, falls back;
2. the realization constant speed paves and travels and the control of Ultra-Low Speed constant speed;
3. adopt Chinese character display to understand;
4. set, revise and pave travel speed and radius of turn and monitor actual travel speed and radius of turn;
5. part conventional instrument monitoring engine, complete machine operational factor be can replace, engine water temperature, engine oil pressure, system voltage, working hours comprised;
6. can make the time-based maintenance prompting according to working hours;
7. can carry out monitoring, alarming to partial fault, comprise that water temperature transfinites, engine oil pressure is low excessively, part circuit broken string etc.;
Native system can on-site proving, revise the part controlled variable;
9. be equipped with emergent driving system, guarantee when the automatic system fault, can change the control of manually travelling into, thereby do not influence the normal use of paver because of the automatic system fault.
Description of drawings
Fig. 1 paver intelligence control system block diagram;
Fig. 2 main control process flow diagram;
Fig. 3 main control model select program;
Fig. 4 display control flow chart.
Embodiment
Systemic-function realizes
The invention provides a cover paver and adopt paver based on the Finland EPEC microcomputer controller of CAN bus and German GRAF image-text display travel control, state parameter monitoring, employing Chinese character device shown and method.
This system comprises Finland EPEC microcomputer controller, German GRAF image-text display, monitoring sensor, the emergent hardware such as circuit and some peripheral circuits that travel, also comprise simultaneously containing the travel Finland EPEC microcomputer controller software of control, tractor parameter monitoring, fault diagnosis, work timing, parameter calibration, CAN bus communication of paver, comprise containing that paver setting, monitoring parameter demonstration, fault alarm, maintenance prompting, parameter calibration, employing pictorial Chinese character show, the German GRAF image-text display software of CAN bus communication.
Control system according to speed potentiometer, handle potentiometer, turn to the given signal of potentiometer, the feedback signal of tachogenerator, and various parameter monitoring sensor signals, provide the variable output pump electric proportional valve pwm control signal that travels, provide real-time paver operational factor and show, report to the police, maintain prompting etc.
Its ultimate principle can be summarized as follows:
The intelligent automatic control core of native system is a microcomputer controller, various paver command signals (comprise and decide potentiometer signal, switching value signal) and various monitoring, feedback signal are as the microcomputer controller input quantity, identification, judgement, logical operation by controller software, determining that paver travels enters or does not enter PID closed-loop control computing, obtain pwm control signal thus, output to corresponding driving pump motorized valve by the I/O end, realize the real-time control of travelling.
In the paving operation operating mode, according to setting speed, feedback speed and turning setting signal, microcomputer controller carries out PID closed-loop control computing, and it guarantees the constant speed drive requirement of paver through the PWM of ovennodulation output signal control driving pump motorized valve.Simultaneously, according to various monitor signals, microcomputer controller can real-time operation obtain the paver service data, the warning of monitoring paver, and be delivered to display by the CAN bus and show in real time, make operating personnel can grasp the running status of paver at any time, in time make various operations decision-makings.
For the ease of using, on-site proving program by display and controller and use, maintenance prompting etc. have also been worked out.
For the ease of using, system has also reserved the I/O expansion mouth of some; Adopt the CAN bussing technique, can increase application device based on the CAN bussing technique, host computer etc. at any time, for the expansion upgrading of native system is laid a good foundation.Software function realizes
System software main control process flow diagram, its operating procedure and process are as follows:
The first step: after the controller energising, input, output port and CAN bus are carried out initialization.
Second step: the input of three potentiometers of then sampling, and the input of three potentiometers carried out data processing.
The 3rd step: judge whether to carry out parameter calibration, if do not need calibrating parameters, treated data just directly enter the control model (see figure 3) in second step so, and calibrating parameters just carries out the demarcation of relevant parameter according to corresponding demarcation condition (coming from the CAN bus) if desired.
The 4th step: will handle with calibrated input and make up, as the choice criteria of control input and control model.
The 5th step: if control model is a low speed, walking just paves, just enter closed-loop control, the PID computing is carried out in feedback input and control input to the motor tachogenerator, the result of PID computing output is through treatment conversion, obtain desired control parameter, be converted to of the walking of PWM current signal as final output control paver through D/A.If control model is at a high speed, walking at a high speed just just enters open loop control, and the control input obtains desired control parameter through treatment conversion, is converted to the walking of PWM current signal as final output control paver through D/A.
The 6th step: utilize the feedback input of the input of three potentiometers and left and right sides motor tachogenerator to calculate setting speed, actual speed, setting radius of turn and actual radius of turn, utilize the input of each monitoring parameter to calculate the actual value and the virtual condition of each monitoring parameter.Utilize program fixed cycles cycle accumulative total working hours.
The 7th step: parameter and the working time data of storage through demarcating.
The 8th step: receive demarcation condition and the good parameter of demarcation that display is sent by the CAN bus, the transmitting supervisory parameter shows in real time to display and monitors.
The 9th step: program will be returned and circulate.This control program employing order executive mode.
System master molding formula is determined by high/low speed, forward/rewind, straight line/turn to (left) combination.The decision of high/low speed switch is run at high speed or low speed paves; The front and back position decision of handle potentiometer is advanced and reverse mode; Turning to potentiometer is straight-line travelling at meta, and turning to potentiometer left-handed is left steering, and dextrorotation is right turn.
The main flow of display.Its operating procedure and process are as follows:
The first step: after the controller energising, system initialization and CAN bus are carried out initialization.
Second step: by the data of CAN bus interface admission controller.
The 3rd step: the data that receive are handled.
The 4th step: display controller more detected important state parameter, for example setup parameters: setting speed, set and to turn to etc.; Feedback parameter: actual speed, actual steering etc.; Conventional state parameter: engine oil pressure, the gentle engine speed of engine water.
The 5th step: judged whether the warning amount, if any then reporting to the police, mainly comprise conventional the warning: engine oil pressure is low, engine water temperature is high; Fault alarm: sensor fault, electrical apparatus line fault.
The 6th step: judge paver work hours whether to arrive defects liability period, if arrived the maintenance device, then the system prompt user maintains: the replacing of the cleaning of hydraulic oil cooler, engine water filter, the replacing of air cleaner.
The 7th step: judge whether to carry out parameter calibration, calibrating parameters is at first inputed password if desired, just carries out the demarcation of relevant parameter according to corresponding demarcation condition then; Native system adopts the mode of soft keyboard to carry out password typing and random rotation cipher code protection method.The for example demarcation of potentiometer, at first the I/O by controller reads in the potentiometer value, by the CAN bus data is sent to display then, after display is received data, carry out certain processing and demonstration, finally return to controller by the CAN bus demarcating good data.The for example demarcation of pid parameter again, at first use the suitable numerical value of digital regulation resistance input after, pass to controller by the CAN bus then.
The 8th step: last, the data after handling are sent on the CAN bus.
Claims (1)
1, a kind of paver intelligence control system is characterized in that, adopts the system that paver is monitored and controlled based on the EPEC microcomputer controller and the GRAF image-text display of CAN bus, and this system comprises:
Hardware has: the EPEC microcomputer controller that adopts the CAN bus; Adopt the GRAF image-text display of CAN bus; Being connected with the parameter setting element on the EPEC microcomputer controller comprises: speed potentiometer, handle potentiometer, turn to potentiometer; Also being connected with the control model conversion element comprises: at a high speed, low speed switch, and middle bit switch; Also being connected with the feedback element that tests the speed comprises: left and right crawler belt tachogenerator; Also being connected with the state parameter monitoring element comprises: cooling-water temperature sensor, engine oil pressure pickup, system voltage sensor; Also being connected with control actuating component comprises: the right travel pump motorized valve that advances, falls back;
Software has: contain the travel EPEC microcomputer controller software of control, tractor parameter monitoring, fault diagnosis, work timing, parameter calibration, CAN bus communication of paver; The GRAF image-text display software that contains paver setting, monitoring parameter demonstration, fault alarm, maintenance prompting, parameter calibration, employing pictorial Chinese character demonstration CAN bus communication;
System software main control flow process is as follows:
The first step: after the controller energising, input, output port and CAN bus are carried out initialization;
Second step: the input of three potentiometers of then sampling, and the input of three potentiometers carried out data processing;
The 3rd step: judge whether to carry out parameter calibration, if do not need calibrating parameters, treated data just directly enter control model in second step so, and calibrating parameters just carries out the demarcation of relevant parameter according to corresponding demarcation condition if desired;
The 4th step: will handle with calibrated input and make up, as the choice criteria of control input and control model;
The 5th step: if control model is a low speed, walking just paves, just enter closed-loop control, the PID computing is carried out in feedback input and control input to the motor tachogenerator, the result of PID computing output is through treatment conversion, obtain desired control parameter, be converted to of the walking of PWM current signal through D/A as final output control paver, if control model is at a high speed, walking at a high speed just just enters open loop control, and the control input is through treatment conversion, obtain desired control parameter, be converted to of the walking of PWM current signal as final output control paver through D/A;
The 6th step: utilize the input of three potentiometers and the feedback input of left and right sides motor tachogenerator to calculate setting speed, actual speed, setting radius of turn and actual radius of turn, utilize the input of each monitoring parameter to calculate the actual value and the virtual condition of each monitoring parameter, utilize program fixed cycles cycle accumulative total working hours;
The 7th step: parameter and the working time data of storage through demarcating;
The 8th step: receive demarcation condition and the good parameter of demarcation that display is sent by the CAN bus, the transmitting supervisory parameter shows in real time to display and monitors;
The 9th step: program will be returned and circulate; This control program employing order executive mode;
System master molding formula is advanced, is fallen back by high, low speed, straight line, turns to combination to determine; The decision of high, low speed switch is run at high speed or low speed paves; The front and back position decision of handle potentiometer is advanced and reverse mode; Turning to potentiometer is straight-line travelling at meta, and turning to potentiometer left-handed is left steering, and dextrorotation is right turn;
System's control and flow for displaying are as follows:
The first step: after the controller energising, system initialization and CAN bus are carried out initialization;
Second step: by the data of CAN bus interface admission controller;
The 3rd step: the data that receive are handled;
The 4th step: show the detected state parameter of microcomputer controller, setup parameter: setting speed, setting turn to; Feedback parameter: actual speed, actual steering; Conventional state parameter: engine oil pressure, the gentle engine speed of engine water;
The 5th step: judged whether the warning amount, if any then reporting to the police, mainly comprise conventional the warning: engine oil pressure is low, engine water temperature is high; Fault alarm: sensor fault, electrical apparatus line fault;
The 6th step: judge paver work hours whether to arrive defects liability period, if arrived defects liability period, then the system prompt user maintains: the replacing of the cleaning of hydraulic oil cooler, engine water filter, the replacing of air cleaner;
The 7th step: judge whether to carry out parameter calibration, calibrating parameters is at first inputed password if desired, just carries out the demarcation of relevant parameter according to corresponding demarcation condition then; Native system adopts the mode of soft keyboard to carry out password typing and random rotation cipher code protection method; The demarcation of potentiometer, at first the I/O by controller reads in the potentiometer value, by the CAN bus data is sent to display then, after display is received data, carry out certain processing and demonstration, finally return to controller by the CAN bus demarcating good data; The demarcation of pid parameter, at first use the suitable numerical value of digital regulation resistance input after, pass to controller by the CAN bus then;
The 8th step: last, the data after handling are sent on the CAN bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031305636A CN100361033C (en) | 2003-08-14 | 2003-08-14 | Intelligent control system for paving machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB031305636A CN100361033C (en) | 2003-08-14 | 2003-08-14 | Intelligent control system for paving machine |
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| CN1580409A CN1580409A (en) | 2005-02-16 |
| CN100361033C true CN100361033C (en) | 2008-01-09 |
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| CNB031305636A Expired - Lifetime CN100361033C (en) | 2003-08-14 | 2003-08-14 | Intelligent control system for paving machine |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN100402752C (en) * | 2006-12-29 | 2008-07-16 | 三一重工股份有限公司 | Energy-saving control method for spreading machine |
| CN101245583B (en) * | 2008-03-22 | 2010-06-09 | 徐州工程机械科技股份有限公司 | Automatic control system for correlation of vibration rotary speed and running speed of spreader |
| DE502009000291D1 (en) * | 2009-05-25 | 2011-02-24 | Joseph Voegele Ag | Paver and process |
| CN101697240B (en) * | 2009-09-29 | 2011-08-24 | 三一重工股份有限公司 | Method and device for calibrating and positioning |
| KR101116946B1 (en) | 2010-04-09 | 2012-03-14 | 엘에스산전 주식회사 | Apparatus for changing mode in Proportional Integral Differential controller |
| CN102381354A (en) * | 2011-05-20 | 2012-03-21 | 三一重工股份有限公司 | Paver, pulse counting type walking control system and method for paver |
| CN102330404B (en) * | 2011-07-14 | 2013-04-17 | 中联重科股份有限公司 | Paver and method, device and system for controlling paver |
| CN102889413B (en) * | 2012-10-21 | 2014-02-12 | 上海恳工自动化设备有限公司 | Intelligent electric control system and method of redundancy actuator for valve |
| CN105201961A (en) * | 2015-09-29 | 2015-12-30 | 甘肃建投新能源科技股份有限公司 | Intelligent lifting system |
| CN105803904A (en) * | 2016-03-07 | 2016-07-27 | 安庆市达东电子科技有限公司 | Paver idling running type flameout prompt device |
| CN106677502A (en) * | 2017-03-07 | 2017-05-17 | 赵红领 | Wall clothing paver |
| DE102017010425A1 (en) * | 2017-11-12 | 2019-05-16 | Wirtgen Gmbh | Self-propelled construction machine and method for controlling a self-propelled construction machine |
| CN107988879B (en) * | 2017-11-24 | 2023-06-02 | 徐工集团工程机械股份有限公司 | Control method and driving device for stopping and starting paver |
| CN108710377A (en) * | 2018-08-10 | 2018-10-26 | 徐工集团工程机械股份有限公司 | A kind of control method of paver straight line moving that correcting mechanical foozle |
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