CN100454197C - Control method of moving speed of engineering machine - Google Patents
Control method of moving speed of engineering machine Download PDFInfo
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- CN100454197C CN100454197C CNB2005100323371A CN200510032337A CN100454197C CN 100454197 C CN100454197 C CN 100454197C CN B2005100323371 A CNB2005100323371 A CN B2005100323371A CN 200510032337 A CN200510032337 A CN 200510032337A CN 100454197 C CN100454197 C CN 100454197C
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Abstract
The present invention discloses a control method for the walking speed of engineering machines. The scales of a potentiometer arranged on an adjusting handle are first corresponding to different acceleration values; the adjusting handle is pushed to generate angular displacement so that the required position of the potentiometer scales is reached, and the scale value of the position, namely, the acceleration value alpha, is obtained; the time delta T from pushing the handle to obtaining the required scale is calculated through a controller which is connected with the potentiometer; the obtained acceleration value alpha which is corresponding to the scale on the potentiometer is multiplied by the delta T to obtain the speed value V; then the controller converts the speed value V into an electrical signal, and consequently, a variable displacement pump is driven to control the flow of a hydraulic motor, and an engineering machine realizes changing speed. The scales on the adjusting handle with the potentiometer of the present invention are corresponding to the acceleration values; therefore, the walking speed of the engineering walking machine is indirectly changed, the situation that standardization work has to be carried out for different potentiometers is avoided, and human errors and mechanical errors are decreased.
Description
Technical field
The present invention is mainly concerned with the electrical control field of moving speed of engineering machine, the control method of refering in particular to a kind of moving speed of engineering machine.
Background technology
In the prior art, the engineering machinery of hydraulic-driven walking adopts the solenoid-operated proportional variable output pump to drive quantitatively as milling machine or variable displacement motor and then drive complete machine and realize advancing, falling back.The controlling schemes of domestic and international known moving speed of engineering machine all adopts pot handle with lock function, utilizes the angular displacement of pot handle corresponding one by one with the speed of travel.This kind method has higher requirement to the pot precision: different pots, and the speed of identical scale correspondence has certain deviation, and assembling or all will demarcate again when changing pot has at every turn increased personal error and machine error.In addition, the angular displacement and the travel speed of this kind method requirement pot handle are corresponding one by one, the scope of angular displacement is corresponding to the speed regulating section of milling machine, this can cause the needs that the fine setting characteristic is poor, resolution is low, sensitivity departs from actual engineering practice of handle, and then easily formation " mistake " adjusting or " owing " adjusting in adjustment process, regulate too fastly or slow excessively, the operating performance of complete machine is worsened.
Summary of the invention
The technical problem to be solved in the present invention just is: at the technical matters of prior art existence, the invention provides a kind of calibrated scale again all can avoid each assembling or change pot the time, and have the control method of the high moving speed of engineering machine of better speed adjusting performance, sensitivity and resolution.
In order to solve the problems of the technologies described above, the solution that the present invention proposes is: a kind of control method of moving speed of engineering machine, it is characterized in that: at first with the corresponding different accekeration of potentiometric scale on the adjusting handle, promoting adjusting handle makes it produce angular displacement to required pot scale place, obtaining this place's scale value is accekeration α, calculate from driving handle to the time Δ T of required scale by the controller that links to each other with pot simultaneously, the accekeration α of the pot high scale correspondence that obtains be multiply by Δ T draw velocity amplitude V, by controller this velocity amplitude V is converted into electric signal then, thereby drive the flow of variable output pump control oil motor, make engineering machinery realize speed change.
Compared with prior art, the invention has the advantages that: the present invention can be easy to just can find out the relation of handle angular displacement beta and acceleration alpha according to the characteristics of different engineering walking machines, and method is simple and practical.With last each the scale correspondence of potentiometric adjusting handle S3 is accekeration, the speed of travel of indirect change engineering walking machine, avoided all will doing different pots the work of demarcation, reduced personal error and machine error, accuracy requirement decreases to pot simultaneously; In addition, requirement according to the concrete engineering practice of engineering walking machines such as milling machine, reasonable acceleration that is provided with and the funtcional relationship between the angular displacement, can make the adjustment characteristic of pot handle, as finely tune characteristic, resolution and sensitivity and be optimized, avoid " owing " of producing in the speed adjustment process to regulate or " mistakes " regulates, regulate too fast or mistake waits problem slowly.
Description of drawings
Fig. 1 is control principle figure of the present invention;
Fig. 2 is the advance synoptic diagram that concerns of adjusting handle angular displacement beta and acceleration alpha when quickening of engineering machinery walking of the present invention;
Fig. 3 is the advance synoptic diagram that concerns of adjusting handle angular displacement beta, speed of travel speed V and time t when quickening of engineering machinery walking of the present invention;
Fig. 4 is the advance synoptic diagram that concerns of adjusting handle angular displacement beta and acceleration alpha when slowing down of engineering machinery walking of the present invention;
Fig. 5 is the advance synoptic diagram that concerns of adjusting handle angular displacement beta, speed of travel speed V and time t when slowing down of engineering machinery walking of the present invention;
Fig. 6 is the interface principle synoptic diagram of embodiment of the invention middle controller.
Embodiment
Below with reference to accompanying drawing the present invention is described in further details.
The control method of a kind of moving speed of engineering machine of the present invention, it is characterized in that: at first adjusting handle S3 is gone up the corresponding different accekeration of potentiometric scale, promote adjusting handle S3 to required pot scale place, obtaining this place's scale value is accekeration α, calculate from driving handle to the time Δ T of required scale by the controller U1 that links to each other with pot simultaneously, the accekeration α of the pot high scale correspondence that obtains be multiply by Δ T draw velocity amplitude V, by controller U1 this velocity amplitude V is converted into electric command signal then, this command signal is amplified adjusting by controller U1 again, thereby the flow of control oil motor comes the rotating speed of regulator solution pressure motor to realize the control of engineering walking machine travel speed with this.
Advance with walking and to quicken and walking advances that to slow down be example explanation (consulting Fig. 2 and Fig. 3), the relation of handle angular displacement beta, acceleration alpha, travel speed V when advancing acceleration is described, as shown in Figure 1, under the situation of " advancing " pattern of selection, the handle angular displacement beta is [0, C] when interval, the acceleration alpha of complete machine=0, V is constant for the travel speed of advancing; When the handle angular displacement beta at [C, A], the acceleration alpha=f of complete machine (β), travel speed is pressed V=V
0+ α * Δ t changes, this moment acceleration alpha be on the occasion of.Consult Fig. 4 and shown in Figure 5, the relation of handle angular displacement beta that illustrating advances when slowing down and acceleration alpha, handle angular displacement beta when [0, C] interval, the acceleration alpha of complete machine=0, V is constant for the travel speed of advancing; When the handle angular displacement beta at [C, A], the acceleration alpha=f of complete machine (β), travel speed is pressed V=V
0+ α * Δ t changes, and this moment, acceleration alpha was a negative value.Walking retreats to be quickened and walking retreats deceleration and can advance according to above-mentioned walking equally and quicken and walking is advanced the method for slowing down and corresponding realization is not being given unnecessary details at this.
To the engineering walking machine, how to determine the relation between acceleration and the handle angular displacement, promptly α=f (β) becomes the key factor that influences complete machine operating performance and security performance.In general, can by piecewise linear relationship determine generally that for the increase of travel speed (β-C), C, K are constant to reach α=K.The actual needs of the sensitivity of determining to take all factors into consideration handle of K value, fine setting characteristic and angular displacement interval, complete machine speed regulating section and operating mode.With the milling machine is example, maximum angular displacement such as handle is 40 °, speed regulating section comprises the milling machine of the stepless time adjustment of pump speed governing section and motor speed governing section (getting the motor ratio of gear is 3), and when the angular displacement of handle was C, travel speed was got 22～26s from 0 to maximum and is advisable; When the angular displacement of handle was B, travel speed was got 10～14s from zero to maximum and is advisable; When the angular displacement of handle was A, travel speed was got 4～8s from 0 to maximum and is advisable.Depict the piecewise linear function that acceleration alpha is an angular displacement beta according to unique point A, B, C, determine the K value of each piecewise function.For reducing of travel speed, in the overwhelming majority time, can determine by the relation of former point symmetry with the increase of travel speed.But because the speed of travel reduces to influence simultaneously the braking ability and the security performance of complete machine, so in the one section zone of handle, (be angular displacement beta＜A) near extreme position, the speed of travel should be sharply gradually little (promptly quickening to infinitely great), generally in the position of the limiting angle displacement of handle, travel speed is got 1～2s and is advisable from being up to 0.
As Fig. 1 and shown in Figure 6, with the milling machine is example, moving speed of engineering machine control device of the present invention mainly comprises controller U1, be with potentiometric adjusting handle S3, the selector switch of advancing S1, retreat selector switch S2, variable output pump Y1 advances, retreat variable output pump Y2, running motor Y3, the RC6-9 controller that its middle controller U1 adopts Rexroth company to produce, the selector switch of advancing S1 and retreat selector switch S2 respectively with 37 of controller U1,48 ports link to each other, the input port 35 of controller U1,36,38 link to each other with being with potentiometric adjusting handle S3, variable output pump Y1 advances, retreat variable output pump Y2 and running motor Y3 respectively with the output port 31 of controller U1,30,4 link to each other, in preferred embodiment, can also further be provided with advance pilot lamp H1 and the output port 29 that retreats pilot lamp H2 and controller U1,15 link to each other.Principle of work: with the milling machine is example, and the speed of travel control of milling machine is by being with potentiometric adjusting handle S3 to finish.When adjusting handle S3 is in the zero graduation position, the selector switch of advancing S1 and retreat selector switch S2 and be and disconnect state, the complete machine speed of milling machine is zero.
Be to select forward mode under zero the prerequisite in milling machine complete machine speed, promptly open the selector switch S1 that advances, the pilot lamp H1 that advances has electric current output, and the pilot lamp H1 that advances lights.Push away a angle this moment forward with potentiometric adjusting handle S3, pot will arrive required scale place, obtain an accekeration a, controller U1 adopts the program internal timing simultaneously, program has adopted the timer internal of a 500ms, regularly produces a rising edge pulse every 500ms; When timer produces pulse, detect adjusting handle S3 the position (be accekeration a), the accekeration a of the pot high scale correspondence that obtains be multiply by Δ T draw velocity amplitude V, by controller U1 this velocity amplitude V is converted into electric signal then, make variable output pump Y1 electric current gradually the increase (the discharge capacity increase gradually of the variable output pump Y1 that advances) in time of advancing, the travel speed of advancing increase gradually.When adjusting handle S3 pushes away forward time during long enough (Δ T value is enough big), the variable output pump Y1 electric current that advances reaches maximum back (the variable output pump Y1 discharge capacity of advancing maximum), increase running motor Y3 electric current (reducing traveling pump Y3 discharge capacity) gradually, pace increase gradually.Under the non-vanishing situation of pace, pull back adjusting handle S3, the variable displacement motor Y3 electric current that reduces gradually to walk (increasing walking variable displacement motor Y3 discharge capacity), the travel speed of advancing reducing gradually.When adjusting handle S3 pulls back the time during long enough (Δ T value is enough big), walking variable displacement motor Y3 electric current reaches minimum back (walking variable displacement motor Y3 discharge capacity maximum), gradually reduce the variable output pump Y1 electric current (variable output pump Y1 discharge capacity reduces to advance) that advances, the travel speed of advancing reducing gradually.
Be to select " fall back " mode" under zero the prerequisite in complete machine speed, promptly open and retreat selector switch S2 that retreating pilot lamp H2 has electric current output, retreats pilot lamp H2 and lights.Pull back a angle this moment with potentiometric adjusting handle S3, pot will arrive required scale place, obtain an accekeration α, controller U1 adopts the program internal timing simultaneously, program has adopted the timer internal of a 500ms, regularly produces a rising edge pulse every 500ms; When timer produces pulse, detect the position (being accekeration α) of adjusting handle S3, the accekeration α of the pot high scale correspondence that obtains be multiply by Δ T draw velocity amplitude V, by controller U1 this velocity amplitude V is converted into electric signal then, drive proportion magnetic valve the spool equal proportion move and commutate, retreat gradually the increase (retreating the discharge capacity increase gradually of variable output pump Y2) in time of variable output pump Y2 electric current, retreat travel speed increase gradually.When adjusting handle S3 pulls back time during long enough (Δ T value is enough big), retreat variable output pump Y2 electric current and reach maximum back (retreating variable output pump Y2 discharge capacity maximum), increase running motor Y3 electric current (reducing traveling pump Y3 discharge capacity) gradually, astern speed increases gradually.Under the non-vanishing situation of astern speed, push away adjusting handle S3 forward, the variable displacement motor Y3 electric current that reduces gradually to walk (increasing walking variable displacement motor Y3 discharge capacity) retreats travel speed reducing gradually.When adjusting handle S3 pushes away the time forward during long enough (Δ T value is enough big), walking variable displacement motor Y3 electric current reaches minimum back (walking variable displacement motor Y3 discharge capacity maximum), reducing gradually retreats variable output pump Y2 electric current (reducing to retreat variable output pump Y2 discharge capacity), retreats travel speed reducing gradually.
By as can be seen above, according to the characteristics of different engineering walking machines, be easy to just can find out the relation of handle angular displacement beta and acceleration alpha, method is simple and practical.With last each the scale correspondence of potentiometric adjusting handle S3 is accekeration, the speed of travel of indirect change engineering walking machine, avoided all will doing different pots the work of demarcation, reduced personal error and machine error, accuracy requirement decreases to pot simultaneously; In addition, requirement according to the concrete engineering practice of engineering machinery such as milling machine, reasonable acceleration that is provided with and the funtcional relationship between the angular displacement, can make the adjustment characteristic of pot handle, as finely tune characteristic, resolution and sensitivity and be optimized, avoid " owing " of producing in the speed adjustment process to regulate or " mistakes " regulates, regulate too fast or mistake waits problem slowly.
Claims (1)
1, a kind of control method of moving speed of engineering machine, it is characterized in that: at first with the corresponding different accekeration of potentiometric scale on the adjusting handle, promoting adjusting handle makes it produce angular displacement to required pot scale place, obtaining this place's scale value is accekeration α, calculate from driving handle to the time Δ T of required scale by the controller that links to each other with pot simultaneously, the accekeration α of the pot high scale correspondence that obtains be multiply by Δ T draw velocity amplitude V, by controller this velocity amplitude V is converted into electric signal then, thereby drive the flow of variable output pump control oil motor, make engineering machinery realize speed change.
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| CNB2005100323371A CN100454197C (en) | 2005-11-03 | 2005-11-03 | Control method of moving speed of engineering machine |
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| CNB2005100323371A CN100454197C (en) | 2005-11-03 | 2005-11-03 | Control method of moving speed of engineering machine |
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| CN1758169A CN1758169A (en) | 2006-04-12 |
| CN100454197C true CN100454197C (en) | 2009-01-21 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85109073A (en) * | 1984-12-20 | 1986-08-20 | 维克斯公司 | Power transmits |
| US4881450A (en) * | 1987-03-27 | 1989-11-21 | Hitachi Construction Machinery Co., Ltd. | Drive control system for hydraulic machine |
| CN1126291A (en) * | 1994-07-18 | 1996-07-10 | 代纳派克重型设备公司 | Operating lever for road rollers |
| JP2001199676A (en) * | 2000-01-17 | 2001-07-24 | Hitachi Constr Mach Co Ltd | Hydraulic circuit for operation system of construction machine |
| JP2002059838A (en) * | 2000-08-17 | 2002-02-26 | Nippon Yusoki Co Ltd | Lift truck |
| CN2665225Y (en) * | 2003-12-11 | 2004-12-22 | 三一重工股份有限公司 | Walking control apparatus for full-hydraulic bulldozer |
-
2005
- 2005-11-03 CN CNB2005100323371A patent/CN100454197C/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN85109073A (en) * | 1984-12-20 | 1986-08-20 | 维克斯公司 | Power transmits |
| US4881450A (en) * | 1987-03-27 | 1989-11-21 | Hitachi Construction Machinery Co., Ltd. | Drive control system for hydraulic machine |
| CN1126291A (en) * | 1994-07-18 | 1996-07-10 | 代纳派克重型设备公司 | Operating lever for road rollers |
| JP2001199676A (en) * | 2000-01-17 | 2001-07-24 | Hitachi Constr Mach Co Ltd | Hydraulic circuit for operation system of construction machine |
| JP2002059838A (en) * | 2000-08-17 | 2002-02-26 | Nippon Yusoki Co Ltd | Lift truck |
| CN2665225Y (en) * | 2003-12-11 | 2004-12-22 | 三一重工股份有限公司 | Walking control apparatus for full-hydraulic bulldozer |
Non-Patent Citations (4)
| Title |
|---|
| 基于智能传感器的控制手柄设计. 王恒升，何清华.传感技术学报，第17卷第4期. 2004 |
| 基于智能传感器的控制手柄设计. 王恒升，何清华.传感技术学报，第17卷第4期. 2004 * |
| 推土机单手柄转向、制动电液比例控制系统研制. 宫文斌，赵晓红，刘昕辉.工程机械，第35卷第2期. 2004 |
| 推土机单手柄转向、制动电液比例控制系统研制. 宫文斌，赵晓红，刘昕辉.工程机械，第35卷第2期. 2004 * |
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| CN1758169A (en) | 2006-04-12 |
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Assignee: Hunan Sany Road Machinery Co., Ltd. Assignor: Sanyi Heavy Industry Co., Ltd. Contract record no.: 2011430000061 Denomination of invention: Control method of moving speed of engineering machine Granted publication date: 20090121 License type: Exclusive License Open date: 20060412 Record date: 20110503 |
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Effective date of registration: 20151221 Address after: 413000 Yiyang high tech Zone in the eastern part of the New District of integrated services building, Room 502, Hunan Patentee after: Yiyang science and Technology Achievement Transformation Service Center Patentee after: Sanyi Heavy Industry Co., Ltd. Address before: 410100 31 industrial city, Changsha economic and Technological Development Zone, Hunan, Changsha Patentee before: Sanyi Heavy Industry Co., Ltd. |