CN101021054A - Control method and controller for walking system of spreader - Google Patents
Control method and controller for walking system of spreader Download PDFInfo
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- CN101021054A CN101021054A CN 200710034361 CN200710034361A CN101021054A CN 101021054 A CN101021054 A CN 101021054A CN 200710034361 CN200710034361 CN 200710034361 CN 200710034361 A CN200710034361 A CN 200710034361A CN 101021054 A CN101021054 A CN 101021054A
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Abstract
The control method for walking system of spreader includes feeding the rotation speeds of both right and left motor for comparison with the given values, and controlling the rotation speeds via a PID regulator to form a core loop; feeding the speed difference of the right motor and left motor to trace zero target and controlling the speed of one motor via a speed difference PID regulator to constitute a speed difference tracing correction loop; and feeding the accumulated speed difference of the right motor and left motor to trace zero target and further regulate the speed in the speed difference tracing correction loop via a displacement difference PID regulator to form a displacement difference tracing correction loop. All the core loop, the speed difference tracing correction loop and the displacement difference tracing correction loop constitute one closed-loop control system for the walking system of spreader. The present invention has high operation comfortability and high construction quality.
Description
Technical field
The present invention is mainly concerned with the paver field, refers in particular to a kind of control method and device thereof of travelling system of spreader.
Background technology
At present, asphalt paver generally adopts the driving of double pump double motor, track-type hydraulic system.This system is the electronics constant velocity system control of core by one with PLC, eliminated because of travel all multifactor travel speeds that cause such as inhomogeneities, drop engine speed of load variations, feeding of propulsion system of paver and changed, guaranteed the constant airspeed that paves, thereby spreading evenness, compactness index are greatly improved.The control technology of travelling is one of core of paver control technology.Standard GB/T16277 " bituminous concrete paver " has made regulation to the straight line moving performance of crawler type paver: the running deviation value of crawler type paver straight-line travelling must not be greater than 2% of line measurement distance, between measurement zone be 50 meters, can not adjust the steering operation device.Along with the development of technology, the user is more and more higher to the handling requirement of equipment, and the straightness accuracy of walking is the important indicator of paver handling.Single closed loop of present paver traveling control system or employing speed or speed and speed difference double closed-loop control system, running deviation value generally can be controlled at 1%.
Summary of the invention
The technical problem to be solved in the present invention just is: at the technical problem of prior art existence, the invention provides that a kind of operation is simple and reliable, can effectively control the running deviation value of paver walking, thus improve operation comfortableness, improve the control method and the device thereof of the travelling system of spreader of pavement construction quality.
For solving the problems of the technologies described above, the solution that the present invention proposes is: a kind of control method of travelling system of spreader, it is characterized in that: the speed of the left motor given speed value as value of feedback and left motor is compared, simultaneously the speed of the right motor given speed value as value of feedback and right motor is compared, and pass through the rotating speed that the PID adjuster is independently controlled left and right motor respectively, form the core ring; The speed difference of left and right motor is made adjustment to the speed of one of them motor and constituted the speed difference and follow the tracks of the correction ring to follow the trail of 0 controlled quentity controlled variable that to be target form by speed difference PID adjuster as feedback quantity; Accumulated value with left and right motor speed difference, be that left and right displacement difference is that the motor that target is followed the tracks of the correction ring by controlled quentity controlled variable of displacement difference PID adjuster output to the speed difference is done further to regulate as feedback quantity to follow the trail of 0, form offset deviation and follow the tracks of the correction ring, core ring, speed difference are followed the tracks of correction ring and offset deviation and are followed the tracks of the correction ring and constitute three closed-loop control system travelling system of spreader is controlled.
A kind of control device of travelling system of spreader, it is characterized in that: it comprises controller, the PID adjuster, speed difference PID adjuster, displacement difference PID adjuster, turn to potentiometer, the given potentiometer of the speed of travel and be installed on a left side respectively, left motor tachogenerator and right motor tachogenerator on the right motor, the described given potentiometer of the potentiometer and the speed of travel that turns to links to each other with the input of controller respectively in order to input given speed value and turn signal, described controller passes through two PID adjusters respectively to a left side, the rotating speed of right motor is controlled, by a left side, right motor speed difference draws the speed difference PID adjuster of correction controlled quentity controlled variable and by a left side, the displacement difference PID adjuster that right motor speed difference accumulated value draws the correction controlled quentity controlled variable is controlled in left motor or the right motor any.
Compared with prior art, advantage of the present invention just is: operation is simple and reliable in the present invention, can effectively control the running deviation value that paver is walked, thereby improved operation comfortableness, alleviated the operator labour intensity, improved the pavement construction quality, adopt the control method and the device of the present invention's three closed loops the running deviation value of paver walking can be dispatched from the factory standard by bringing up to 0.5% by national standard 2% originally, further optimize the walking performance of paver, thereby improve complete machine stability and operating efficiency.
Description of drawings
Fig. 1 is a frame construction schematic diagram of the present invention;
Fig. 2 is the port schematic diagram of middle controller of the present invention;
Fig. 3 is a schematic flow sheet of the present invention;
Fig. 4 is a circuit theory schematic diagram of the present invention.
The specific embodiment
Below with reference to the drawings and specific embodiments the present invention is described in further details.
The control method of travelling system of spreader of the present invention is: the speed of the left motor given speed value as value of feedback and left motor is compared, simultaneously the speed of the right motor given speed value as value of feedback and right motor is compared, and pass through the rotating speed that the PID adjuster is independently controlled left and right motor respectively, form the core ring; The speed difference of left and right motor is made adjustment to the speed of one of them motor and constituted the speed difference and follow the tracks of the correction ring to follow the trail of 0 controlled quentity controlled variable that to be target form by speed difference PID adjuster as feedback quantity; Accumulated value with left and right motor speed difference, be that left and right displacement difference is that the motor that target is followed the tracks of the correction ring by controlled quentity controlled variable of displacement difference PID adjuster output to the speed difference is done further to regulate as feedback quantity to follow the trail of 0, form offset deviation and follow the tracks of the correction ring, core ring, speed difference are followed the tracks of correction ring and offset deviation and are followed the tracks of the correction ring and constitute three closed-loop control system travelling system of spreader is controlled.
As shown in figures 1 and 3, the straightness accuracy of paver walking is decided by the synchronism of left and right track-type, and the sufficient and necessary condition of synchronism be the difference of left motor speed value and right motor speed value is zero, and left and right displacement difference is zero to be necessary condition.Referring to shown in Figure 1, compare with the speed of left motor given speed value as value of feedback and left motor, compare with the speed of right motor given speed value as value of feedback and right motor, and passing through the rotating speed that the PID adjuster is independently controlled left and right motor respectively, this is the core ring of control system.The speed difference of left and right motor is made adjustment to the speed of one of them motor and constituted the speed difference and follow the tracks of the correction ring to follow the trail of 0 controlled quentity controlled variable that to be target form by speed difference PID adjuster as feedback quantity.Even it is poor so still can to produce speed, accumulated value with the speed difference is that left and right displacement difference is that the motor that target is followed the tracks of the correction ring by controlled quentity controlled variable of displacement difference PID adjuster output to the speed difference is done further to regulate as feedback quantity to follow the trail of 0, form offset deviation and follow the tracks of the correction ring, be whole walking control by two independently in the speed control ring and a speed difference correction ring and a displacement difference correction encircle and constituted three closed-loop control system, the walking performance of paver is greatly improved.
Referring to shown in Figure 2, the control device of travelling system of spreader of the present invention, it comprises controller, the PID adjuster, speed difference PID adjuster, displacement difference PID adjuster, turn to potentiometer, the given potentiometer of the speed of travel and be installed on a left side respectively, left motor tachogenerator and right motor tachogenerator on the right motor, the described given potentiometer of the potentiometer and the speed of travel that turns to links to each other with the input of controller respectively in order to input given speed value and turn signal, described controller passes through two PID adjusters respectively to a left side, the rotating speed of right motor is controlled, by a left side, right motor speed difference draws the speed difference PID adjuster of correction controlled quentity controlled variable and by a left side, the displacement difference PID adjuster that right motor speed difference accumulated value draws the correction controlled quentity controlled variable is controlled in left motor or the right motor any.Referring to shown in Figure 4, the signal of tachogenerator SR2, the SR3 of left and right motor is input to the high-speed pulse counting end of RC6/9 controller, to turn to the signal of potentiometer R2, the given potentiometer R1 of the speed of travel to be input to controller analog quantity input, with travelling of travel direction handle SQ2 advance, backing signal is input to the switching value input, and advance proportioning valve Y1a, left motor of left motor retreated proportioning valve Y1b, right motor the advance PWM output of proportioning valve Y2b access controller of proportioning valve Y2a, right motor that advances.
Referring to Fig. 2, Fig. 3 and shown in Figure 4, the handle SQ2 that will travel shift onto advance or after give up the throne, the RC6/9 controller is according to the input signal that turns to potentiometer and the given potentiometer of speed, calculate the set-point of ring adjuster in the motor of the left and right sides respectively, and with corresponding motor rotary speed signal computing outputs on left and right sides proportioning pump Y1, the Y2 through PID, handle drive shift pid value outputs on Y1a, the Y2a, and handle retreats a grade pid value and outputs on Y1b, the Y2b.When turning to potentiometer to leave meta, driving system carries out steering operation, and the fast dropout regulator and the displacement difference adjuster of correction are not worked.When turning to potentiometer at meta, driving system carries out linear running.At this moment, speed stabilizing control is fed back by the PID adjuster respectively by the ridden in left or right direction system, when velocity deviation appears in left and right sides motor, deviate outputs to left driving pump Y1 proportioning valve by PID controlling value of fast dropout regulator calculating and removes to follow right motor with the speed of regulating left motor, for in time adjusting since about the inconsistent fuselage poor direction that causes of speed difference, in correction is regulated, make outer shroud be operated in the state of overshoot by adjustment to parameter, promptly if the speed of right motor during less than left motor, the outer shroud adjuster does not just allow right motor speed follow left motor, and in the dynamic following process, overshoot appears earlier, because adjusting to the right side, the left avertence that the beginning L)R causes ajusts fuselage to allow, afterwards both sides speed unanimity greater than a left side.Afterwards, again by about adding up of speed difference draw the displacement difference of left and right sides crawler belt, superpose the 3rd closed loop of the left proportioning pump Y1 formation of back control control system of the output valve by PWM controlling value of PID displacement difference adjuster output and PID adjuster.
Claims (2)
1, a kind of control method of travelling system of spreader, it is characterized in that: the speed of the left motor given speed value as value of feedback and left motor is compared, simultaneously the speed of the right motor given speed value as value of feedback and right motor is compared, and pass through the rotating speed that the PID adjuster is independently controlled left and right motor respectively, form the core ring; The speed difference of left and right motor is made adjustment to the speed of one of them motor and constituted the speed difference and follow the tracks of the correction ring to follow the trail of 0 controlled quentity controlled variable that to be target form by speed difference PID adjuster as feedback quantity; Accumulated value with left and right motor speed difference, be that left and right displacement difference is that the motor that target is followed the tracks of the correction ring by controlled quentity controlled variable of displacement difference PID adjuster output to the speed difference is done further to regulate as feedback quantity to follow the trail of 0, form offset deviation and follow the tracks of the correction ring, core ring, speed difference are followed the tracks of correction ring and offset deviation and are followed the tracks of the correction ring and constitute three closed-loop control system travelling system of spreader is controlled.
2, a kind of control device of travelling system of spreader, it is characterized in that: it comprises controller, the PID adjuster, speed difference PID adjuster, displacement difference PID adjuster, turn to potentiometer, the given potentiometer of the speed of travel and be installed on a left side respectively, left motor tachogenerator and right motor tachogenerator on the right motor, the described given potentiometer of the potentiometer and the speed of travel that turns to links to each other with the input of controller respectively in order to input given speed value and turn signal, described controller passes through two PID adjusters respectively to a left side, the rotating speed of right motor is controlled, by a left side, right motor speed difference draws the speed difference PID adjuster of correction controlled quentity controlled variable and by a left side, the displacement difference PID adjuster that right motor speed difference accumulated value draws the correction controlled quentity controlled variable is controlled in left motor or the right motor any.
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| CNB2007100343618A CN100497829C (en) | 2007-01-31 | 2007-01-31 | Control method and controller for walking system of spreader |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102023638A (en) * | 2010-12-20 | 2011-04-20 | 西南交通大学 | Walking control device of paver and control method |
| CN102191739A (en) * | 2010-03-18 | 2011-09-21 | 约瑟夫福格勒公司 | Method and system for applying a street pavement |
| 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 |
| CN102720239A (en) * | 2012-06-26 | 2012-10-10 | 上海三一重机有限公司 | Running off tracking control system and method of excavator and excavator |
| WO2013075544A1 (en) * | 2011-11-21 | 2013-05-30 | 中联重科股份有限公司 | Roller running system, control method and control device thereof, and roller |
| CN103135621A (en) * | 2013-01-21 | 2013-06-05 | 长安大学 | Constant speed control system and constant speed control method for vibratory roller |
| CN104742991A (en) * | 2015-04-13 | 2015-07-01 | 中国铁建重工集团有限公司 | Automatic control system for left and right tracks to travel synchronously |
| CN104930011A (en) * | 2015-07-02 | 2015-09-23 | 太原重工股份有限公司 | Crawler belt walking synchronous control method |
| CN106677013A (en) * | 2016-12-29 | 2017-05-17 | 徐州徐工筑路机械有限公司 | Large cold-recycling double-handle logic cooperation control device |
| CN110406538A (en) * | 2019-06-27 | 2019-11-05 | 中国一冶集团有限公司 | Caterpillar machinery Machine Vision Recognition walking automatic deviation rectifying device |
| CN111114534A (en) * | 2019-12-27 | 2020-05-08 | 柳工常州机械有限公司 | Bulldozer and walking control method and device thereof |
| CN114215139A (en) * | 2021-12-30 | 2022-03-22 | 爱克斯维智能科技(苏州)有限公司 | Intelligent deviation rectifying control system for remote control walking of excavator and deviation rectifying method thereof |
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2007
- 2007-01-31 CN CNB2007100343618A patent/CN100497829C/en active Active
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN102191739A (en) * | 2010-03-18 | 2011-09-21 | 约瑟夫福格勒公司 | Method and system for applying a street pavement |
| CN102191739B (en) * | 2010-03-18 | 2014-11-05 | 约瑟夫福格勒公司 | Method and system for applying a street pavement |
| CN102023638A (en) * | 2010-12-20 | 2011-04-20 | 西南交通大学 | Walking control device of paver and control method |
| CN102023638B (en) * | 2010-12-20 | 2012-11-14 | 西南交通大学 | Walking control device of paver and control method |
| 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 |
| WO2013075544A1 (en) * | 2011-11-21 | 2013-05-30 | 中联重科股份有限公司 | Roller running system, control method and control device thereof, and roller |
| CN102720239A (en) * | 2012-06-26 | 2012-10-10 | 上海三一重机有限公司 | Running off tracking control system and method of excavator and excavator |
| CN102720239B (en) * | 2012-06-26 | 2014-12-17 | 上海三一重机有限公司 | Running off tracking control system and method of excavator and excavator |
| CN103135621A (en) * | 2013-01-21 | 2013-06-05 | 长安大学 | Constant speed control system and constant speed control method for vibratory roller |
| CN104742991A (en) * | 2015-04-13 | 2015-07-01 | 中国铁建重工集团有限公司 | Automatic control system for left and right tracks to travel synchronously |
| CN104742991B (en) * | 2015-04-13 | 2017-09-26 | 中国铁建重工集团有限公司 | A kind of automatic control system for left and right crawler belt synchronous walking |
| CN104930011A (en) * | 2015-07-02 | 2015-09-23 | 太原重工股份有限公司 | Crawler belt walking synchronous control method |
| CN104930011B (en) * | 2015-07-02 | 2017-04-19 | 太原重工股份有限公司 | Crawler belt walking synchronous control method |
| CN106677013A (en) * | 2016-12-29 | 2017-05-17 | 徐州徐工筑路机械有限公司 | Large cold-recycling double-handle logic cooperation control device |
| CN110406538A (en) * | 2019-06-27 | 2019-11-05 | 中国一冶集团有限公司 | Caterpillar machinery Machine Vision Recognition walking automatic deviation rectifying device |
| CN111114534A (en) * | 2019-12-27 | 2020-05-08 | 柳工常州机械有限公司 | Bulldozer and walking control method and device thereof |
| CN111114534B (en) * | 2019-12-27 | 2021-05-04 | 柳工常州机械有限公司 | Bulldozer and walking control method and device thereof |
| CN114215139A (en) * | 2021-12-30 | 2022-03-22 | 爱克斯维智能科技(苏州)有限公司 | Intelligent deviation rectifying control system for remote control walking of excavator and deviation rectifying method thereof |
| CN114215139B (en) * | 2021-12-30 | 2023-03-14 | 爱克斯维智能科技(苏州)有限公司 | Intelligent deviation rectifying control system for remote control walking of excavator and deviation rectifying method thereof |
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| CN100497829C (en) | 2009-06-10 |
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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 and controller for walking system of spreader Granted publication date: 20090610 License type: Exclusive License Open date: 20070822 Record date: 20110503 |
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Effective date of registration: 20151214 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. |