CN102305306B - Method, device and system for calibrating current as well as paver - Google Patents
Method, device and system for calibrating current as well as paver Download PDFInfo
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- CN102305306B CN102305306B CN 201110177192 CN201110177192A CN102305306B CN 102305306 B CN102305306 B CN 102305306B CN 201110177192 CN201110177192 CN 201110177192 CN 201110177192 A CN201110177192 A CN 201110177192A CN 102305306 B CN102305306 B CN 102305306B
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Abstract
The invention provides a method, device and system capable of improving the precision of current calibration and a paver, aiming to overcome the defect that the calibration error is large when the current of a hydraulic system is calibrated by establishing the relationship of pressure and current. The method for calibrating current comprises the following steps of: current transmission step: transmitting a current value to an electromagnetic proportional valve; revolution speed reception step: receiving a revolution speed of a traveling motor detected and transmitted by a revolution speed sensor; comparison step: comparing a differential value obtained by reducing a preset revolution speed value from the received revolution speed of the traveling motor in the revolution speed reception step with a reset differential value range, taking the present current value as a calibrated current value if judging that the differential value is within the preset differential value range, and executing a current regulation step if judging that the differential value is not within the preset differential value range; and current regulation step: regulating the present current value according to the obtained differential value from the comparison step and returning to the current transmission step.
Description
Technical field
The present invention relates to the demarcation field, relate in particular to a kind of method for calibration with current signal, equipment and system and a kind of paver.
Background technique
At present, the running gear of part large-scale engineering machinery (for example paver) running gears that adopt two walking pumps, two running motor to drive crawler belt more, two walking pumps are left and right walking pump, drive respectively left and right running motor.The control system of this running gear comprises: controller, control electromagnetic proportional valve, left and right sides walking pump, the left and right sides running motor of left and right sides walking pump discharge capacity and be installed in respectively speed probe on the running motor of the left and right sides respectively.Before control system drops into normal the use, usually need to demarcate the electric current that drives electromagnetic proportional valve, thereby can drive electromagnetic proportional valve with calibrated current value, to reach more accurately control.The calibration with current signal that need to carry out is mainly two kinds, minimum current is demarcated and maximum current is demarcated, minimum current is demarcated the demarcation refer to the needed minimum current of electromagnetic proportional valve when starting running motor, and maximum current is demarcated and referred to that to running motor running reaches the maximum demarcation of the needed maximum current of electromagnetic proportional valve when setting rotating speed.
For the running gear with hydraulic system, can demarcate by the hydrodynamic pressure that detects hydraulic system the electric current of actuating valve at present.For example CN1542316A and CN101517245A all are that relation by build-up pressure and electric current is to carry out the demarcation of electric current.But the unfavorable factors such as the hysteresis quality of the assembly error of hydraulic system, response and unlatching resistance have been proved to be to be unfavorable for carrying out the calibration with current signal method of Pressure testing.
Summary of the invention
The present invention is intended to overcome the large defective of calibration with current signal error, and a kind of method, equipment and system and a kind of paver that can improve the precision of calibration with current signal is provided.
Method for calibration with current signal provided by the invention may further comprise the steps:
Send the electric current step: send current value to electromagnetic proportional valve;
Receive the rotating speed step: the rotating speed of the running motor that the described speed probe that the reception speed probe sends detects;
Comparison step: difference and preset difference value scope that the rotating speed that will receive the running motor that receives in the rotating speed step deducts behind the default speed setting value compare, fall into the preset difference value scope if judge this difference, then current current value is the Calibrated current value, do not fall into the preset difference value scope if judge this difference, then carry out the electric current regulating step;
Electric current regulating step: regulate current current value and turn back to above-mentioned transmission electric current step according to the difference that comparison step obtains.
Device for calibration with current signal provided by the invention comprises:
Send current flow devices, be used for sending current value to electromagnetic proportional valve;
Receive rotating speed equipment, the rotating speed of the running motor that the described speed probe that sends for the reception speed probe detects;
Compare facilities, difference and preset difference value scope that the rotating speed that is used for receiving the received running motor of rotating speed equipment deducts behind the default speed setting value compare, fall into the preset difference value scope if judge this difference, then current current value is the Calibrated current value, do not fall into the preset difference value scope if judge this difference, then notify the electric current regulating equipment;
The electric current regulating equipment is used for regulate current current value according to the resulting difference of compare facilities, and the current value after will regulating sending to the transmission current flow devices when the notice that receives from compare facilities.
System for calibration with current signal provided by the invention comprises: speed probe, controller and electromagnetic proportional valve, wherein said controller comprises above-mentioned device for calibration with current signal, wherein speed probe sends to reception rotating speed equipment in this device for detection of the rotating speed of running motor and with the rotating speed of the running motor that detects, and electromagnetic proportional valve is connected with transmission current flow devices in this device.
Paver provided by the invention comprises running motor, is used for driving walking pump and the above-mentioned system for calibration with current signal of this running motor, wherein the electromagnetic proportional valve of above-mentioned system for calibration with current signal is electrically connected with this walking pump, and the speed probe of above-mentioned system for calibration with current signal is for detection of the rotating speed of described running motor.
For the actuator that is similar to this class tape speed of travelling system of spreader feedback, with respect to test fluid pressure, speed feedback value more can reflect the corresponding relation between the speed of the driving current of electromagnetic proportional valve and actuator exactly.So by adopting the methods, devices and systems for calibration with current signal provided by the invention and paver, calibration with current signal is more accurate.
Description of drawings
Fig. 1 is the block diagram according to the system that is used for calibration with current signal of one embodiment of the present invention;
Fig. 2 is the flow chart according to the method that is used for calibration with current signal of one embodiment of the present invention;
Fig. 3 is the block diagram according to the device that is used for calibration with current signal of one embodiment of the present invention;
Fig. 4 is the electric current sequential chart according to the method that is used for calibration with current signal of one embodiment of the present invention.
Embodiment
Below in conjunction with accompanying drawing the methods, devices and systems for calibration with current signal according to the present invention and paver are described in detail.
At first referring to Fig. 1, introduce first the present invention based on the framework of system.As shown in Figure 1, actuator's (running gear) comprises running motor 104, this actuator has speed feedback, it is speed probe 101, rotating speed for detection of described running motor 104, usually speed probe 101 is installed on the running motor 104, so that detect the rotating speed of running motor 104.For example, paver has left and right sides running motor, and speed probe then is installed respectively on the running motor of the left and right sides, detects respectively with the rotating speed to left and right sides running motor.
Electromagnetic proportional valve 103 is used for control hydraulic system discharge capacity, the also rotating speed of Indirect method running motor 104, and what the present invention paid close attention to namely is the electric current that drives electromagnetic proportional valve 103.
The invention provides the method for calibration with current signal, the device that is used for calibration with current signal also correspondingly is provided.Specify above-mentioned method for calibration with current signal and device below with reference to Fig. 2 and Fig. 3.
As shown in Figure 2, the method for calibration with current signal provided by the invention may further comprise the steps:
Step S1: send the electric current step: send current value to electromagnetic proportional valve 103.This step is carried out by the transmission current flow devices of the device for calibration with current signal of the present invention.
Here, when this method is carried out for the first time or when sending current flow devices 304 and being carried out for the first time, the current value that sends is the electric current initial value, this electric current initial value can be arbitrary value, also can be the electric current initial value according to practical experience or laboratory data summary, if there is the calibration with current signal value scope (summing up according to practical experience or laboratory data) of expection, then this electric current initial value preferably is configured to be lower than the current value of lower limit of the calibration with current signal value scope of this expection, can reduce the electric current dead zone range like this.As carrying out the minimum current timing signal, this electric current initial value can be the smaller current value of the needed minimum current value of electromagnetic proportional valve that can drive running motor 104 startups than the usual use in related domain.Therefore usually, this electric current initial value can not satisfy calibration request, need to regulate this electric current initial value (increase or reduce), and execution in step S1 is to carry out calibration process again, and the adjustment process back will be introduced in detail.
The transmission current flow devices 304 that is used for the device of calibration with current signal is electrically connected with electromagnetic proportional valve 103, specifically is to be electrically connected with the control end of electromagnetic proportional valve 103, thereby controls the aperture of electromagnetic proportional valve 103 by sending current value.
Step S2: receive the rotating speed step: the rotating speed of the running motor 104 that the described speed probe 101 that reception speed probe 101 sends detects.This step receives rotating speed equipment 301 by the device for calibration with current signal of the present invention and carries out.
The present invention is not particularly limited this step, wherein receiving rotating speed equipment 301 is electrically connected with speed probe 101, can receive in real time rotating speed, also can periodically receive rotating speed, can be for speed probe 101 initiatively send the rotating speed that detects, the rotating speed that also can detect for receiving rotating speed equipment 301 active obtaining speed probes 101.
Step S3: comparison step: difference and preset difference value scope that the rotating speed that will receive the running motor 104 that receives in the rotating speed step deducts behind the default speed setting value compare, if this difference falls into the preset difference value scope, then current current value is the Calibrated current value, if this difference does not fall into the preset difference value scope, then carry out the electric current regulating step.
Wherein, the speed setting value of presetting i.e. the expection rotating speed of the running motor 104 corresponding with current value to be calibrated.For example to be calibrated is minimum current, then this speed setting value is the startup rotating speed of running motor 104, and for example to be calibrated is maximum current, then this speed setting value is the maximum setting rotating speed of running motor 104, and for example to be calibrated is current value corresponding to a certain specific rotation speeds, and then this speed setting value is this specific rotation speeds.This speed setting value can be by being imported in the controller 102 such as input devices such as keyboards.
Here it should be noted that, the present invention obtains difference after the rotating speed of the running motor 104 that will receive deducts default speed setting value, therefore, if the rotating speed of running motor 104 is during greater than default speed setting value, then this difference is greater than zero, if the rotating speed of running motor 104 during less than default speed setting value, then this difference is less than zero, if during the speed setting value that the rotating speed of running motor 104 equals to preset, then this difference equals zero.
Wherein, described preset difference value scope is can be so that the ultimate current of demarcating satisfies the scope of the rotating speed difference of required precision, its implication is for having up and down the rotating speed of appropriate deviation also can be considered as satisfying calibration request apart from default speed setting value, this deviation can be the interval of symmetry with respect to default speed setting value, also can be asymmetric interval, accuracy requirement is higher, this preset difference value scope is less, determine that according to inventor's great many of experiments the preferred maximum magnitude of this preset difference value scope is-5～5 rev/mins, thereby can guarantee the precision of calibration with current signal.If the rotating speed of the running motor that detects 104 and the difference of speed setting value fall into this preset difference value scope, then explanation current value at this moment meets the condition of calibration with current signal, and then this current value namely can be as the Calibrated current value.If do not fall into this preset difference value scope, then explanation current value this moment is ineligible, also needs further adjusting.
This step is carried out by the device compare facilities 302 for calibration with current signal of the present invention, if wherein this difference does not fall into the preset difference value scope, then these compare facilities 302 notices are used for the electric current regulating equipment 303 of the device of calibration with current signal.When compare facilities 302 notice electric current regulating equipment 303, compare facilities 302 can send a notification message (perhaps instruction), this message comprises above-mentioned difference whether greater than zero information, and namely the rotating speed of running motor 104 is greater than default speed setting value or less than the information of default speed setting value.
Under the preferable case, if carried out follow-up electric current regulating step, whole hydraulic system needs a period of time to respond the adjustment of this electric current, therefore, if judging, comparison step needs to carry out electric current regulating step (perhaps compare facilities 302 notice electric current regulating equipments 303 are regulated), then after the adjusting current value, sending after the current value of electric current step after electromagnetic proportional valve sends adjusting, delay the rotating speed (within the period, speed probe detects the rotating speed of running motor always at this section) that described reception rotating speed step (perhaps receiving rotating speed equipment 301) after a period of time just receives the running motor of speed probe detection; Perhaps after the adjusting current value, sending after the current value of electric current step (perhaps sending current flow devices 304) after electromagnetic proportional valve sends adjusting, speed probe detects and receives the rotating speed that rotating speed step (perhaps receiving rotating speed equipment 301) also receives the running motor that speed probe detects always to the rotating speed of running motor always, but comparison step (perhaps compare facilities 302) but will be delayed just to carry out after a period of time and compares next time.The scope of wherein said a period of time is 0.2～4 second.
Step S4: electric current regulating step: regulate current current value and turn back to above-mentioned transmission electric current step according to the difference that comparison step obtains.
Wherein, for the different situations in the calibration with current signal process, this electric current regulating step can adopt multiple electric current regulative mode.The below only illustrates as an example of three kinds of calibration process example how the electric current regulating step is regulated electric current.The first situation, when in described comparison step, if judge that difference does not fall into the preset difference value scope, and difference then reduces current current value greater than zero in this electric current regulating step.Wherein, this electric current regulating step can reduce current current value with the first step-length, and the scope of described the first step-length is 1～100 milliampere.The second situation, when in described comparison step, if judge that difference does not fall into the preset difference value scope, and difference then increases current current value less than zero in the electric current regulating step.Wherein, this electric current regulating step can increase current current value with the second step-length, and the scope of described the second step-length is 1～100 milliampere.Front two kinds of situations are corresponding to only electric current being reduced or increase the situation that just can finish calibration with current signal.The third situation, when in described comparison step, if difference does not fall into the preset difference value scope, and difference is less than zero, then in the electric current regulating step, first increase current current value with the 3rd step-length, and, if in case do not fall into yet preset difference value scope and difference by becoming greater than zero the time less than zero when difference in described comparison step, then reduce current current value with the 4th step-length in the electric current regulating step, wherein the 3rd step-length is greater than the 4th step-length.Here, select the 3rd step-length to be greater than the reason of the 4th step-length, so that the 3rd step-length is larger, it is the factor of having considered the scope of quick lock in calibration with current signal, and so that the 4th step-length is less, then be to have considered to guarantee that the maximum error of calibration with current signal is not more than the factor of the 4th less step-length, like this, just further improve the efficient of calibration with current signal, guaranteed the precision of calibration with current signal.Wherein, the scope of described the 3rd step-length can be 10～100 milliamperes, and the scope of described the 4th step-length can be 1～9 milliampere.The electric current of the corresponding calibration with current signal of the third situation is regulated sequential chart as shown in Figure 4.As can be seen from Figure 4, the process of calibration with current signal comprises two stages, i.e. Current rise stage and electric current decline stage.Electric current begins to rise one by one with larger step-length from less initial value, until comparison step is judged the rotating speed of the running motor that detects greater than speed setting value, just determined the final residing scope of calibration with current signal value this moment; Then reduce one by one electric current with less step-length, until comparison step is judged the rotating speed of the running motor that detects less than speed setting value, the current value of this moment is the current value of the electromagnetic proportional valve of demarcation, and has guaranteed the precision of calibration with current signal.
This electric current regulating step is carried out by the electric current regulating equipment 303 according to the device for calibration with current signal of the present invention.Wherein, when judging that according to the compare facilities 302 of the device for calibration with current signal of the present invention differences do not fall into preset difference value scope and difference greater than zero, then the electric current regulating equipment 303 according to the device for calibration with current signal of the present invention reduces current current value.Wherein, this electric current regulating equipment 303 can reduce current current value with the first step-length, and the scope of described the first step-length is 1～100 milliampere.In addition, judge differences when described compare facilities 302 and do not fall into preset difference value scope and difference less than zero that then described electric current regulating equipment 303 increases current current value.Wherein, this electric current regulating equipment 303 can increase current current value with the second step-length, and the scope of described the second step-length is 1～100 milliampere.In addition, judge differences when described compare facilities 302 and do not fall into preset difference value scope and difference less than zero, then electric current regulating equipment 303 increases current current value with the 3rd step-length first, and, do not fall into yet preset difference value scope and difference by becoming greater than zero the time less than zero in case judge differences when described compare facilities 302, then electric current regulating equipment 303 reduces current current value with the 4th step-length, and wherein the 3rd step-length is greater than the 4th step-length.Wherein, the scope of described the 3rd step-length can be 10～100 milliamperes, and the scope of described the 4th step-length can be 1～9 milliampere.
The present invention also provides a kind of and has comprised running motor, driven the walking pump of this running motor and the paver of above-mentioned system for calibration with current signal, wherein the electromagnetic proportional valve of above-mentioned system for calibration with current signal is electrically connected with described walking pump, and the speed probe of above-mentioned system for calibration with current signal is for detection of the rotating speed of described running motor.Above the system that is used for calibration with current signal is described in detail, so repeat no more herein.
Should be appreciated that methods, devices and systems provided by the invention are not only applicable to the current signal of the electromagnetic proportional valve of paver running motor is demarcated, also be applicable to the electromagnetic proportional valve of actuator with speed feedback is carried out calibration with current signal.
More than preferred implementation of the present invention is described, should be appreciated that in the situation that does not deviate from spirit and scope of the invention, can carry out various changes and modifications to the present invention.
Claims (22)
1. method that is used for calibration with current signal may further comprise the steps:
Send the electric current step: send current value to electromagnetic proportional valve;
Receive the rotating speed step: the rotating speed of the running motor that the described speed probe that the reception speed probe sends detects;
Comparison step: difference and preset difference value scope that the rotating speed that will receive the running motor that receives in the rotating speed step deducts behind the default speed setting value compare, fall into the preset difference value scope if judge this difference, then current current value is the Calibrated current value, do not fall into the preset difference value scope if judge this difference, then carry out the electric current regulating step;
Electric current regulating step: regulate current current value and turn back to above-mentioned transmission electric current step according to the difference that comparison step obtains.
2. method according to claim 1, wherein in described comparison step, if judge that difference does not fall into the preset difference value scope, and difference then reduces current current value greater than zero in the electric current regulating step.
3. method according to claim 2, it is wherein said that to reduce current current value be to reduce current current value with the first step-length, the scope of described the first step-length is 1～100 milliampere.
4. method according to claim 1, wherein in described comparison step, if judge that difference does not fall into the preset difference value scope, and difference then increases current current value less than zero in the electric current regulating step.
5. method according to claim 4, the current current value of wherein said increase is to increase current current value with the second step-length, the scope of described the second step-length is 1～100 milliampere.
6. method according to claim 1, wherein in described comparison step, if difference does not fall into the preset difference value scope, and difference then first increases current current value with the 3rd step-length less than zero in the electric current regulating step, and,
In case if do not fall into yet preset difference value scope and difference by becoming greater than zero the time less than zero when difference in described comparison step, then reduce current current value with the 4th step-length in the electric current regulating step, wherein the 3rd step-length is greater than the 4th step-length.
7. method according to claim 6, wherein, the scope of described the 3rd step-length is 10～100 milliamperes, the scope of described the 4th step-length is 1～9 milliampere.
8. method according to claim 1, if wherein comparison step is judged and is needed to carry out the electric current regulating step,
Then after the electric current regulating step is regulated current value described transmission electric current step sends current value after regulating to electromagnetic proportional valve after, delay the rotating speed that described reception rotating speed step after a period of time just receives the running motor of speed probe detection;
Perhaps after the electric current regulating step is regulated current value described transmission electric current step sends current value after regulating to electromagnetic proportional valve after, after receiving the rotating speed step, delay a period of time afterwards comparison step just carry out next time and compare.
9. method according to claim 8, the scope of wherein said a period of time is 0.2～4 second.
10. the described method of each claim according to claim 1-9, the maximum magnitude of wherein said preset difference value scope is-5～5 rev/mins.
11. a device that is used for calibration with current signal comprises:
Send current flow devices, be used for sending current value to electromagnetic proportional valve;
Receive rotating speed equipment, the rotating speed of the running motor that the described speed probe that sends for the reception speed probe detects;
Compare facilities, difference and preset difference value scope that the rotating speed that is used for receiving the received running motor of rotating speed equipment deducts behind the default speed setting value compare, fall into the preset difference value scope if judge this difference, then current current value is the Calibrated current value, do not fall into the preset difference value scope if judge this difference, then notify the electric current regulating equipment;
The electric current regulating equipment is used for regulate current current value according to the resulting difference of compare facilities, and the current value after will regulating sending to the transmission current flow devices when the notice that receives from compare facilities.
12. device according to claim 11, if wherein said compare facilities judges that difference does not fall into the preset difference value scope, and difference then notifies the electric current regulating equipment to reduce current current value greater than zero.
13. device according to claim 12, wherein said to reduce current current value be to reduce current current value with the first step-length, and the scope of described the first step-length is 1～100 milliampere.
14. device according to claim 11, if wherein said compare facilities judges that difference does not fall into the preset difference value scope, and difference then notifies the electric current regulating equipment to increase current current value less than zero.
15. device according to claim 14, the current current value of wherein said increase is to increase current current value with the second step-length, and the scope of described the second step-length is 1～100 milliampere.
16. device according to claim 11, if judge in the wherein said compare facilities that difference does not fall into the preset difference value scope, and difference then notifies the electric current regulating equipment to increase current current value with the 3rd step-length first less than zero, and
In case do not fall into yet preset difference value scope and difference by becoming greater than zero the time less than zero if judge difference when described compare facilities, then notify the electric current regulating equipment to reduce current current value with the 4th step-length, wherein the 3rd step-length is greater than the 4th step-length.
17. device according to claim 16, wherein, the scope of described the 3rd step-length is 10～100 milliamperes, and the scope of described the 4th step-length is 1～9 milliampere.
18. device according to claim 11, if wherein compare facilities notice electric current regulating equipment is regulated current value,
Then after the electric current regulating equipment is regulated current value described transmission current flow devices sends current value after regulating to electromagnetic proportional valve after, described reception rotating speed equipment is delayed the rotating speed that just receives the running motor of speed probe detection after a period of time;
Perhaps after the electric current regulating equipment is regulated current value described transmission current flow devices sends current value after regulating to electromagnetic proportional valve after, compare facilities is delayed after a period of time just execution and is compared next time.
19. device according to claim 18, the scope of wherein said a period of time are 0.2～4 second.
20. the described device of each claim according to claim 11-19, the maximum magnitude of wherein said preset difference value scope is-5～5 rev/mins.
21. system that is used for calibration with current signal, comprise: speed probe (101), controller (102) and electromagnetic proportional valve (103), wherein said controller (102) comprises according to claim 11 the described device for calibration with current signal of each claim in-20, wherein said speed probe (101) sends to the reception rotating speed equipment of described device for calibration with current signal for detection of the rotating speed of running motor and with the rotating speed of the running motor that detects, and described electromagnetic proportional valve (103) is connected with the transmission current flow devices of described device for calibration with current signal.
22. paver, this paver comprises running motor, drives walking pump and the system for calibration with current signal according to claim 21 of this running motor, the electromagnetic proportional valve of wherein said system for calibration with current signal is electrically connected with described walking pump, and the speed probe of described system for calibration with current signal is for detection of the rotating speed of described running motor.
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| CN104454798B (en) * | 2014-10-16 | 2017-09-19 | 山东科技大学 | A kind of control device and control method for offshore spilled oil oil fence automatic distributing and discharging |
| CN106877765B (en) * | 2017-04-10 | 2023-11-24 | 徐工集团工程机械股份有限公司 | Driving control device and control method of high-voltage generator for paver |
| CN109236799B (en) * | 2018-10-10 | 2020-04-03 | 雷沃工程机械集团有限公司 | Calibration method for electromagnetic valve control current of engineering machinery traveling system |
| CN111720295B (en) * | 2020-06-04 | 2021-10-15 | 中联重科股份有限公司 | Method and device for calibrating displacement current of pumping pump and engineering machinery |
| CN113090603B (en) * | 2021-03-29 | 2022-04-05 | 徐州徐工挖掘机械有限公司 | Pilot proportional control valve device, automatic calibration method, and medium |
| CN114483709B (en) * | 2021-12-29 | 2022-09-23 | 中联重科股份有限公司 | Current calibration method and device for electromagnetic valve, processor and engineering machinery |
| CN114526372A (en) * | 2022-03-10 | 2022-05-24 | 雷沃工程机械集团有限公司 | Method for calibrating electromagnetic valve of transmission control system and loader |
| CN115076440A (en) * | 2022-05-07 | 2022-09-20 | 中联重科股份有限公司 | Method, processor and device for calibrating current of proportional solenoid valve |
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| US5249658A (en) * | 1989-12-05 | 1993-10-05 | Dickey-John Corporation | Transmission controller |
| US5346175A (en) * | 1992-12-31 | 1994-09-13 | Kelsey-Hayes Company | Variable assist steering control valve |
| US6895798B2 (en) * | 2003-04-16 | 2005-05-24 | Eaton Corporation | Method of calibrating a solenoid operated pressure control valve and method of controlling same |
| US8234036B2 (en) * | 2008-06-16 | 2012-07-31 | GM Global Technology Operations LLC | Method and apparatus for starter motor diagnosis and prognosis using parameter estimation algorithm |
| WO2010120430A2 (en) * | 2009-04-01 | 2010-10-21 | Sntech, Inc. | Calibration of motor for constant airflow control |
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