CN102330442A - Automatic control system and automatic control method for scraper knife of hydraulic bulldozer - Google Patents
Automatic control system and automatic control method for scraper knife of hydraulic bulldozer Download PDFInfo
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- CN102330442A CN102330442A CN201110169591A CN201110169591A CN102330442A CN 102330442 A CN102330442 A CN 102330442A CN 201110169591 A CN201110169591 A CN 201110169591A CN 201110169591 A CN201110169591 A CN 201110169591A CN 102330442 A CN102330442 A CN 102330442A
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Abstract
The invention discloses an automatic control method for a scraper knife of a hydraulic bulldozer. The automatic control method comprises the steps of acquiring the rotating speed of a turbine under the current accelerator state, and keeping the scraper knife at the current position when the rotating speed of the turbine is within a first preset range under the accelerator state; descending the scraper knife and increasing the soil cutting depth when the rotating speed of the turbine is higher than the maximum rotating speed of the turbine in the first preset range, and stopping the descending action of the scraper knife until the rotating speed of the turbine is reduced within the first preset range; and ascending the scraper knife and reducing the soil cutting depth when the rotating speed of the turbine is lower than the maximum rotating speed of the turbine in the first preset range, and stopping the ascending action of the scraper knife until the rotating speed of the turbine is reduced within the first preset range. The invention can realize the automatic control on ascending and descending of the scraper knife by taking the relationship between the rotating speed of the turbine and the first preset range as judgment basis for whether the scraper knife is ascended or descended, thus improving the production efficiency and operation quality of the traditional bulldozer, and lightening the labor intensity of a driver.
Description
Technical field
The present invention relates to the bulldozer technical field, particularly a kind of hydraulic type bulldozer perching knife automatic control system and autocontrol method.
Background technology
Present engineering machinery is bulldozer especially; Its condition of work and operating environment are extremely abominable; Do action is frequent in the native operation process of shovel, and the working resistance excursion is big, needs the driver to carry out perching knife continually; The main human pilot that relies on of this kind operation is made judgement according to the resistance size that perching knife receives, and manual operation controller is controlled perching knife.Particularly construction under the various environment of soil property, rock matter or orographic condition; Operating personnel need operate perching knife continually; Not only have relatively high expectations for driver's operant level; But also have bigger slowness and inaccuracy inevitably, cause problems such as inefficiency, operation quality is poor, personnel labor intensity is big.
In the homemade bulldozer product; Even state-of-the-art bulldozer also just transform traditional perching knife hydraulic drive control as electrohydraulic control system; Improve the flexibility and the rapidity requirement of perching knife control, and the bulldozer with soil-shifting operation automatic control system also there is not public reported.At present, most of bulldozer is a hydraulic controlling type on the existing market, and promptly the bulldozer equipment adopts the hydraulic drive control technology, and this technology is had relatively high expectations to driver's manipulation technology, and amateur driver is difficult to accomplish the bulldozer construction task.Though domestic some colleges and universities have carried out bulldozer equipment Research on Automatic Control; But the trial Journal of Sex Research of also just controlling automatically based on the mechanical type bulldozer of engine speed, and recoverable amount maximum hydraulic power bulldozer equipment Research on Automatic Control in market still is in blank.
Therefore, how realizing the automatic lifting control of perching knife, improve the production efficiency and the operation quality of traditional bulldozer, alleviate driver's labour intensity, is the technical problem that those skilled in the art need to be resolved hurrily.
Summary of the invention
In view of this, the invention provides a kind of hydraulic type bulldozer perching knife automatic control system and autocontrol method,, improve the production efficiency and the operation quality of traditional bulldozer, alleviate driver's labour intensity to realize the automatic lifting control of perching knife.
For realizing above-mentioned purpose, the present invention provides following technical scheme:
A kind of hydraulic type bulldozer perching knife autocontrol method comprises step:
1) control the perching knife action automatically, this is controlled the perching knife action automatically and specifically comprises:
Obtain the secondary speed under the current throttle state,, then keep current perching knife position if this secondary speed is in first preset range under this throttle;
When said secondary speed was higher than the maximum secondary speed value of said first preset range, the decline perching knife increased depth of cut, in the time of in said secondary speed drops to said first preset range, stops the down maneuver of perching knife;
When said secondary speed is lower than the minimum secondary speed value of said first preset range, promote perching knife, reduce depth of cut, in the time of in said secondary speed drops to said first preset range, stop the lifting action of perching knife.
Preferably, in above-mentioned hydraulic type bulldozer perching knife autocontrol method,, when treating that said secondary speed is reduced near said maximum secondary speed value, reduce the decrease speed of perching knife along with the decline of perching knife;
Along with the lifting of perching knife, when treating that said secondary speed is reduced near said minimum secondary speed value, reduce the decrease speed of perching knife.
Preferably, in above-mentioned hydraulic type bulldozer perching knife autocontrol method,, step also comprises step before controlling the perching knife action automatically:
2) judge the current perching knife control model of vehicle, if the perching knife control model is a manual mode, then the up-down of perching knife control is shoveled native situation operation perching knife joystick by manual work according to vehicle and is realized; If perching knife is controlled to be automatic mode, then execution in step 1).
Preferably, in above-mentioned hydraulic type bulldozer perching knife autocontrol method, also comprise step:
21) obtain the value of control model selector switch, and judge whether the value of this control model selector switch is identical with the perching knife control model of current operation;
22) if the value of control model selector switch is different with the perching knife control model of current operation, the judgement below then continuing, otherwise repeated execution of steps 22);
23) after time delay is preset in wait first, obtain the value of control model selector switch again,, then change the perching knife control model of current operation if the value of the control model selector switch that obtains once more is different with the perching knife control model of current operation.
Preferably, in above-mentioned hydraulic type bulldozer perching knife autocontrol method, also comprise step:
3) when the engine water temperature value is higher than programmed values, send heat alarm.
Preferably, in above-mentioned hydraulic type bulldozer perching knife autocontrol method, said step 3) specifically comprises:
31) obtain the water temperature value of motor, and the water temperature value of obtaining is judged and handled;
32) if water temperature is not higher than preset temperature value, then keep current running status; If water temperature exceeds preset temperature value, then execution in step 33), otherwise repeated execution of steps 32);
33) after time delay is preset in wait second, obtain the water temperature value of motor again, if water temperature exceeds preset temperature value, send the temperature buzzer signal, the control engine stop working.
A kind of hydraulic type bulldozer perching knife automatic control system comprises:
Be used to gather the turbine speed sensor of the secondary speed of bulldozer;
Be used to gather the throttle signal sensor of the throttle signal of bulldozer;
Electronic control unit, it is used to obtain the secondary speed under the current throttle state, and in this secondary speed is in first preset range under this throttle, keeps current running status; When said secondary speed was higher than the maximum secondary speed value of said first preset range, the decline perching knife increased depth of cut, in the time of in said secondary speed drops to said first preset range, stops the down maneuver of perching knife; When said secondary speed is lower than the minimum secondary speed value of said first preset range, promote perching knife, reduce depth of cut, in the time of in said secondary speed drops to said first preset range, stop the down maneuver of perching knife.
Preferably, in above-mentioned hydraulic type bulldozer perching knife automatic control system, also comprise the control model selector switch that switches manual mode and automatic mode.
Preferably; In above-mentioned hydraulic type bulldozer perching knife automatic control system, said electronic control unit obtains the value of control model selector switch, and in the perching knife control model of the value of control model selector switch and current operation not simultaneously; After waiting for for the first preset time delay; Again obtain the value of control model selector switch,, then change the perching knife control model of current operation if the value of the control model selector switch that obtains once more is different with the perching knife control model of current operation.
Preferably; In above-mentioned hydraulic type bulldozer perching knife automatic control system; The temperature pick up that also comprises the detection of engine water temperature, said electronic control unit obtain the water temperature value that said temperature pick up is gathered, and after said water temperature value exceeds preset temperature value; The control alarm sends the temperature buzzer signal, and the control engine stop working.
Can find out from above-mentioned technical scheme; A kind of hydraulic type bulldozer perching knife autocontrol method provided by the invention; Comprise step: control the perching knife action automatically; Automatically the action of control perching knife specifically comprises: obtain the secondary speed under the current throttle state, if this secondary speed is in first preset range under this throttle, then keep current running status; When said secondary speed was higher than the maximum secondary speed value of said first preset range, the decline perching knife increased depth of cut, in the time of in said secondary speed drops to said first preset range, stops the down maneuver of perching knife; When said secondary speed is lower than the minimum secondary speed value of said first preset range, promote perching knife, reduce depth of cut, in the time of in said secondary speed drops to said first preset range, stop the down maneuver of perching knife.
Based on above-mentioned steps; Hydraulic type bulldozer perching knife autocontrol method provided by the invention; The actual job operating mode that secondary speed through shoveling vehicle in the native process and accelerator open degree reflect bulldozer, and with the actual job operating mode of the bulldozer basis for estimation as the perching knife lifting action.When secondary speed was higher than the maximum secondary speed value of first preset range under the current throttle state, the decline perching knife was to increase depth of cut; When secondary speed is lower than the minimum secondary speed value of first preset range under the current throttle state, promote perching knife, reduce depth of cut.The present invention through with the relation of the secondary speed and first preset range as whether promoting or the basis for estimation of the perching knife that descends, realized the automatic lifting control of perching knife, improved the production efficiency and the operation quality of traditional bulldozer, alleviated driver's labour intensity.Carry out Automatic Control of Bulldozer Blade with this method, both can guarantee the operating efficiency that bulldozer is higher, can guarantee driving comfort again, significantly improve the comprehensive functional performance of bulldozer.This hydraulic type bulldozer perching knife autocontrol method can be widely used in the automatic control of various hydraulic type bulldozer equipments.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
The bulldozer perching knife automatic control system block diagram that Fig. 1 provides for the embodiment of the invention;
The bulldozer perching knife autocontrol method flow chart that Fig. 2 provides for the embodiment of the invention;
The bulldozer perching knife autocontrol method flow chart that Fig. 3 provides for another embodiment of the present invention;
The bulldozer perching knife autocontrol method flow chart that Fig. 4 provides for yet another embodiment of the invention;
Fig. 5 selects flow chart for the bulldozer perching knife control model that the embodiment of the invention provides;
The overtemperature alarm control method flow chart that Fig. 6 provides for the embodiment of the invention.
The specific embodiment
The invention discloses a kind of hydraulic type bulldozer perching knife automatic control system and autocontrol method,, improve the production efficiency and the operation quality of traditional bulldozer, alleviate driver's labour intensity to realize the automatic lifting control of perching knife.
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
See also Fig. 2, the bulldozer perching knife autocontrol method flow chart that Fig. 2 provides for the embodiment of the invention.
Hydraulic type bulldozer perching knife autocontrol method provided by the invention comprises:
Step S24: automatic control mode;
When bulldozer is in automatic control mode, control the lifting and the down maneuver of perching knife automatically.
Step S25: obtain the secondary speed under the current throttle state;
Promptly obtain throttle signal and secondary speed signal simultaneously, can gather through throttle signal sensor and turbine speed sensor respectively.To different throttles, program setting is directed against first preset range of secondary speed accordingly, and carries out corresponding step S26, step S27 and step S28 according to the relation of the secondary speed and first preset range.
Step S26:n
T1≤n
T≤n
T2, keep the perching knife invariant position;
Wherein, n
TThe secondary speed that obtains, n
T1Be the lower limit of first preset range, n
T2It is the upper limit of first preset range.If first preset range that this secondary speed is under this throttle (is n
T1≤n
T≤n
T2) in, then keep current running status, promptly keep the perching knife invariant position.Because first preset range under each throttle is inequality, when promptly throttle was higher, the higher limit of first preset range and lower limit were all higher; When corresponding throttle was low, the higher limit of first preset range and lower limit were all lower.Therefore in order accurately to control the opportunity of perching knife lifting; It is also necessary to gather the throttle signal; The throttle signal be used for this throttle under first preset range carry out corresponding, thereby make secondary speed and this first preset range under this throttle compare.
Step S27:n
T＜n
T1, promote perching knife to setting value;
Be lower than the minimum secondary speed value n of first preset range when secondary speed
T1The time, explain that depth of cut is blocked up, should promote perching knife, reduce depth of cut, along with reducing of depth of cut, secondary speed n
TRaise gradually, in the time of in secondary speed is elevated to first preset range, stop the vertical motion of perching knife.So-called perching knife to the setting value that promotes is interpreted as, at secondary speed n
TFall into the first preset range (n
T1≤n
T≤n
T2) pairing perching knife lifting height when interior.
Step S28:n
T＞n
T2, the decline perching knife is to setting value;
The maximum secondary speed value n that is higher than first preset range when secondary speed
T2The time, explain that depth of cut is thinner, in order to improve soil-shifting efficient, the perching knife that should descend increases depth of cut, along with the increase of depth of cut, secondary speed n
TReduce gradually, drop to the first preset range (n up to secondary speed
T1≤n
T≤n
T2) when interior, stop the down maneuver of perching knife.So-called decline perching knife to setting value is interpreted as, at secondary speed n
TFall into the first preset range (n
T1≤n
T≤n
T2) pairing perching knife falling head when interior.
Hydraulic type bulldozer perching knife autocontrol method provided by the invention; The actual job operating mode that secondary speed through shoveling vehicle in the native process and accelerator open degree reflect bulldozer, and with the actual job operating mode of the bulldozer basis for estimation as the perching knife lifting action.When secondary speed was higher than the maximum secondary speed value of first preset range under the current throttle state, the decline perching knife was to increase depth of cut; When secondary speed is lower than the minimum secondary speed value of first preset range under the current throttle state, promote perching knife, reduce depth of cut.The present invention through with the relation of the secondary speed and first preset range as whether promoting or the basis for estimation of the perching knife that descends, realized the automatic lifting control of perching knife, improved the production efficiency and the operation quality of traditional bulldozer, alleviated driver's labour intensity.Carry out Automatic Control of Bulldozer Blade with this method, both can guarantee the operating efficiency that bulldozer is higher, can guarantee driving comfort again, significantly improve the comprehensive functional performance of bulldozer.This hydraulic type bulldozer perching knife autocontrol method can be widely used in the automatic control of various hydraulic type bulldozer equipments.
The secondary speed scope that the bulldozer perching knife goes up and down can be according to different operating condition and the different value of working environment setting, in order to keep bulldozer higher production efficiency, good dynamic property and economy, secondary speed n
TThe lower limit of setting (the i.e. minimum secondary speed value n of first preset range
T1) desirable fluid torque-converter efficient is near the corresponding secondary speed of the different accelerator open degrees η 70% ± 10%.Secondary speed n
TThe upper limit of setting (the i.e. maximum secondary speed value n of first preset range
T2) get near the corresponding secondary speed of different accelerator open degrees fluid torque-converter best efficiency point η max ± 10%.
See also Fig. 3, the bulldozer perching knife autocontrol method flow chart that Fig. 3 provides for another embodiment of the present invention.
In order further to optimize technique scheme, step S27 can specifically comprise:
Step S271:n
T＜n
T1, satisfy N judgement;
Be lower than the minimum secondary speed value n of first preset range when secondary speed
T1The time, explain that depth of cut is blocked up, should promote perching knife, to reduce depth of cut.But, detect the minimum secondary speed value n that secondary speed is lower than first preset range first for fear of because the moment secondary speed that the road conditions problem causes is lower than the minimum secondary speed of first preset range
T1The time, should whenever once judge again at a distance from 0.5-1s (also can be other times, specifically can set up on their own); When there being N (to can be 3-5 continuously; Also can be other natural number, specifically can set up on their own) the inferior secondary speed that determines is when being lower than the minimum secondary speed value of first preset range, execution in step S272.
Step S272: promote perching knife to setting value;
Promote perching knife, along with reducing of depth of cut, secondary speed n
TRaise gradually, in the time of in secondary speed is elevated to first preset range, stop the vertical motion of perching knife.-
In order to prevent that perching knife from overshoot phenomenon taking place in lifting process, at secondary speed n
TBe promoted to the minimum secondary speed value n of first preset range
T1When neighbouring, can this scope be set at n usually
T>=n
T1-50r/min is promptly as secondary speed n
TBe promoted to and equal or equal minimum secondary speed value n
T1During-50r/min, reduce the decrease speed of perching knife, can the perching knife decrease speed be reduced 50% of starting velocity usually, overshoot phenomenon takes place in uphill process to prevent perching knife.Treat secondary speed n
TFall into the first preset range (n
T1≤n
T≤n
T2) when interior, stop the down maneuver of perching knife, otherwise keep the perching knife duty constant.
In order further to optimize technique scheme, step S28 specifically comprises:
Step S281:n
T＞n
T2, satisfy N judgement;
Be lower than the maximum secondary speed value n of first preset range when secondary speed
T2The time, explain that depth of cut is thinner, the perching knife that should descend is to increase depth of cut.But, detect the maximum secondary speed value n that secondary speed is higher than first preset range first for fear of because the moment secondary speed that the road conditions problem causes is higher than the maximum secondary speed of first preset range
T2The time, should whenever once judge again at a distance from 0.5-1s (also can be other times, specifically can set up on their own); When there being N (to can be 3-5 continuously; Also can be other natural number, specifically can set up on their own) the inferior secondary speed that determines is when being higher than the maximum secondary speed value of first preset range, execution in step S282.
Step S282: the decline perching knife is to setting value;
The decline perching knife, along with the increase of depth of cut, secondary speed n
TReduce gradually, drop to the first preset range (n up to secondary speed
T1≤n
T≤n
T2) when interior, stop the down maneuver of perching knife.
In order to prevent that perching knife from the decline process overshoot phenomenon taking place, at secondary speed n
TDrop to the maximum secondary speed value n of first preset range
T2When neighbouring, can this scope be set at n usually
T≤n
T2+ 50r/min is promptly as secondary speed n
TDrop to and be less than or equal to maximum secondary speed value n
T2During+50r/min, reduce the decrease speed of perching knife, can the perching knife decrease speed be reduced by 50% usually, in the decline process, overshoot phenomenon takes place to prevent perching knife.Treat secondary speed n
TFall into the first preset range (n
T1≤n
T≤n
T2) when interior, stop the down maneuver of perching knife, otherwise keep the perching knife duty constant.
See also Fig. 4, the bulldozer perching knife autocontrol method flow chart that Fig. 4 provides for yet another embodiment of the invention.
, step also comprises step before controlling the perching knife action automatically:
Step S23: perching knife control model;
When bulldozer shoveled native operation, behind perching knife decline certain position, the current perching knife control model of beginning vehicle was manual control model as if the perching knife control model, then operating procedure S29; Be controlled to be automatic mode as if perching knife, then operating procedure S24.
During operating procedure S29, the up-down of perching knife control is shoveled native situation operation perching knife joystick by manual work according to vehicle and is realized.
Before step S23, also can comprise:
Step S21: initialization;
After electronic control unit 2 energisings, each port and control bus carry out initialization.
Step S22: first preset range is demarcated;
System initial state parameter (i.e. first preset range, comprising the higher limit of first preset range and lower limit preset) is demarcated judgement, demarcate again, then carry out next step as not needing; Again demarcate like needs, carry out parameter calibration according to system condition.
See also Fig. 5, Fig. 5 selects flow chart for the bulldozer perching knife control model that the embodiment of the invention provides.
To bulldozer manually and the switching of automatic control mode, the bulldozer perching knife autocontrol method that the embodiment of the invention provides also can comprise:
Step S11: whether be mode switch mode designated, if then continue execution in step S11 if judging current; If not, execution in step S12 then.
Obtain the value of control model selector switch, and judge whether the value of this control model selector switch is identical with the perching knife control model of current operation.If i.e. control model selector switch indication bulldozer this moment is in automatic control mode; And the perching knife control model of current operation is manual control model; The value that this control model selector switch this moment is described is different with the perching knife control model of current operation, needs execution in step S12.If control model selector switch indication bulldozer this moment is in automatic control mode; And the perching knife control model of current operation also is an automatic control mode; The value that this control model selector switch this moment is described is identical with the perching knife control model of current operation, needs execution in step S11.
Step S12: latency delays time;
After waiting for for the first preset time delay, obtain the value of control model selector switch again, then execution in step S13.Can be taken as 0.5s to the time constant between the 1s the first preset time delay, also can be the other times constant certainly, and the present invention does not limit.
Whether step S13: judging current is the mode switch mode designated, if the value of the control model selector switch that obtains once more is different with the perching knife control model of current operation, and execution in step S14 then, otherwise return step S11.
Step S14: change control model;
The value of the control model selector switch that obtains once more is different with the perching knife control model of current operation, then changes the perching knife control model of current operation.If control model selector switch indication bulldozer this moment is in automatic control mode; And the perching knife control model of current operation is manual control model; The value that this control model selector switch this moment is described is different with the perching knife control model of current operation, then the perching knife control model of current operation is changed into automatic control mode.If control model selector switch indication bulldozer this moment is in manual control model; And the perching knife control model of current operation is an automatic control mode; The value that this control model selector switch this moment is described is different with the perching knife control model of current operation, then should the perching knife control model of current operation be changed into manual control model
See also Fig. 6, the overtemperature alarm control method flow chart that Fig. 6 provides for the embodiment of the invention.
Report to the police when realizing that engine water temperature is too high, bulldozer perching knife autocontrol method provided by the invention also can comprise step: when the engine water temperature value is higher than programmed values, send heat alarm.
The overtemperature alarm control method specifically comprises:
Step S31: judge temperature value;
Obtain the water temperature value T of motor, and the water temperature value T that obtains is judged and handles, if water temperature value T≤T
cExecution in step S32 then; Water temperature value T＞T
cExecution in step S33 then.
Step S32:T≤T
c, maintain the original state;
If water temperature value T is not higher than preset temperature value T
c, then keep current running status, do not report to the police.
Step S33:T＞T
c, satisfy N judgement;
Waited for for the second preset time delay and obtain water temperature value T more again after (can be taken as 0.5s second time delay, also desirable constant At All Other Times, the present invention does not limit) to the time constant between the 1s, when water temperature value T is higher than programmed values, execution in step 34.The present invention also can repeat to obtain N time water temperature value T, all satisfies T＞T at N water temperature value T
cThe time, just execution in step 34 is avoided owing to the instantaneous variation of temperature is sent false alarm.
Step 34: send alarm signal;
Send the temperature buzzer signal, the control engine stop working is carried out other operation again after water temperature drops to setting range.
See also Fig. 1, the bulldozer perching knife automatic control system block diagram that Fig. 1 provides for the embodiment of the invention.
To the disclosed hydraulic type bulldozer of the foregoing description perching knife autocontrol method; The invention provides a kind of hydraulic type bulldozer perching knife automatic control system; Comprise turbine speed sensor 7, throttle signal sensor 8 and electronic control unit 2, electronic control unit 2 is driven by driving power module 1.Wherein, turbine speed sensor 7 is used to gather the secondary speed signal of bulldozer, and the secondary speed signal of gathering is sent to electronic control unit 2.Throttle signal sensor 8 is used to gather the throttle signal of bulldozer, and the throttle signal of gathering is sent to electronic control unit 2.
Hydraulic type bulldozer perching knife automatic control system provided by the invention; The actual job operating mode that secondary speed through shoveling vehicle in the native process and accelerator open degree reflect bulldozer, and with the actual job operating mode of the bulldozer basis for estimation as the perching knife lifting action.When secondary speed was higher than the maximum secondary speed value of first preset range under the current throttle state, the decline perching knife was to increase depth of cut; When secondary speed is lower than the minimum secondary speed value of first preset range under the current throttle state, promote perching knife, reduce depth of cut.The present invention through with the relation of the secondary speed and first preset range as whether promoting or the basis for estimation of the perching knife that descends, realized the automatic lifting control of perching knife, improved the production efficiency and the operation quality of traditional bulldozer, alleviated driver's labour intensity.Carry out Automatic Control of Bulldozer Blade with this system, both can guarantee the operating efficiency that bulldozer is higher, can guarantee driving comfort again, significantly improve the comprehensive functional performance of bulldozer.
In order further to optimize technique scheme, the present invention also can comprise the control model selector switch 6 that switches manual mode and automatic mode.Electronic control unit 2 obtains the value of control model selector switch 6; And not simultaneously in the perching knife control model of the value of control model selector switch 6 and current operation; After waiting for for the first preset time delay; Again obtain the value of control model selector switch,, then change the perching knife control model of current operation if the value of the control model selector switch 6 that obtains once more is different with the perching knife control model of current operation.
Hydraulic type bulldozer perching knife automatic control system provided by the invention also can comprise and the control model indicator lamp 4 and the display that show current control model.In addition; The present invention also can comprise the temperature pick up 9 of detection of engine water temperature, and electronic control unit 2 obtains the water temperature value that temperature pick up 9 is gathered, and after water temperature value exceeds preset temperature value; Control alarm 10 sends the temperature buzzer signal, and the control engine stop working.
As shown in Figure 4, the major function of electronic control unit 2 provided by the invention comprises:
1) after electronic control unit 2 energisings, each port and control bus carry out initialization.
2) system initial state parameter (i.e. first preset range, comprising the higher limit of first preset range and lower limit preset) is demarcated judgement, demarcate again, then carry out next step as not needing; Again demarcate like needs, carry out parameter calibration according to system condition.
3) input module of electronic control unit 2 carries out data acquisition, comprises turbine speed sensor 7, throttle signal sensor 8 and temperature pick up 9, and the data that collect are input to electronic control unit 2.
4) the perching knife control model of calling electronic control unit 2 is selected module, confirms the perching knife control model that vehicle is current.If the perching knife control model is a manual mode, then the up-down of perching knife control is shoveled native situation operation perching knife joystick by manual work according to vehicle and is realized; If perching knife is controlled to be automatic mode, then the up-down of perching knife is operated according to preset program by electronic control unit 2 accordingly.
5) call the water temperature control module of electronic control unit 2, judge the vehicle water temperature whether within the preset temperature value scope, and operate accordingly according to preset program by electronic control unit 2.
6) sampling processing is respectively imported data, comprises information such as secondary speed, throttle signal, shift signal (being throttle signal), water temperature signal and perching knife control signal, and electronic control unit 2 carries out the data judgement and sends the action of control signal control perching knife.
7) according to current operator scheme, read the output data of electronic control unit 2, carry out the perching knife automatic lifting operation of vehicle.
8) signal that transmits through each sensor of bus input, and carry out filtering, monitoring and judgement, transmission needs the storage data on bus.
9) program is returned and is carried out according to sequential system circulation.
Each embodiment adopts the mode of going forward one by one to describe in this manual, and what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments among this paper.Therefore, the present invention will can not be restricted to these embodiment shown in this paper, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (10)
1. a hydraulic type bulldozer perching knife autocontrol method is characterized in that, comprises step:
1) control the perching knife action automatically, this is controlled the perching knife action automatically and specifically comprises:
Obtain the secondary speed under the current throttle state,, then keep current perching knife position if this secondary speed is in first preset range under this throttle;
When said secondary speed was higher than the maximum secondary speed value of said first preset range, the decline perching knife increased depth of cut, in the time of in said secondary speed drops to said first preset range, stops the down maneuver of perching knife;
When said secondary speed is lower than the minimum secondary speed value of said first preset range, promote perching knife, reduce depth of cut, in the time of in said secondary speed drops to said first preset range, stop the lifting action of perching knife.
2. hydraulic type bulldozer perching knife autocontrol method as claimed in claim 1 is characterized in that, along with the decline of perching knife, when treating that said secondary speed is reduced near said maximum secondary speed value, reduces the decrease speed of perching knife;
Along with the lifting of perching knife, when treating that said secondary speed is reduced near said minimum secondary speed value, reduce the decrease speed of perching knife.
3. hydraulic type bulldozer perching knife autocontrol method as claimed in claim 1 is characterized in that, before step is controlled the perching knife action automatically, also comprises step:
2) judge the current perching knife control model of vehicle, if the perching knife control model is a manual mode, then the up-down of perching knife control is shoveled native situation operation perching knife joystick by manual work according to vehicle and is realized; If perching knife is controlled to be automatic mode, then execution in step 1).
4. hydraulic type bulldozer perching knife autocontrol method as claimed in claim 3 is characterized in that, also comprises step:
21) obtain the value of control model selector switch, and judge whether the value of this control model selector switch is identical with the perching knife control model of current operation;
22) if the value of control model selector switch is different with the perching knife control model of current operation, the judgement below then continuing, otherwise repeated execution of steps 22);
23) after time delay is preset in wait first, obtain the value of control model selector switch again,, then change the perching knife control model of current operation if the value of the control model selector switch that obtains once more is different with the perching knife control model of current operation.
5. hydraulic type bulldozer perching knife autocontrol method as claimed in claim 1 is characterized in that, also comprises step:
3) when the engine water temperature value is higher than programmed values, send heat alarm.
6. hydraulic type bulldozer perching knife autocontrol method as claimed in claim 5 is characterized in that said step 3) specifically comprises:
31) obtain the water temperature value of motor, and the water temperature value of obtaining is judged and handled;
32) if water temperature is not higher than preset temperature value, then keep current running status; If water temperature exceeds preset temperature value, then execution in step 33), otherwise repeated execution of steps 32);
33) after time delay is preset in wait second, obtain the water temperature value of motor again, if water temperature exceeds preset temperature value, send the temperature buzzer signal, the control engine stop working.
7. a hydraulic type bulldozer perching knife automatic control system is characterized in that, comprising:
Be used to gather the turbine speed sensor of the secondary speed of bulldozer;
Be used to gather the throttle signal sensor of the throttle signal of bulldozer;
Electronic control unit, it is used to obtain the secondary speed under the current throttle state, and in this secondary speed is in first preset range under this throttle, keeps current running status; When said secondary speed was higher than the maximum secondary speed value of said first preset range, the decline perching knife increased depth of cut, in the time of in said secondary speed drops to said first preset range, stops the down maneuver of perching knife; When said secondary speed is lower than the minimum secondary speed value of said first preset range, promote perching knife, reduce depth of cut, in the time of in said secondary speed drops to said first preset range, stop the down maneuver of perching knife.
8. hydraulic type bulldozer perching knife automatic control system as claimed in claim 7 is characterized in that, also comprises the control model selector switch that switches manual mode and automatic mode.
9. hydraulic type bulldozer perching knife automatic control system as claimed in claim 7; It is characterized in that said electronic control unit obtains the value of control model selector switch, and in the perching knife control model of the value of control model selector switch and current operation not simultaneously; After waiting for for the first preset time delay; Again obtain the value of control model selector switch,, then change the perching knife control model of current operation if the value of the control model selector switch that obtains once more is different with the perching knife control model of current operation.
10. hydraulic type bulldozer perching knife automatic control system as claimed in claim 7; It is characterized in that; The temperature pick up that also comprises the detection of engine water temperature, said electronic control unit obtain the water temperature value that said temperature pick up is gathered, and after said water temperature value exceeds preset temperature value; The control alarm sends the temperature buzzer signal, and the control engine stop working.
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