CN102400436B - Constant-speed cruise control device and control method for full-hydraulic rubber-tyred roller - Google Patents
Constant-speed cruise control device and control method for full-hydraulic rubber-tyred roller Download PDFInfo
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- CN102400436B CN102400436B CN201110379383.4A CN201110379383A CN102400436B CN 102400436 B CN102400436 B CN 102400436B CN 201110379383 A CN201110379383 A CN 201110379383A CN 102400436 B CN102400436 B CN 102400436B
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Abstract
The invention relates to a constant-speed cruise control device for a full-hydraulic rubber-tyred roller. The control device comprises a controller (U3), wherein a velocity sensor I (U4), a velocity sensor II (U5) and a trigger switch (S1) are connected onto the controller (U3); the controller (U3) is connected with a displayer (U7) and an ECU (Electronically Controlled Unit) of an engine (U2) through a bus; the engine (U2) is connected with a hydraulic pump (Y1) through a coupler; the hydraulic pump (Y1) is connected with a hydraulic motor I (Y2) and a hydraulic motor II (Y3) through pipelines; and the controller (U3) is respectively connected with signal input ends of electro-hydraulic proportional valves on the hydraulic pump (Y1), the hydraulic motor I (Y2) and the hydraulic motor II (Y3). The constant-speed cruise control device for the full-hydraulic rubber-tyred roller provided by the invention can enable the full-hydraulic rubber-tyred roller to run at a steady speed.
Description
Technical field
The present invention relates to a kind of control setup and control method thereof, relate in particular to a kind ofly for carrying out the control setup of cruise control on all-hydraulic tyre roller, belong to technical field of engineering machinery.
Background technology
At present, on domestic most all-hydraulic tyre roller all without cruise function, for the moving velocity control of roller entirely with operator's subjectivity control, by the control to engine throttle rotating speed and brake pedal, the horsepower output of control engine, to reach the moving velocity of controlling complete machine, adopt this manual control mode, cannot make the velocity-stabilization of roller in a certain constant speed; And for pneumatic tyred roller, the variation of the moving velocity of complete machine also can directly affect the degree of compaction of asphalt coating, also affect the serviceability of complete machine.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency, a kind of cruise control device and control method thereof that can make all-hydraulic tyre roller travel with steady speed is provided.
The object of the present invention is achieved like this: a kind of all-hydraulic tyre roller cruise control device, it is characterized in that: described control setup includes controller, on described controller, be connected with speed sensor one, speed sensor two and trigger switch, described controller is connected with the electric control system ECU of telltale and driving engine by bus, described driving engine is connected with Hydraulic Pump by coupler, described Hydraulic Pump is connected with HM Hydraulic Motor two with HM Hydraulic Motor one by pipeline, described controller respectively with Hydraulic Pump, HM Hydraulic Motor one is connected with the signal input part of the electro-hydraulic proportional valve in HM Hydraulic Motor two.
A kind of all-hydraulic tyre roller cruise control device of the present invention, described controller is connected with brake pedal.
A kind of all-hydraulic tyre roller cruise control device of the present invention, described trigger switch is inching button, described driving engine is electronic fuel injection engine.
A kind of all-hydraulic tyre roller cruise control device of the present invention, the electric control system ECU of described driving engine is connected with accelerator pedal.
A kind of all-hydraulic tyre roller cruise control device of the present invention, the electric control system ECU of described driving engine is connected with accelerator pedal.
A kind of all-hydraulic tyre roller cruise of the present invention control method, the step of its control method is:
Step 1, initialization system;
Step 2, data acquisition:
Controller Negotiation speed sensor one and speed sensor two gather the speed of travel of roller;
Step 3, judgement trigger:
In the time that trigger switch is pressed, it is cruising speed that controller records the current speed of travel, and will receive an impulse singla with Time Controller, and the number of times that obtains this pulse is counted, and in the time that this count value is even number, returns to step 2, otherwise carries out next step;
Whether step 4, detection brake pedal are operated:
If controller receives the signal that brake pedal is operated, return to step 2, if controller does not receive the signal that brake pedal is operated, enter step 5;
Step 5, adjusting:
Controller has obtained the current speed of travel by step 2, and its concrete computing formula is: V=(N1*2) * (N2*3.14) * 3.6)/(N3*N4), wherein, N1 is the pulse count that speed sensor obtains, and N2 is tire on the drive wheels diameter, and N3 is the drive wheel reductor number of teeth, and N4 is reduction ratio, from above formula, N2, N3 and N4 are known definite value, N1 is obtained by speed sensor one and speed sensor two respectively, therefore can obtain a left side, a speed V left side and the V right side of right drive wheel, get both aviation values, a VAVG=(V left side+V right side)/2, VAVG is exactly the current speed of travel, subsequently controller by the current speed of travel compared with cruising speed, in the time finding that the speed of travel is greater than cruising speed, controller by with the rotating speed that reduces driving engine that is connected of engine electric-controlled system ECU, in the time finding that the speed of travel is less than cruising speed, controller by with the rotating speed that increases driving engine that is connected of engine electric-controlled system ECU,
Subsequently, controller passes through Hydraulic Pump, electro-hydraulic proportional valve in HM Hydraulic Motor one and HM Hydraulic Motor two carries out pwm signal transmission, thereby complete Hydraulic Pump, the adjusting of HM Hydraulic Motor one and HM Hydraulic Motor two, its control process is: PWM_OUTY1:=((PWM_MAX-PWM_MIN) * Knob/ (Knob_MAX-Knob_MIN)+PWM_MIN), wherein, PWM_OUTY1 is the pwm signal of input hydraulic pressure pump, PWM_MAX and PWM_MIN are the minimum and maximum output of controller PWM value, self precision by controller is relevant, Knob is the current output voltage values of accelerator pedal, Knob_MAX and Knob_MIN are the minimum and maximum output voltage values of accelerator pedal,
The PWM output valve formula of HM Hydraulic Motor one and HM Hydraulic Motor two is PWM_OUT=(((PWM_MAX-PWM_MIN) * Knob+ (PWM_MIN*Knob_Max-PWM_Max*Knob_Mid))/(Knob_MAX-Knob_MIN)), wherein PWM_OUT is the pwm signal of input hydraulic pressure motor one and HM Hydraulic Motor two, PWM_MAX and PWM_MIN are the minimum and maximum output of controller PWM value, self precision by controller is relevant, Knob is the current output voltage values of accelerator pedal, Knob_MAX and Knob_MIN are the minimum and maximum output voltage values of accelerator pedal,
After completing above-mentioned steps, return to step 2.
Compared with prior art, the invention has the beneficial effects as follows:
Adopt after control setup of the present invention, operator is adjustable continuously according to the complete machine moving velocity on telltale (in 3 ~ 10Km/h work speed), so, operator just need not go to control Das Gaspedal again, alleviate fatigue, reduce the unnecessary speed of a motor vehicle simultaneously and changed, can fuel saving, provide and press road effect; When the end of job or need timing signal again, only need to again press trigger switch or step on brake pedal and just can cancel cruise function last time, and releasing cruise function in time in advance when brake, does not affect stopping distance.This control method is simple to operate, and control ratio is more flexible.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of a kind of all-hydraulic tyre roller cruise control device of the present invention.
Fig. 2 is the circuit block diagram of a kind of all-hydraulic tyre roller cruise control device of the present invention.
Fig. 3 is the control flow chart of a kind of all-hydraulic tyre roller cruise control device of the present invention.
Wherein:
Accelerator pedal U1, driving engine U2, controller U3, speed sensor one U4, speed sensor two U5, brake pedal U6, telltale U7;
Hydraulic Pump Y1, HM Hydraulic Motor one Y2, HM Hydraulic Motor two Y3;
Trigger switch S1.
The specific embodiment
Referring to Fig. 1 and Fig. 2, a kind of all-hydraulic tyre roller cruise control device the present invention relates to, described control setup includes controller U3, on described controller U3, be connected with speed sensor one U4, speed sensor two U5 and trigger switch S1, described trigger switch S1 is inching button, described controller U3 signal input part is connected by wire with brake pedal U6 signal output part, make in the time that brake pedal U6 is operated, controller U3 can obtain corresponding signal at once, described controller U3 is connected with the electric control system ECU of driving engine U2 with telltale U7 by bus, described driving engine U2 is electronic fuel injection engine, the electric control system ECU signal input part of described driving engine U2 is connected by wire with accelerator pedal U1 signal output part, accelerator pedal U1 accelerates and restriction signal for driving engine U2 provides throttle, described driving engine U2 is connected with Hydraulic Pump Y1 by coupler, described Hydraulic Pump Y1 is connected with HM Hydraulic Motor two Y3 with HM Hydraulic Motor one Y2 by pipeline, described controller U3 respectively with Hydraulic Pump Y1, HM Hydraulic Motor one Y2 is connected with the signal input part of the electro-hydraulic proportional valve on HM Hydraulic Motor two Y3, above-mentioned electro-hydraulic proportional valve is to be integrated in Hydraulic Pump Y1, on HM Hydraulic Motor one Y2 and HM Hydraulic Motor two Y3.
Referring to Fig. 3, the control flow of all-hydraulic tyre roller cruise control device of the present invention is that step is:
Step 1, initialization system;
Step 2, data acquisition:
Controller U3 Negotiation speed sensor one U4 and speed sensor two U5 gather the speed of travel of roller;
Step 3, judgement trigger:
When trigger switch S1 is pressed, to record the current speed of travel be cruising speed to Time Controller U3, to receive an impulse singla with Time Controller U3, and the number of times that obtains this pulse will be counted, in the time that this count value is even number, return to step 2, otherwise carry out next step;
Whether step 4, detection brake pedal are operated:
If controller U3 receives the signal that brake pedal U6 is operated, interrupt whole flow process, return to step 2, the benefit arranging is like this, if run into emergency situations, can directly touch on the brake at once, directly interrupt cruise function stopping-down, if controller U3 does not receive the signal that brake pedal U6 is operated, progressive step 5;
Step 5, adjusting:
Controller U3 has obtained the current speed of travel by step 2, and its concrete computing formula is: V=(N1*2) * (N2*3.14) * 3.6)/(N3*N4), wherein, N1 is the pulse count that speed sensor obtains, and N2 is tire on the drive wheels diameter, and N3 is the drive wheel reductor number of teeth, and N4 is reduction ratio, from above formula, N2, N3 and N4 are known definite value, N1 is obtained by speed sensor one U4 and speed sensor two U5 respectively, therefore can obtain a left side, a speed V left side and the V right side of right drive wheel, get both aviation values, a VAVG=(V left side+V right side)/2, VAVG is exactly the current speed of travel, subsequently controller U3 by the current speed of travel compared with cruising speed, in the time finding that the speed of travel is greater than cruising speed, controller U3 by with the rotating speed that reduces driving engine U2 that is connected of driving engine U2 electric control system ECU, in the time finding that the speed of travel is less than cruising speed, controller U3 by with the rotating speed that increases driving engine U2 that is connected of driving engine U2 electric control system ECU,
Subsequently, controller U3 is by Hydraulic Pump Y1, electro-hydraulic proportional valve on HM Hydraulic Motor one Y2 and HM Hydraulic Motor two Y3 carries out pwm signal transmission, thereby complete Hydraulic Pump Y1, the adjusting of HM Hydraulic Motor one Y2 and HM Hydraulic Motor two Y3, its control process is: PWM_OUTY1:=((PWM_MAX-PWM_MIN) * Knob/ (Knob_MAX-Knob_MIN)+PWM_MIN), wherein, PWM_OUTY1 is the pwm signal of input hydraulic pressure pump Y1, PWM_MAX and PWM_MIN are the minimum and maximum output of controller U3 PWM value, self precision by controller is relevant, Knob is the current output voltage values of accelerator pedal U1, Knob_MAX and Knob_MIN are the minimum and maximum output voltage values of accelerator pedal U1,
The PWM output valve formula of HM Hydraulic Motor one Y2 and HM Hydraulic Motor two Y3 is PWM_OUT=(((PWM_MAX-PWM_MIN) * Knob+ (PWM_MIN*Knob_Max-PWM_Max*Knob_Mid))/(Knob_MAX-Knob_MIN)), wherein PWM_OUT is the pwm signal of input hydraulic pressure motor one Y2 and HM Hydraulic Motor two Y3, PWM_MAX and PWM_MIN are the minimum and maximum output of controller U3 PWM value, self precision by controller is relevant, Knob is the current output voltage values of accelerator pedal U1, Knob_MAX and Knob_MIN are the minimum and maximum output voltage values of accelerator pedal U1,
After completing above-mentioned steps, return to step 2, constantly circulation, until the current speed of travel equals cruising speed.
Claims (2)
1. an all-hydraulic tyre roller cruise control method, it is characterized in that: described method includes a control setup, described control setup includes controller (U3), on described controller (U3), be connected with speed sensor one (U4), speed sensor two (U5) and trigger switch (S1), described controller (U3) is connected with the electric control system ECU of telltale (U7) and driving engine (U2) by bus, described driving engine (U2) is connected with Hydraulic Pump (Y1) by coupler, described Hydraulic Pump (Y1) is connected with HM Hydraulic Motor two (Y3) with HM Hydraulic Motor one (Y2) by pipeline, described controller (U3) respectively with Hydraulic Pump (Y1), HM Hydraulic Motor one (Y2) is connected with the signal input part of the electro-hydraulic proportional valve in HM Hydraulic Motor two (Y3), described controller (U3) is connected with brake pedal (U6), described trigger switch (S1) is inching button, described driving engine (U2) is electronic fuel injection engine, the electric control system ECU of described driving engine (U2) is connected with accelerator pedal (U1), the electric control system ECU of described driving engine (U2) is connected with accelerator pedal (U1), the step of described control method is:
Step 1, initialization system;
Step 2, data acquisition:
Controller (U3) Negotiation speed sensor one (U4) and speed sensor two (U5) gather the speed of travel of roller;
Step 3, judgement trigger:
When trigger switch (S1) is pressed, to record the current speed of travel be cruising speed to Time Controller (U3), and controller (U3) will be received an impulse singla, and the number of times that obtains this pulse is counted, in the time that this count value is even number, return to step 2, otherwise carry out next step;
Whether step 4, detection brake pedal are operated:
Controller (U3), if receive the signal that brake pedal (U6) is operated, returns to step 2, if controller (U3) does not receive the signal that brake pedal (U6) is operated, enters step 5;
Step 5, adjusting:
Controller (U3) has obtained the current speed of travel by step 2, and its concrete computing formula is: V=(N1*2) * (N2*3.14) * 3.6)/(N3*N4), wherein, N1 is the pulse count that speed sensor obtains, and N2 is tire on the drive wheels diameter, and N3 is the drive wheel reductor number of teeth, and N4 is reduction ratio, from above formula, N2, N3 and N4 are known definite value, N1 is obtained by speed sensor one (U4) and speed sensor two (U5) respectively, therefore can obtain a left side, a speed V left side and the V right side of right drive wheel, get both aviation values, a VAVG=(V left side+V right side)/2, VAVG is exactly the current speed of travel, subsequently controller (U3) by the current speed of travel compared with cruising speed, in the time finding that the speed of travel is greater than cruising speed, controller (U3) by with driving engine (U2) electric control system ECU be connected reduce driving engine (U2) rotating speed, in the time finding that the speed of travel is less than cruising speed, controller (U3) by with driving engine (U2) electric control system ECU be connected increase driving engine (U2) rotating speed,
Subsequently, controller (U3) carries out pwm signal transmission by the electro-hydraulic proportional valve in Hydraulic Pump (Y1), HM Hydraulic Motor one (Y2) and HM Hydraulic Motor two (Y3), thereby complete the adjusting to Hydraulic Pump (Y1), HM Hydraulic Motor one (Y2) and HM Hydraulic Motor two (Y3)
After completing above-mentioned steps, return to step 2.
2. a kind of all-hydraulic tyre roller cruise control method as claimed in claim 1, it is characterized in that: in described step 5 to Hydraulic Pump (Y1), being adjusted to of the pwm signal of HM Hydraulic Motor one (Y2) and HM Hydraulic Motor two (Y3): PWM_OUTY1:=((PWM_MAX-PWM_MIN) * Knob/ (Knob_MAX-Knob_MIN)+PWM_MIN), wherein, PWM_OUTY1 is the pwm signal of input hydraulic pressure pump (Y1), PWM_MAX and PWM_MIN are the minimum and maximum output PWM of controller (U3) value, self precision by controller is relevant, Knob is the current output voltage values of accelerator pedal (U1), Knob_MAX and Knob_MIN are the minimum and maximum output voltage values of accelerator pedal (U1),
The PWM output valve formula of HM Hydraulic Motor one (Y2) and HM Hydraulic Motor two (Y3) is PWM_OUT=(((PWM_MAX-PWM_MIN) * Knob+ (PWM_MIN*Knob_Max-PWM_Max*Knob_Mid))/(Knob_MAX-Knob_MIN)), wherein PWM_OUT is the pwm signal of input hydraulic pressure motor one (Y2) and HM Hydraulic Motor two (Y3), PWM_MAX and PWM_MIN are the minimum and maximum output PWM of controller (U3) value, self precision by controller is relevant, Knob is the current output voltage values of accelerator pedal (U1), Knob_MAX and Knob_MIN are the minimum and maximum output voltage values of accelerator pedal (U1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110379383.4A CN102400436B (en) | 2011-11-25 | 2011-11-25 | Constant-speed cruise control device and control method for full-hydraulic rubber-tyred roller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110379383.4A CN102400436B (en) | 2011-11-25 | 2011-11-25 | Constant-speed cruise control device and control method for full-hydraulic rubber-tyred roller |
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| CN102400436A CN102400436A (en) | 2012-04-04 |
| CN102400436B true CN102400436B (en) | 2014-05-14 |
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| CN201110379383.4A Active CN102400436B (en) | 2011-11-25 | 2011-11-25 | Constant-speed cruise control device and control method for full-hydraulic rubber-tyred roller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103015484A (en) * | 2012-12-12 | 2013-04-03 | 熔盛机械有限公司 | Automatic cruise system and method of hydraulic wheel excavator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001260702A (en) * | 2000-03-21 | 2001-09-26 | Nissan Diesel Motor Co Ltd | Constant speed travel device for tractor |
| US6556915B2 (en) * | 2001-06-18 | 2003-04-29 | Trw Inc. | System and method for controlling vehicle cruise speed |
| US20070032934A1 (en) * | 2005-08-05 | 2007-02-08 | Sakai Heavy Industries Ltd. | Compaction vehicle |
| CN101306648A (en) * | 2007-05-17 | 2008-11-19 | 光阳工业股份有限公司 | Constant speed device for motorcycle and constant speed cruise program for the device |
| CN102131684A (en) * | 2008-08-28 | 2011-07-20 | 卡特彼勒公司 | Control system and method for braking a hydrostatic drive machine |
| CN202359487U (en) * | 2011-11-25 | 2012-08-01 | 柳工无锡路面机械有限公司 | Cruise control device for full-hydraulic tyre roller |
-
2011
- 2011-11-25 CN CN201110379383.4A patent/CN102400436B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001260702A (en) * | 2000-03-21 | 2001-09-26 | Nissan Diesel Motor Co Ltd | Constant speed travel device for tractor |
| US6556915B2 (en) * | 2001-06-18 | 2003-04-29 | Trw Inc. | System and method for controlling vehicle cruise speed |
| US20070032934A1 (en) * | 2005-08-05 | 2007-02-08 | Sakai Heavy Industries Ltd. | Compaction vehicle |
| CN101306648A (en) * | 2007-05-17 | 2008-11-19 | 光阳工业股份有限公司 | Constant speed device for motorcycle and constant speed cruise program for the device |
| CN102131684A (en) * | 2008-08-28 | 2011-07-20 | 卡特彼勒公司 | Control system and method for braking a hydrostatic drive machine |
| CN202359487U (en) * | 2011-11-25 | 2012-08-01 | 柳工无锡路面机械有限公司 | Cruise control device for full-hydraulic tyre roller |
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| CN102400436A (en) | 2012-04-04 |
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