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 PDF

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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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pwm
controller
speed
hydraulic
knob
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CN102400436A (en
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邓振中
张霖
董程炜
杨明
岳红军
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LIUGONG WUXI ROAD SURFACE MACHINERY CO Ltd
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LIUGONG WUXI ROAD SURFACE MACHINERY CO Ltd
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Abstract

本发明涉及一种全液压轮胎压路机定速巡航控制装置，所述控制装置包含有控制器（U3），所述控制器（U3）上连接有速度传感器一（U4）、速度传感器二（U5）和触发开关（S1），所述控制器（U3）通过总线与显示器（U7）以及发动机（U2）的电控系统ECU相连，所述发动机（U2）通过联轴器与液压泵（Y1）相连，所述液压泵（Y1）通过管路与液压马达一（Y2）和液压马达二（Y3）相连，所述控制器（U3）分别与液压泵（Y1）、液压马达一（Y2）和液压马达二（Y3）上的电液比例阀的信号输入端相连。本发明一种全液压轮胎压路机定速巡航控制装置，能够使得全液压轮胎压路机以稳定速度行驶。

The present invention relates to a constant speed cruise control device for a full hydraulic tire roller. The control device includes a controller (U3), and the controller (U3) is connected with a speed sensor one (U4) and a speed sensor two (U5). and the trigger switch (S1), the controller (U3) is connected to the display (U7) and the electronic control system ECU of the engine (U2) through the bus, and the engine (U2) is connected to the hydraulic pump (Y1) through a coupling , the hydraulic pump (Y1) is connected to hydraulic motor one (Y2) and hydraulic motor two (Y3) through pipelines, and the controller (U3) is respectively connected to hydraulic pump (Y1), hydraulic motor one (Y2) and hydraulic The signal input terminal of the electro-hydraulic proportional valve on the second motor (Y3) is connected. The invention relates to a constant speed cruise control device for a full hydraulic tire roller, which can make the full hydraulic tire roller run at a stable speed.

Description

A kind of all-hydraulic tyre roller cruise control device and control method thereof
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)

1.一种全液压轮胎压路机定速巡航控制方法，其特征在于：所述方法包含有一控制装置，所述控制装置包含有控制器（U3），所述控制器（U3）上连接有速度传感器一（U4）、速度传感器二（U5）和触发开关（S1），所述控制器（U3）通过总线与显示器（U7）以及发动机（U2）的电控系统ECU相连，所述发动机（U2）通过联轴器与液压泵（Y1）相连，所述液压泵（Y1）通过管路与液压马达一（Y2）和液压马达二（Y3）相连，所述控制器（U3）分别与液压泵（Y1）、液压马达一（Y2）和液压马达二（Y3）上的电液比例阀的信号输入端相连，所述控制器（U3）与刹车踏板（U6）相连，所述触发开关（S1）为点动按钮，所述发动机（U2）为电喷发动机，所述发动机（U2）的电控系统ECU与油门脚踏板（U1）相连，所述发动机（U2）的电控系统ECU与油门脚踏板（U1）相连；所述控制方法的步骤为： 1. A constant speed cruise control method for a fully hydraulic tire roller, characterized in that: the method includes a control device, the control device includes a controller (U3), and a speed sensor is connected to the controller (U3) One (U4), speed sensor two (U5) and trigger switch (S1), the controller (U3) is connected with the display (U7) and the electronic control system ECU of the engine (U2) through the bus, and the engine (U2) The hydraulic pump (Y1) is connected with the hydraulic pump (Y1) through the coupling, the hydraulic pump (Y1) is connected with the hydraulic motor one (Y2) and the hydraulic motor two (Y3) through the pipeline, and the controller (U3) is respectively connected with the hydraulic pump ( Y1), the first hydraulic motor (Y2) is connected to the signal input end of the electro-hydraulic proportional valve on the second hydraulic motor (Y3), the controller (U3) is connected to the brake pedal (U6), and the trigger switch (S1) is a jog button, the engine (U2) is an electronic injection engine, the electronic control system ECU of the engine (U2) is connected to the accelerator pedal (U1), and the electronic control system ECU of the engine (U2) is connected to the accelerator pedal The foot pedal (U1) is connected; the steps of the control method are: 步骤1、初始化系统； Step 1. Initialize the system; 步骤2、数据采集： Step 2. Data collection: 控制器（U3）通过速度传感器一（U4）和速度传感器二（U5）对压路机的行走速度进行采集； The controller (U3) collects the walking speed of the roller through the first speed sensor (U4) and the second speed sensor (U5); 步骤3、判断触发： Step 3. Determine the trigger: 当触发开关（S1）被按下时控制器（U3）记录当前行走速度为巡航速度，且控制器（U3）将收到一个脉冲信号，并对获得该脉冲的次数进行计数，当该计数值为偶数时，返回步骤2，否则执行下一步骤；  When the trigger switch (S1) is pressed, the controller (U3) records the current walking speed as the cruising speed, and the controller (U3) will receive a pulse signal, and count the number of pulses obtained, when the count value When it is an even number, return to step 2, otherwise execute the next step; 步骤4、检测刹车踏板是否被踩下： Step 4. Detect whether the brake pedal is stepped on: 控制器（U3）若接收到刹车踏板（U6）被踩下的信号，返回步骤2，若控制器（U3）未接收到刹车踏板（U6）被踩下的信号，则进入步骤5； If the controller (U3) receives the signal that the brake pedal (U6) is stepped on, return to step 2; if the controller (U3) does not receive the signal that the brake pedal (U6) is stepped on, then go to step 5; 步骤5、调节： Step 5. Adjustment: 控制器（U3）通过步骤2已获得当前的行走速度，其具体的计算公式为：V=（N1*2）*（N2*3.14）*3.6）/(N3*N4)；其中，N1为速度传感器获得的脉冲数，N2为驱动轮胎直径，N3 为驱动轮减速机齿数，N4为减速比；由上式可知，N2、N3和N4均为已知的定值，N1分别由速度传感器一（U4）和速度传感器二（U5）获得，因此可获得左、右驱动轮的速度V左和V右，取两者的平均值，VAVG=（V左+V右）/2，VAVG就是当前的行走速度，随后控制器（U3）将当前的行走速度与巡航速度相比，当发现行走速度大于巡航速度时，控制器（U3）通过与发动机（U2）电控系统ECU的连接降低发动机（U2）的转速，当发现行走速度小于巡航速度时，控制器（U3）通过与发动机（U2）电控系统ECU的连接增大发动机（U2）的转速； The controller (U3) has obtained the current walking speed through step 2, and its specific calculation formula is: V=(N1*2)*(N2*3.14)*3.6)/(N3*N4); among them, N1 is the speed The number of pulses obtained by the sensor, N2 is the diameter of the driving tire, N3 is the number of teeth of the drive wheel reducer, and N4 is the reduction ratio; it can be seen from the above formula that N2, N3 and N4 are all known fixed values, and N1 is determined by the speed sensor one ( U4) and speed sensor 2 (U5), so the speed V left and V right of the left and right driving wheels can be obtained, take the average value of the two, VAVG=(V left + V right)/2, VAVG is the current walking speed, then the controller (U3) compares the current walking speed with the cruising speed, and when it is found that the walking speed is greater than the cruising speed, the controller (U3) reduces the engine (U2) speed by connecting with the engine (U2) electronic control system ECU. ), when the walking speed is found to be lower than the cruising speed, the controller (U3) increases the speed of the engine (U2) through the connection with the ECU of the engine (U2) electronic control system; 随后，控制器（U3）通过液压泵（Y1）、液压马达一（Y2）和液压马达二（Y3）上的电液比例阀进行PWM信号传输，从而完成对液压泵（Y1）、液压马达一（Y2）和液压马达二（Y3）的调节， Subsequently, the controller (U3) transmits PWM signals through the electro-hydraulic proportional valves on the hydraulic pump (Y1), hydraulic motor 1 (Y2) and hydraulic motor 2 (Y3), thereby completing the control of the hydraulic pump (Y1), hydraulic motor 1 (Y2) and hydraulic motor two (Y3) adjustment, 完成上述步骤后返回步骤2。 Return to step 2 after completing the above steps. 2.如权利要求1所述一种全液压轮胎压路机定速巡航控制方法，其特征在于：所述步骤5中对液压泵（Y1）、液压马达一（Y2）和液压马达二（Y3）的PWM信号的调节为：PWM_OUTY1:= ((PWM_MAX-PWM_MIN)*Knob/(Knob_MAX-Knob_MIN)+PWM_MIN)，其中，PWM_OUTY1为输入液压泵（Y1）的PWM信号，PWM_MAX和PWM_MIN 为控制器（U3）最大和最小输出PWM值，由控制器的自身的精度有关，Knob为油门脚踏板（U1）当前的输出电压值，Knob_MAX和Knob_MIN是油门脚踏板（U1）最大和最小输出电压值； 2. A constant-speed cruise control method for a fully hydraulic tire roller as claimed in claim 1, characterized in that: in the step 5, the hydraulic pump (Y1), hydraulic motor one (Y2) and hydraulic motor two (Y3) The adjustment of the PWM signal is: PWM_OUTY1:= ((PWM_MAX-PWM_MIN)*Knob/(Knob_MAX-Knob_MIN)+PWM_MIN), where PWM_OUTY1 is the PWM signal input to the hydraulic pump (Y1), PWM_MAX and PWM_MIN are the controller (U3) The maximum and minimum output PWM values are related to the accuracy of the controller itself, Knob is the current output voltage value of the accelerator pedal (U1), Knob_MAX and Knob_MIN are the maximum and minimum output voltage values of the accelerator pedal (U1); 液压马达一（Y2）和液压马达二（Y3）的PWM输出值公式为PWM_OUT=(((PWM_MAX-PWM_MIN)*Knob+(PWM_MIN*Knob_Max-PWM_Max*Knob_Mid))/(Knob_MAX-Knob_MIN)) ，其中PWM_OUT为输入液压马达一（Y2）和液压马达二（Y3）的PWM信号，PWM_MAX和PWM_MIN 为控制器（U3）最大和最小输出PWM值，由控制器的自身的精度有关，Knob为油门脚踏板（U1 ）当前的输出电压值，Knob_MAX和Knob_MIN是油门脚踏板（U1）最大和最小输出电压值。 The formula of PWM output value of hydraulic motor 1 (Y2) and hydraulic motor 2 (Y3) is PWM_OUT=(((PWM_MAX-PWM_MIN)*Knob+(PWM_MIN*Knob_Max-PWM_Max*Knob_Mid))/(Knob_MAX-Knob_MIN)), where PWM_OUT To input the PWM signals of hydraulic motor 1 (Y2) and hydraulic motor 2 (Y3), PWM_MAX and PWM_MIN are the maximum and minimum output PWM values of the controller (U3), which are related to the accuracy of the controller itself, and Knob is the accelerator pedal (U1) The current output voltage value, Knob_MAX and Knob_MIN are the maximum and minimum output voltage values of the accelerator pedal (U1).
CN201110379383.4A 2011-11-25 2011-11-25 Constant-speed cruise control device and control method for full-hydraulic rubber-tyred roller Expired - Fee Related CN102400436B (en)

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