CN102518166B - Control system and control method of engineering machinery - Google Patents
Control system and control method of engineering machinery Download PDFInfo
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- CN102518166B CN102518166B CN201110410768.2A CN201110410768A CN102518166B CN 102518166 B CN102518166 B CN 102518166B CN 201110410768 A CN201110410768 A CN 201110410768A CN 102518166 B CN102518166 B CN 102518166B
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- 238000000034 method Methods 0.000 title claims abstract description 12
- 230000009471 action Effects 0.000 claims abstract description 7
- 238000013461 design Methods 0.000 claims description 12
- 238000004321 preservation Methods 0.000 claims description 6
- 238000012360 testing method Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 description 7
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Abstract
The invention discloses an operation and control system and an operation and control method of engineering machinery, wherein the operation and control system comprises a working device, an operation device, a sensor, a controller and a driver, wherein the operation device is used for controlling the action of the working device; the sensor is used for detecting the load force information borne by the working device; the controller is used for calculating the reaction force fed back to the operating device according to the load force information and the stored algorithm; the actuator is configured to apply the reaction force to the operator. Because the load force information of the working device can be finally fed back to the manipulator by applying corresponding reaction force to the operating device, the manipulator can sense the change of the load force in real time, and therefore, the timeliness and the accuracy of the engineering machinery control can be greatly improved.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of control system and control method of engineering machinery.
Background technology
At present in most of engineering machinery (such as excavator etc.), operator is controlled the action of equipment (be the actuating unit of engineering machinery, for example power shovel part) by handling electric handle or hydraulic pilot handle.It controls principle: according to handle, by the motion vector that manipulation produced, exported the corresponding signal of telecommunication or guide's voltage signal, and the action of the related fluid pressure valve in the hydraulic system of Control Engineering machinery, and then drive equipment to carry out relevant action.These two kinds of control modes have advantages of that handling is good, reliability is strong.
Yet, actual, control in process, when the load force of equipment changes, operator cannot carry out the variation of perception load force by handle, and therefore, promptness, accuracy that the control system of prior art is controlled engineering machinery are poor.
Summary of the invention
The invention provides a kind of control system and control method of engineering machinery, in order to solve the poor technical problem of promptness, accuracy that in prior art, control system is controlled engineering machinery.
The control system of engineering machinery of the present invention, comprising:
Equipment;
Manipulation device, for controlling the action of equipment;
Sensor, for detection of the suffered load force information of equipment;
Controller, for calculating the reaction force that feeds back to manipulation device according to the algorithm of load force information and preservation;
Driver, for putting on manipulation device by described reaction force.
Described equipment comprises the hydraulic cylinder with rodless cavity and rod chamber, described load force information comprises rodless cavity pressure and rod chamber pressure, described controller, for calculating the suffered load force of equipment according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, and calculate described reaction force according to the rule of described load force and setting, wherein, described load force design formulas is:
F=P
1*S
1+P
2*S
2
In formula, F is load force, P
1for rodless cavity pressure, S
1for rodless cavity piston area, P
2for rod chamber pressure, S
2for rod chamber piston area.
Described rule is:
As F < F
max* k
1time, F '=K
1* F
Work as F
max* k
1≤ F < F
max* k
2time, F '=K
1* F
max* k
1+ K
2* (F-F
max* k
1)
As F>=F
max* k
2time, F '=K
1* F
max* k
1+ K
2* F
max* (k
2-k
1)+K
3* (F-F
max* k
2)
Wherein, F
maxthe maximum load power can bear for equipment; k
1, k
2for the factor of proportionality of setting, and k
1< k
2< 1; F ' is reaction force; K
1, K
2, K
3for the linear gain of setting, and K
1> K
2> K
3.
Described manipulation device comprises control crank, steering wheel or pedal.
The control method of engineering machinery of the present invention, is applied to comprise in the system of equipment and manipulation device, comprising:
A, the suffered load force information of testing device;
B, according to the algorithm of described load force information and preservation, calculate the reaction force that feeds back to manipulation device;
C, described reaction force is put on to manipulation device.
Described equipment comprises the hydraulic cylinder with rodless cavity and rod chamber, and described load force information comprises rodless cavity pressure and rod chamber pressure, and step B comprises:
B1, according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, calculate the suffered load force of equipment, described load force design formulas is:
F=P
1*S
1+P
2*S
2
In formula, F is load force, P
1for rodless cavity pressure, S
1for rodless cavity piston area, P
2for rod chamber pressure, S
2for rod chamber piston area;
B2, according to the rule of described load force and setting, calculate described reaction force.
Described rule is:
As F < F
max* k
1time, F '=K
1* F
Work as F
max* k
1≤ F < F
max* k
2time, F '=K
1* F
max* k
1+ K
2* (F-F
max* k
1)
As F>=F
max* k
2time, F '=K
1* F
max* k
1+ K
2* F
max* (k
2-k
1)+K
3* (F-F
max* k
2)
Wherein, F
maxthe maximum load power can bear for equipment; k
1, k
2for the factor of proportionality of setting, and k
1< k
2< 1; F ' is reaction force; K
1, K
2, K
3for the linear gain of setting, and K
1> K
2> K
3.
In technical solution of the present invention, owing to the load force information exchange of equipment can being crossed, manipulation device is applied to corresponding reaction force finally feed back to operator, make the variation that operator can real-time perception load force, therefore, can greatly improve promptness and accuracy that engineering machinery is controlled.
Accompanying drawing explanation
Fig. 1 is the control system structural representation of engineering machinery of the present invention;
Fig. 2 is the control method schematic flow sheet of engineering machinery of the present invention;
Fig. 3 is the regular schematic diagram (function relation curve figure) of reaction force and load force in the present invention.
The specific embodiment
In order to solve in prior art when the load force of equipment changes, operator cannot carry out by handle the variation of perception load force, the promptness of controlling, the poor technical problem of accuracy, the invention provides a kind of control system and control method of engineering machinery.
As shown in Figure 1, the control system of engineering machinery of the present invention, comprises equipment, manipulation device, sensor, controller and driver, and wherein, described manipulation device is for controlling the action of equipment; Described sensor is for detection of the suffered load force information of equipment; Described controller is for calculating according to the algorithm of load force information and preservation the reaction force that feeds back to manipulation device; Described driver is for putting on manipulation device by described reaction force.
In engineering machinery, described equipment generally includes the hydraulic cylinder with rodless cavity and rod chamber; The load force information that sensor detects can comprise the suffered load force of hydraulic cylinder piston rod, also can comprise the pressure of hydraulic cylinder rodless cavity and rod chamber etc.; When load force information is rodless cavity pressure and rod chamber pressure, described controller, for calculating the suffered load force of equipment according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, and calculate described reaction force according to the rule of described load force and setting, wherein, described load force design formulas is:
F=P
1*S
1+P
2*S
2
In formula, F is load force, P
1for rodless cavity pressure, S
1for rodless cavity piston area, P
2for rod chamber pressure, S
2for rod chamber piston area.
Described rule is:
As F < F
max* k
1time, F '=K
1* F
Work as F
max* k
1≤ F < F
max* k
2time, F '=K
1* F
max* k
1+ K
2* (F-F
max* k
1)
As F>=F
max* k
2time, F '=K
1* F
max* k
1+ K
2* F
max* (k
2-k
1)+K
3* (F-F
max* k
2)
Wherein, F
maxthe maximum load power can bear for equipment; k
1, k
2for the factor of proportionality of setting, and k
1< k
2< 1; F ' is reaction force; K
1, K
2, K
3for the linear gain of setting, and K
1> K
2> K
3.
In the present invention, described manipulation device can comprise control crank, steering wheel or pedal etc.
As shown in Figure 2, the control method of engineering machinery of the present invention, is applied to comprise in the system of equipment and manipulation device, comprising:
Step 101, the suffered load force information of testing device;
Step 102, according to the algorithm of described load force information and preservation, calculate the reaction force that feeds back to manipulation device;
Step 103, described reaction force is put on to manipulation device.
Wherein, when described equipment comprises the hydraulic cylinder with rodless cavity and rod chamber, when described load force information comprises rodless cavity pressure and rod chamber pressure, step 102 comprises:
According to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, calculate the suffered load force of equipment, described load force design formulas is:
F=P
1*S
1+P
2*S
2
In formula, F is load force, P
1for rodless cavity pressure, S
1for rodless cavity piston area, P
2for rod chamber pressure, S
2for rod chamber piston area;
According to the rule of described load force and setting, calculate described reaction force.
As shown in Figure 3, described rule can be:
As F < F
max* k
1time, F '=K
1* F
Work as F
max* k
1≤ F < F
max* k
2time, F '=K
1* F
max* k
1+ K
2* (F-F
max* k
1)
As F>=F
max* k
2time, F '=K
1* F
max* k
1+ K
2* F
max* (k
2-k
1)+K
3* (F-F
max* k
2)
Wherein, F
maxthe maximum load power can bear for equipment; k
1, k
2for the factor of proportionality of setting, and k
1< k
2< 1; F ' is reaction force; K
1, K
2, K
3for the linear gain of setting, and K
1> K
2> K
3.
In the embodiment shown in fig. 3, load force F and reaction force F ' are linear respectively in three segment limits, and certainly, according to the difference construction object of different engineering machinery or engineering machinery, rule relation can be also other non-linear relations.Factor of proportionality can be set numerical value, for example k according to actual load force scope
1be 15%, k
2be 85%.
Please continue to refer to Fig. 3, due to K
1> K
2> K
3, therefore, as less (the F < F of load force F
max* k
1) time, reaction force F ' is comparatively responsive with the variation of load force F, and less load force changes can make the obvious perception of operator; And as the large (F>=F of load force F
max* k
2) time, reaction force F ' is comparatively mild with the variation of load force F, and the variation of load force comparatively relaxes the perception of operator.
In practice, can first according to experiment, record the value of load force F, then consider the span of reaction force F ', draw suitable yield value, thereby draw the setting rule that load force F and reaction force F ' should set.
When the suffered load force of the equipment of engineering machinery changes, the rodless cavity pressure of the hydraulic cylinder of the real-time testing device of sensor and rod chamber pressure; Controller calculates reaction force according to the rule of setting after calculating the suffered load force of equipment; Under the signal driver of driver, reaction force puts on manipulation device, makes the variation that operator can real-time perception load force, is convenient to monitor or do next step and control judgement controlling process.
In technical solution of the present invention, owing to the load force information exchange of equipment can being crossed, manipulation device is applied to corresponding reaction force finally feed back to operator, make the variation that operator can real-time perception load force, therefore, can greatly improve promptness and accuracy that engineering machinery is controlled.
Obviously, those skilled in the art can carry out various changes and modification and not depart from the spirit and scope of the present invention the present invention.Like this, if within of the present invention these are revised and modification belongs to the scope of the claims in the present invention and equivalent technologies thereof, the present invention is also intended to comprise these changes and modification interior.
Claims (3)
1. a control system for engineering machinery, is characterized in that, comprising:
Equipment;
Manipulation device, for controlling the action of equipment;
Sensor, for detection of the suffered load force information of equipment;
Controller, for calculating the reaction force that feeds back to manipulation device according to the algorithm of load force information and preservation;
Driver, for putting on manipulation device by described reaction force;
Described equipment comprises the hydraulic cylinder with rodless cavity and rod chamber, described load force information comprises rodless cavity pressure and rod chamber pressure, described controller, for calculating the suffered load force of equipment according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, and calculate described reaction force according to the rule of described load force and setting, wherein, described load force design formulas is:
F=P
1 *S
1+P
2 *S
2
In formula, F is load force, P
1for rodless cavity pressure, S
1for rodless cavity piston area, P
2for rod chamber pressure, S
2for rod chamber piston area;
Described rule is:
As F < F
max *k
1time, F '=K
1 *f
Work as F
max *k
1≤ F < F
max *k
2time, F '=K
1 *f
max *k
1+ K
2 *(F-F
max *k
1)
As F>=F
max *k
2time, F '=K
1 *f
max *k
1+ K
2 *f
max *(k
2-k
1)+K
3 *(F-F
max *k
2)
Wherein, F
maxthe maximum load power can bear for equipment; k
1, k
2for the factor of proportionality of setting, and k
1< k
2< 1; F ' is reaction force; K
1, K
2, K
3for the linear gain of setting, and K
1> K
2> K
3.
2. control system as claimed in claim 1, is characterized in that, described manipulation device comprises control crank, steering wheel or pedal.
3. a control method for engineering machinery, is applied to comprise in the system of equipment and manipulation device, it is characterized in that, comprising:
A, the suffered load force information of testing device;
B, according to the algorithm of described load force information and preservation, calculate the reaction force that feeds back to manipulation device;
C, described reaction force is put on to manipulation device;
Described equipment comprises the hydraulic cylinder with rodless cavity and rod chamber, and described load force information comprises rodless cavity pressure and rod chamber pressure, and step B comprises:
B1, according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, calculate the suffered load force of equipment, described load force design formulas is:
F=P
1 *S
1+P
2 *S
2
In formula, F is load force, P
1for rodless cavity pressure, S
1for rodless cavity piston area, P
2for rod chamber pressure, S
2for rod chamber piston area;
B2, according to the rule of described load force and setting, calculate described reaction force;
Described rule is:
As F < F
max *k
1time, F '=K
1 *f
Work as F
max *k
1≤ F < F
max *k
2time, F '=K
1 *f
max *k
1+ K
2 *(F-F
max *k
1)
As F>=F
max *k
2time, F '=K
1 *f
max*k
1+ K
2 *f
max *(k
2-k
1)+K
3* (F-F
max *k
2)
Wherein, F
maxthe maximum load power can bear for equipment; k
1, k
2for the factor of proportionality of setting, and k
1< k
2< 1; F ' is reaction force; K
1, K
2, K
3for the linear gain of setting, and K
1> K
2> K
3.
Priority Applications (1)
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CN201110410768.2A CN102518166B (en) | 2011-12-09 | 2011-12-09 | Control system and control method of engineering machinery |
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CN201110410768.2A CN102518166B (en) | 2011-12-09 | 2011-12-09 | Control system and control method of engineering machinery |
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CN102518166A CN102518166A (en) | 2012-06-27 |
CN102518166B true CN102518166B (en) | 2014-03-12 |
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JP6373812B2 (en) * | 2015-09-10 | 2018-08-15 | 日立建機株式会社 | Construction machinery |
CN113910932A (en) * | 2020-07-09 | 2022-01-11 | 威马智慧出行科技(上海)有限公司 | Vehicle-mounted power supply assembly and control method thereof |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5086870A (en) * | 1990-10-31 | 1992-02-11 | Division Driving Systems, Inc. | Joystick-operated driving system |
GB2341588A (en) * | 1998-09-17 | 2000-03-22 | Daimler Chrysler Ag | A vehicle 'steer-by-wire' system using redundant control systems |
CN101066677A (en) * | 2002-05-14 | 2007-11-07 | 丰田自动车株式会社 | Motor vehicle control device |
CN101100268A (en) * | 2007-07-26 | 2008-01-09 | 山东富友有限公司 | Electron linkage operation system for tower crane |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4793576B2 (en) * | 2006-10-31 | 2011-10-12 | 株式会社ジェイテクト | Steering device test system |
-
2011
- 2011-12-09 CN CN201110410768.2A patent/CN102518166B/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5086870A (en) * | 1990-10-31 | 1992-02-11 | Division Driving Systems, Inc. | Joystick-operated driving system |
GB2341588A (en) * | 1998-09-17 | 2000-03-22 | Daimler Chrysler Ag | A vehicle 'steer-by-wire' system using redundant control systems |
CN101066677A (en) * | 2002-05-14 | 2007-11-07 | 丰田自动车株式会社 | Motor vehicle control device |
CN101100268A (en) * | 2007-07-26 | 2008-01-09 | 山东富友有限公司 | Electron linkage operation system for tower crane |
Non-Patent Citations (1)
Title |
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JP特开2008-111785A 2008.05.15 |
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CN102518166A (en) | 2012-06-27 |
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