CN102529960B - Control method and control system for preventing side overturn and mixing transport vehicle - Google Patents
Control method and control system for preventing side overturn and mixing transport vehicle Download PDFInfo
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- CN102529960B CN102529960B CN201210033850.2A CN201210033850A CN102529960B CN 102529960 B CN102529960 B CN 102529960B CN 201210033850 A CN201210033850 A CN 201210033850A CN 102529960 B CN102529960 B CN 102529960B
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Abstract
The invention discloses a control method for preventing side overturn of a mixing transport vehicle which is used for controlling the turning stability of the mixing transport vehicle. The method comprises the following steps of: acquiring a loading amount signal of a mixing drum of the mixing transport vehicle in the current state, an inclination angle signal of the mixing drum and a centrifugal acceleration signal during the turning of the mixing transport vehicle; calculating a moment M1 and a moment M2 from the gravity of the whole vehicle to a supporting point of an inner side tire and from a centrifugal force of the whole vehicle to a supporting point of the inner side tire in the current state according to the loading amount signal, the inclination angle signal and the centrifugal acceleration signal; and judging the size of a safety moment M3 according to the M2 and the M1, and sending an alarm signal or reducing the speed of the vehicle according to a judging result. According to the control method, the running working condition of the mixing transport vehicle during turning can be judged precisely, so that side overturn of the vehicle can be avoided effectively, the turning stability can be improved, and the safety of truck driving can be improved. The invention also discloses a control method for preventing side overturn of the mixing transport vehicle, and the mixing transport vehicle.
Description
Technical field
The present invention relates to the automatic control technology field of construction machinery and equipment, particularly the anti-rolling control method of one, control system and agitator truck.
Background technology
Agitator truck is a kind of special heavy-duty vehicle of concrete transportation, and along with the development of economic construction, agitator truck is more and more widely used in the fields such as town road construction and civil construction.
Agitator truck generally comprises chassis and is arranged at the mixer barrel on chassis, mixer barrel is built with cement concrete wet pulp, and, condense to prevent the cement concrete wet pulp in mixer barrel, agitator truck is in operational process, and mixer barrel needs ceaselessly to rotate around its axis of revolution under the effect of power part, and its centroid position is also in continuous change, the amount of its transport concrete wet pulp is different, and its centroid position is not identical yet.
Usually, in order to ensure the safety that engineering truck travels and turns, engineering truck is provided with Anti-side-turning device, in prior art, the principle of Anti-side-turning device is mainly based on various sensor and hydraulic efficiency gear two type, but the engineering truck that the Anti-side-turning device used at present and control method thereof are relatively fixed mainly for centroid position, also do not have anti-rolling control method and the control system of the agitator truck design specifically constantly changed for centroid position, chaufeur can only by virtue of experience go to judge traveling state of vehicle.
And, the shipping mass of agitator truck is larger, and therefore barycenter is relatively high, and the barycenter of engineering truck is higher, stability is poorer in transit, especially agitator truck belongs to city transport vehicle, and will carry out turning to, dodging the action of the traveling such as pedestrian and vehicle at most of haulage time, when speed is slightly high, road-holding property is deteriorated, the experience only relied on by means of chaufeur goes to judge traveling state of vehicle, be difficult to judge exactly, can not take measures in time, stop the generation of rollover accident.
Therefore, how providing a kind of control method and the control system that effectively prevent agitator truck turning rollover, is those skilled in that art's problem demanding prompt solutions.
Summary of the invention
Object purport of the present invention is for providing a kind of control method effectively preventing agitator truck turning rollover.On this basis, the present invention also provides a kind of anti-rollover control system and agitator truck.
For solving first technical matters, the invention provides a kind of anti-rolling control method, the cornering stiffnesses for agitator truck controls, and the method is carried out according to following step:
Step S101: obtain the dip angle signal of the charge amount signal of current state, mixer barrel in the mixer barrel of agitator truck, centrifugal acceleration signal when agitator truck is turned;
Step 102: according to dip angle signal, the described centrifugal acceleration signal of described charge amount signal, described mixer barrel, the centnifugal force calculating current state car load gravity and car load divides the moment M1 and moment M2 that are clipped to the inside tire strong point;
Step 103: judge whether M2 is more than or equal to the safe moment M3 determined by M1, wherein, M3=KM1, K are the safety factor between 0 to 1, if M2 is more than or equal to M3, then carry out step S104; Otherwise, carry out step S101;
Step 104: send alerting signal or reduce the speed of a motor vehicle.
Preferably, the signal of charge amount described in step S101 is obtained by the pressure sensor be arranged under described mixer barrel support roller.
Preferably, the signal of charge amount described in step S101 by be arranged at reductor oil pump driving oil circuit, for detect the oil pressure of described reductor oil pump pressure sensor obtain.
Preferably, the signal of charge amount described in step S101 is transmitted in the signal receiving end of described agitator truck by the signal output part of the management system of mixing plant system.
Preferably, the signal receiving end of described agitator truck is GPS receiving system.
Preferably, the car body relevant position of described agitator truck is provided with obliquity sensor and gyro sensor, is respectively used to obtain described dip angle signal and described centrifugal acceleration signal.
Preferably, the numerical value of described safety K is less than or equal to 0.8.
Anti-rolling control method provided by the invention, cornering stiffnesses for agitator truck controls, this control method can obtain charge amount signal by collection signal device, the dip angle signal of mixer barrel and centrifugal acceleration signal, the centnifugal force calculating current state car load gravity and car load according to each parameter signal divides the moment M1 and moment M2 that are clipped to the inside tire strong point, by judging the size of safe moment M3 and moment M2, corresponding control command is sent according to judged result, driving cycle when operating personal can understand the turning of agitator truck according to this control command, it is more accurate that driving cycle when this control method is turned to agitator truck judges, and Real-Time Monitoring can be carried out to running conditions of vehicle, control, vehicle is effectively avoided to turn on one's side, improve the stability of turning, increase the safety that vehicle travels.
On the basis of above-mentioned control method, present invention also offers a kind of anti-rollover control system for agitator truck, comprise collection signal device, controller, executive device;
Described collection signal device for obtain described agitator truck mixer barrel in charge amount signal, the dip angle signal of mixer barrel and described agitator truck turn time centrifugal acceleration signal, and give described controller by gathered signal transmission;
Described controller receive described collection signal device obtain the current value calculated signals current state car load gravity of each parameter and the centnifugal force of car load divide moment M1, the moment M2 and safe moment M3 that are clipped to the inside tire strong point, judge the size of M2 and M3, and send control command, wherein, M3=KM1, K are the safety factor between 0 to 1.
Described executive device performs described control command.
Preferably, described controller also comprises the amending unit for revising moment M1 and moment M2.
Except above-mentioned control method and control system, present invention also offers a kind of agitator truck, the control system comprising car body and prevent described car body from tumbling, described control system is the anti-rollover control system for agitator truck described in above-mentioned any one.
Because anti-rolling control method has above-mentioned technique effect, therefore apply the anti-rollover control system of above-mentioned control method and construction machinery and equipment also should have above-mentioned technique effect.
Accompanying drawing explanation
Fig. 1 is the diagram of circuit of the anti-rolling control method of construction machinery and equipment provided by the present invention;
Fig. 2 is the composition frame chart of a kind of detailed description of the invention of anti-rollover control system provided by the present invention;
Fig. 3 is the composition frame chart of the first detailed description of the invention of anti-rollover control system provided by the present invention;
Fig. 4 is the composition frame chart of the second detailed description of the invention of anti-rollover control system provided by the present invention;
Fig. 5 is the composition frame chart of the third detailed description of the invention of anti-rollover control system provided by the present invention.
Detailed description of the invention
Core purport of the present invention is for providing a kind of control method effectively preventing agitator truck from turning on one's side.On this basis, the present invention also provides a kind of anti-rollover control system and agitator truck.
In order to make those skilled in the art understand technical scheme of the present invention better, below in conjunction with anti-rolling control method and the control system of agitator truck, and the drawings and specific embodiments the present invention is described in further detail.
Please refer to Fig. 1 and Fig. 2, Fig. 1 is the diagram of circuit of the anti-rolling control method of construction machinery and equipment provided by the present invention; Fig. 2 is the composition frame chart of a kind of detailed description of the invention of anti-rollover control system provided by the present invention.
The invention provides a kind of anti-rollover control system for agitator truck, the cornering stiffnesses for agitator truck controls, and comprises collection signal device, controller, executive device; Collection signal device comprises charge amount signal acquisition parts, dip angle signal obtaining widget and centrifugal acceleration signal acquisition parts, charge amount signal acquisition parts for obtain described agitator truck mixer barrel in charge amount signal, dip angle signal obtaining widget is for obtaining the dip angle signal of mixer barrel, gathered signal transmission for obtaining centrifugal acceleration signal when agitator truck is turned, and is given described controller by centrifugal acceleration signal acquisition parts.
Controller receives the current value signal of each parameter that described collection signal device obtains, and various types of signal is resolved the parametric variable be converted into needed for calculating: charge amount parameter, dip angle parameter and centrifugal acceleration parameter, and then by charge amount parameter, dip angle parameter and centrifugal acceleration calculation of parameter obtain current state car load gravity to the centnifugal force of the moment M1 of the inside tire strong point and car load to the moment M2 of the inside tire strong point, the size of the safe moment M3 judging M2 and determined by M1, and send corresponding control command, wherein, M3=KM1, K is the safety factor between 0 to 1, test prove when both ratios about 0.8 time, vehicle not only has reasonable cornering stiffnesses, and conveying efficiency is higher,
According to the realization of above-mentioned functions, controller can comprise calculating unit, comparison of computational results unit, control command output unit, particularly, calculating unit can comprise again centroid computation unit and Calculating Torque during Rotary unit, centroid computation unit is mainly according to the charge amount calculation of parameter charge amount barycenter parameter obtained, and Calculating Torque during Rotary unit is according to above-mentioned charge amount barycenter parameter, dip angle parameter and centrifugal acceleration calculation of parameter moment M1, moment M2 and safe moment M3.
Executive device mainly performs the control command of above-mentioned controller, and this control command can be Signal aspects instruction, also can be action command, and namely executive device can be warning device, also can be power part (driving engine).
When car load centnifugal force is more than or equal to M3 to the moment M2 of the inside tire strong point, controller controls executive device and sends alerting signal or control engine throttle and reduce the speed of a motor vehicle.
Particularly, the flow process of the control method of the anti-rollover control system provided in the present invention can with reference to as shown in Figure 1, and the method can be carried out according to following step:
Step S101: obtain the dip angle signal of the charge amount signal of current state, mixer barrel in the mixer barrel of agitator truck, centrifugal acceleration signal when agitator truck is turned;
Step S102: according to dip angle signal, the described centrifugal acceleration signal of described charge amount signal, described mixer barrel, the centnifugal force calculating current state car load gravity and car load divides the moment M1 and moment M2 that are clipped to the inside tire strong point;
Step S103: judge whether M2 is more than or equal to the safe moment M3 determined by M1, if M2 is more than or equal to M3, then carry out step S104; Otherwise, carry out step S101;
Step S104: send alerting signal or reduce the speed of a motor vehicle.
It should be noted that, the above-mentioned reduction speed of a motor vehicle also comprises the situation speed of a motor vehicle being reduced to zero, and namely control command can the self-actuating brake of dominant project vehicle.
Anti-rolling control method provided by the invention, cornering stiffnesses for agitator truck controls, this control method can obtain charge amount signal by collection signal device, the dip angle signal of mixer barrel and centrifugal acceleration signal, the centnifugal force calculating current state car load gravity and car load according to each parameter signal divides the moment M1 and moment M2 that are clipped to the inside tire strong point, by the size of the safe moment M3 that judges moment M2 and determined by M1, corresponding control command is sent according to judged result, driving cycle when operating personal can understand the turning of agitator truck according to this control command, it is more accurate that driving cycle when this control method is turned to agitator truck judges, and Real-Time Monitoring can be carried out to running conditions of vehicle, control, vehicle is effectively avoided to turn on one's side, improve the stability of turning, increase the safety that vehicle travels.
Wherein, centrifugal acceleration signal when the dip angle signal of mixer barrel, agitator truck are turned in above-mentioned control method can be detected by the obliquity sensor be arranged on agitator truck car body and acceleration pick-up (gyroscope etc.) respectively and obtain, the detection mode of charge amount signal can have various ways, below will introduce several detailed description of the invention.
Please refer to Fig. 3, Fig. 3 is the composition frame chart of the first detailed description of the invention of anti-rollover control system provided by the present invention.
In the embodiment that the first is concrete, in step S101, charge amount signal is obtained by the pressure sensor be arranged under mixer barrel support roller, this pressure sensor is by detecting mixer barrel to the pressure signal of support roller, controller by the parsing to this pressure signal and dip angle signal, centrifugal acceleration signal, judge first to be transformed corresponding parametric variable, then this variable parameter is delivered to the calculating unit arranged in controller and obtains moment M1 and moment M2, the concrete steps that calculating unit solves moment M1 and moment M2 do not repeat them here.
The set-up mode of the detection part of this charge amount signal is fairly simple, is convenient to implement.
The second preferred embodiment in, in above-mentioned steps S101, charge amount signal is by being arranged at the driving oil circuit of reductor oil pump, pressure detection switch for detecting the oil pressure of described reductor oil pump obtains, reductor oil pump is mainly used in driving mixer barrel to rotate, charge amount in mixer barrel is more, driving oil pressure in reductor oil pump is larger, which utilizes the relation between the oil pressure of oil pump and charge amount just, by the parsing of controller, judge the pressure signal of oil pressure to convert the charge amount parameter obtained in mixer barrel, thus realize the calculating of moment M1 and moment M2, this detection mode is measured more accurate, and pressure detection switch can be placed in the inside of Hydraulic Pump or hydraulic oil pipe, environment for use is cleaner, the service life of pressure detection switch can be improved.
Usually, the cement concrete wet pulp in the mixer barrel of agitator truck all fills in mixing plant system, therefore, also can obtain charge amount signal in the following way.
Please refer to Fig. 4, Fig. 4 is the composition frame chart of the second detailed description of the invention of anti-rollover control system provided by the present invention.
The third preferred embodiment in, in step S101, charge amount signal can be transmitted in the signal receiving end of described agitator truck by the signal output part of the management system of mixing plant system; Which can realize the acquisition of agitator truck initial charge signal without the need to arranging pressure detecting part, not only save time of setting up, and the particularity of charge amount signal is higher, the reliability that the anti-tipping control method improving agitator truck calculates, increases the safety that turn inside diameter travels.
The signal receiving end of agitator truck can be GPS receiving system, and which is simply convenient to implement.
In agitator truck transportation, the measurement tool of rotation to carrying capacity signal of mixer barrel has a certain impact, and in order to realize the control accuracy to agitator truck turning operating condition further, can arrange as follows.
Please refer to Fig. 5, Fig. 5 is the composition frame chart of the third detailed description of the invention of anti-rollover control system provided by the present invention.
In a preferred embodiment, controller can also comprise the amending unit for revising moment M1 and moment M2, specifically, be the correction of the intermediate parameters variable one carrying capacity barycenter parameter to factored moment M1 and moment M2, amending unit generally can be revised according to the impact of the rotation of mixer barrel on charge amount barycenter parameter in real time.
Based on above-mentioned anti-rolling control method and control system, present invention also offers a kind of agitator truck, the control system comprising car body and prevent described car body from tumbling, described control system is the anti-rollover control system for agitator truck described in above-mentioned any embodiment.
Because control system has above-mentioned technique effect, therefore the agitator truck with this control system also has above-mentioned technique effect.
Other structures of agitator truck please refer to prior art data, do not repeat at this.
Above anti-rolling control method provided by the present invention, control system and agitator truck are described in detail.Apply specific case herein to set forth principle of the present invention and embodiment, the explanation of above embodiment just understands method of the present invention and core concept thereof for helping.It should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention, can also carry out some improvement and modification to the present invention, these improve and modify and also fall in the protection domain of the claims in the present invention.
Claims (10)
1. an anti-rolling control method, the cornering stiffnesses for agitator truck controls, and it is characterized in that, the method is carried out according to following step:
101) the charge amount signal of current state in the mixer barrel of agitator truck, the dip angle signal of mixer barrel, centrifugal acceleration signal when agitator truck is turned can, be obtained;
102) dip angle signal, according to described charge amount signal, described mixer barrel, described centrifugal acceleration signal, the centnifugal force that can calculate current state car load gravity and car load divides the moment M1 and moment M2 that are clipped to the inside tire strong point;
103), judge whether M2 is more than or equal to the safe moment M3 determined by M1, wherein, M3=KM1, K are the safety factor between 0 to 1, if M2 is more than or equal to M3, then carry out steps 104); Otherwise, carry out step 101);
104), send alerting signal or reduce the speed of a motor vehicle.
2. control method as claimed in claim 1, is characterized in that, step 101) described in charge amount signal obtained by the pressure sensor be arranged under described mixer barrel support roller.
3. control method as claimed in claim 1, is characterized in that, step 101) described in charge amount signal by be arranged at reductor oil pump driving oil circuit, obtain for the pressure sensor detecting the oil pressure of described reductor oil pump.
4. control method as claimed in claim 1, is characterized in that, step 101) described in charge amount signal be transmitted in the signal receiving end of described agitator truck by the signal output part of the management system of mixing plant system.
5. control method as claimed in claim 4, it is characterized in that, the signal receiving end of described agitator truck is GPS receiving system.
6. the control method as described in any one of claim 1 to 5, is characterized in that, the car body relevant position of described agitator truck is provided with obliquity sensor and gyro sensor, is respectively used to obtain described dip angle signal and described centrifugal acceleration signal.
7. the control method as described in any one of claim 1 to 5, is characterized in that, the numerical value of described safety K be less than or equal to 0.8.
8. for an anti-rollover control system for agitator truck, it is characterized in that, comprise collection signal device, controller, executive device;
Described collection signal device for obtain described agitator truck mixer barrel in charge amount signal, the dip angle signal of mixer barrel and described agitator truck turn time centrifugal acceleration signal, and give described controller by gathered signal transmission;
Described controller receives the current value signal of each parameter that described collection signal device obtains, the centnifugal force calculating current state car load gravity and car load divides moment M1, the moment M2 and safe moment M3 that are clipped to the inside tire strong point, judge the size of M2 and M3, and send control command according to judged result, wherein, M3=KM1, K are the safety factor between 0 to 1;
Described executive device performs described control command.
9., as claimed in claim 8 for the anti-rollover control system of agitator truck, it is characterized in that, described controller also comprises the amending unit for revising moment M1 and moment M2.
10. an agitator truck, the control system comprising car body and prevent described car body from tumbling, is characterized in that, described control system is the anti-rollover control system for agitator truck described in any one of claim 8 and 9.
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Effective date of registration: 20130502 Address after: 410100 Changsha economic and Technological Development Zone, Hunan City, the 31 industrial city Applicant after: SANY Automobile Manufacturing Co., Ltd. Address before: 410100 Changsha economic and Technological Development Zone, Hunan City, the 31 industrial city Applicant before: Sanyi Heavy Industry Co., Ltd. |
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