CN102729823B - Engineering vehicle and traveling speed control system thereof - Google Patents
Engineering vehicle and traveling speed control system thereof Download PDFInfo
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Abstract
本发明提出了一种工程车辆及其行走速度控制系统，其中，该行走速度控制系统包括：偏移量感测装置，用于感测工程车辆的脚踏板的偏移量信息；控制器，用于接收该偏移量信息，并根据预设的各偏移量与给定频率的对应关系，确定所述偏移量信息对应的给定频率，以及将所述对应的给定频率发送给所述工程车辆的变频器以控制所述工程车辆的行走速度。本发明能实现变频调速。
The present invention proposes an engineering vehicle and its walking speed control system, wherein the walking speed control system includes: an offset sensing device for sensing the offset information of the pedals of the engineering vehicle; a controller for To receive the offset information, and according to the preset correspondence between each offset and a given frequency, determine the given frequency corresponding to the offset information, and send the corresponding given frequency to the The frequency converter of the engineering vehicle is used to control the walking speed of the engineering vehicle. The invention can realize frequency conversion and speed regulation.
Description
技术领域 technical field
本发明涉及工程车辆领域，具体涉及一种工程车辆及其行走速度控制系统。The invention relates to the field of engineering vehicles, in particular to an engineering vehicle and a walking speed control system thereof.
背景技术 Background technique
目前，工程车辆的行走控制系统大多采用以下几种控制方式：At present, the walking control system of engineering vehicles mostly adopts the following control methods:
1）、使用CAN总线操作手柄向前或后推并将信号发送给控制器，控制器根据手柄的前后动作偏移量将给定频率发送给变频器，变频器驱动行走电机按速行驶；1) Use the CAN bus to push the handle forward or backward and send the signal to the controller. The controller sends the given frequency to the frequency converter according to the front and rear movement offset of the handle, and the frequency converter drives the walking motor to travel at the same speed;
2）、设置慢速、中速、高速三档隔爆开关，通过直流调速来控制电机速度。2) Set the explosion-proof switch in three gears of slow, medium and high speed, and control the motor speed through DC speed regulation.
上述第1）种方式中，由于手柄通常是塑料外壳的，在矿下恶劣的作业环境中，比较容易损坏；上述第2）种方式中由于档位有限，一般只能实现调节几档速度，不能实现变频调速。In the above-mentioned 1) method, since the handle is usually made of a plastic shell, it is relatively easy to be damaged in the harsh working environment under the mine; in the above-mentioned 2) method, due to the limited gears, generally only a few speeds can be adjusted. Frequency conversion speed regulation cannot be realized.
发明内容 Contents of the invention
为了克服现有技术的上述缺陷和不足，本发明的第一目的在于提供一种能实现变频调速的工程车辆的行走速度控制系统，包括：偏移量感测装置，用于感测工程车辆的脚踏板的偏移量信息；控制器，用于接收所述偏移量信息，并根据预设的各偏移量与给定频率的对应关系，确定所述偏移量信息对应的给定频率，以及将所述对应的给定频率发送给所述工程车辆的变频器以控制所述工程车辆的行走速度。In order to overcome the above-mentioned defects and deficiencies of the prior art, the first object of the present invention is to provide a walking speed control system of an engineering vehicle capable of frequency conversion speed regulation, including: an offset sensing device for sensing the speed of the engineering vehicle The offset information of the pedal; the controller is used to receive the offset information, and determine the given frequency corresponding to the offset information according to the preset corresponding relationship between each offset and a given frequency. frequency, and send the corresponding given frequency to the frequency converter of the engineering vehicle to control the walking speed of the engineering vehicle.
进一步地，所述的行走速度控制系统还包括：转速感测装置，用于感测所述工程车辆的轮边减速器的转速信号，并将所述转速信号发送给所述变频器以调整所述工程车辆的行走速度至与所述对应的给定频率相适应。Further, the walking speed control system further includes: a rotational speed sensing device, which is used to sense the rotational speed signal of the wheel reducer of the engineering vehicle, and send the rotational speed signal to the frequency converter to adjust the The walking speed of the engineering vehicle is adapted to the corresponding given frequency.
进一步地，所述转速感测装置包括第一转速感测装置及第二转速感测装置；所述第一转速感测装置用于感测所述工程车辆的左轮边减速器的转速信号，并将所述左轮边减速器的转速信号发送给所述变频器；所述第二转速感测装置用于感测所述工程车辆的右轮边减速器的转速信号，并将所述右轮边减速器的转速信号发送给所述变频器。Further, the rotational speed sensing device includes a first rotational speed sensing device and a second rotational speed sensing device; the first rotational speed sensing device is used for sensing the rotational speed signal of the left wheel reducer of the engineering vehicle, and Send the speed signal of the left wheel speed reducer to the frequency converter; the second speed sensing device is used to sense the speed signal of the right wheel speed reducer of the engineering vehicle, and send the right wheel speed signal to the frequency converter; The speed signal of the reducer is sent to the frequency converter.
进一步地，所述转速感测装置为增量编码器或转速传感器。Further, the rotational speed sensing device is an incremental encoder or a rotational speed sensor.
进一步地，所述偏移量感测装置为角度传感器，所述偏移量信息为角度偏移量信息；或者所述偏移量感测装置为位移传感器，所述偏移量信息为位移偏移量信息。Further, the offset sensing device is an angle sensor, and the offset information is angle offset information; or the offset sensing device is a displacement sensor, and the offset information is a displacement offset information.
进一步地，所述角度传感器安装在隔爆箱中，所述角度传感器通过连接杆机构与脚踏板连接。Further, the angle sensor is installed in the explosion-proof box, and the angle sensor is connected with the pedal through a connecting rod mechanism.
进一步地，所述角度传感器为非接触式霍尔角度传感器。Further, the angle sensor is a non-contact Hall angle sensor.
进一步地，所述位移传感器设置在所述工程车辆的脚踏板上Further, the displacement sensor is arranged on the pedal of the engineering vehicle
为了克服现有技术的上述缺陷和不足，本发明的第二目的在于提供一种工程车辆，设置有上述任一种行走速度控制系统。In order to overcome the above-mentioned defects and deficiencies of the prior art, the second object of the present invention is to provide an engineering vehicle equipped with any one of the above-mentioned walking speed control systems.
进一步地，所述工程车辆为井下无轨胶轮车辆。Further, the engineering vehicle is an underground trackless rubber-tyred vehicle.
本发明工程车辆的行走速度控制系统通过采用偏移量感测装置输出连续信号，相应地，控制器发送给变频器的给定频率为不同的频率信息，从而实现连续（变频）调速。The walking speed control system of the engineering vehicle of the present invention uses the offset sensing device to output continuous signals, and correspondingly, the given frequency sent by the controller to the frequency converter is different frequency information, thereby realizing continuous (frequency conversion) speed regulation.
附图说明 Description of drawings
图1为本发明工程车辆的行走速度控制系统的实施例结构示意图；Fig. 1 is the embodiment structural representation of the walking speed control system of engineering vehicle of the present invention;
图2为本发明工程车辆的行走速度控制系统中角度传感器的安装示意图。Fig. 2 is a schematic diagram of the installation of the angle sensor in the walking speed control system of the engineering vehicle of the present invention.
具体实施方式 Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
如图1所示，本发明工程车辆的行走速度控制系统实施例包括：偏移量感测装置1，用于感测工程车辆的脚踏板的偏移量信息；控制器3，用于接收该偏移量信息，并根据预设的各偏移量与给定频率的对应关系，确定偏移量信息对应的给定频率，以及将对应的给定频率发送给工程车辆的变频器5以控制工程车辆的行走速度。As shown in Figure 1, the embodiment of the walking speed control system of the engineering vehicle of the present invention includes: an offset sensing device 1, which is used to sense the offset information of the pedals of the engineering vehicle; a controller 3, which is used to receive the offset information Offset information, and according to the preset corresponding relationship between each offset and given frequency, determine the given frequency corresponding to the offset information, and send the corresponding given frequency to the frequency converter 5 of the engineering vehicle to control The walking speed of the engineering vehicle.
其中，上述各偏移量与给定频率的对应关系预先存储在控制器3中，如偏移量a1对应定频率b1、偏移量a2对应定频率b2、偏移量a3对应定频率b3，依次类推，可以包括多个偏移量与给定频率的对应关系；在控制器3接收到偏移量感测装置1发送的偏移量信息，如a1时，则可以依照上述预存的对应关系确定与偏移量感测装置1发送的偏移量信息对应的给定频率，如b1。上述变频器5根据控制器3发送的给定频率驱动行走电机7及轮边减速机9工作，以实现对工程车辆的行走速度的控制为现有技术，在此不再赘述。具体操作时，上述变频器5与控制器3之间可以通过CAN总线连接。Wherein, the corresponding relationship between the above-mentioned offsets and the given frequency is pre-stored in the controller 3, such as the offset a1 corresponds to the fixed frequency b1, the offset a2 corresponds to the fixed frequency b2, and the offset a3 corresponds to the fixed frequency b3, By analogy, it can include the correspondence between multiple offsets and a given frequency; when the controller 3 receives the offset information sent by the offset sensing device 1, such as a1, it can be determined according to the above-mentioned pre-stored correspondence. A given frequency corresponding to the offset information sent by the offset sensing device 1, such as b1. The above frequency converter 5 drives the travel motor 7 and the wheel reducer 9 to work according to the given frequency sent by the controller 3, so as to realize the control of the travel speed of the construction vehicle is a prior art, and will not be repeated here. During specific operation, the frequency converter 5 and the controller 3 may be connected through a CAN bus.
由于上述偏移量感测装置1输出的偏移量信息是连续信号，相应地，控制器3发送给变频器5的给定频率为不同的频率信息（变频），从而通过变频器5、行走电机7及轮边减速机9的联合作用实现连续（变频）调速。Since the offset information output by the above-mentioned offset sensing device 1 is a continuous signal, correspondingly, the given frequency sent by the controller 3 to the frequency converter 5 is different frequency information (frequency conversion), so that through the frequency converter 5, the walking motor 7 and the combined effect of the wheel reducer 9 to realize continuous (frequency conversion) speed regulation.
根据变频器5现有的工作特性可知，图1中的偏移量感测装置1、控制器3、变频器5、行走电机7及轮边减速机9依次进行信号传递，形成开环链路，变频器5即使输出给定频率，行走电机7的转速也会在额定转差率的范围内（一般为1%~5%）变动；故，优选地，上述变频器5可采用具有反馈功能的变频器，相应地，上述行走速度控制系统还包括：转速感测装置2，用于感测工程车辆的轮边减速器9的转速信号，并将转速信号发送（反馈）给变频器5以调整工程车辆的行走速度至与上述对应的给定频率相适应，即保证行走电机7的转速与上述对应的给定频率基本对应，没有偏差。其中，变频器5根据转速感测装置2反馈的转速信号对行走速度进行调整为变频器5的现有反馈功能，在此不再赘述。According to the existing working characteristics of the frequency converter 5, the offset sensing device 1, the controller 3, the frequency converter 5, the travel motor 7 and the wheel speed reducer 9 in Fig. 1 perform signal transmission in sequence to form an open-loop link, Even if the inverter 5 outputs a given frequency, the speed of the traveling motor 7 will vary within the range of the rated slip (generally 1%~5%); therefore, preferably, the above-mentioned inverter 5 can use a Frequency converter, correspondingly, the above-mentioned walking speed control system further includes: a rotational speed sensing device 2, which is used to sense the rotational speed signal of the wheel-side reducer 9 of the engineering vehicle, and send (feedback) the rotational speed signal to the frequency converter 5 to adjust The walking speed of the engineering vehicle is adapted to the above-mentioned corresponding given frequency, that is, to ensure that the speed of the traveling motor 7 basically corresponds to the above-mentioned corresponding given frequency without deviation. Wherein, the frequency converter 5 adjusts the walking speed according to the rotational speed signal fed back by the rotational speed sensing device 2 , which is the existing feedback function of the frequency converter 5 , which will not be repeated here.
通过利用转速感测装置2作为工程车辆的实时行走速度的反馈装置，与偏移量感测装置1联合作用，实现了工程车辆的行走速度的闭环调节，能确保工程车辆的实时行走速度与控制器3发送给变频器5的给定频率基本对应，提高了调速精度，保证行走电机7在近于给定速度下运转，进而保证工程车辆行走速度的精度要求。By using the rotational speed sensing device 2 as the feedback device of the real-time walking speed of the engineering vehicle, and acting in conjunction with the offset sensing device 1, the closed-loop adjustment of the walking speed of the engineering vehicle is realized, which can ensure that the real-time walking speed of the engineering vehicle is compatible with the controller 3 The given frequency sent to the frequency converter 5 is basically corresponding, which improves the accuracy of speed regulation and ensures that the traveling motor 7 runs at a speed close to the given speed, thereby ensuring the accuracy requirements of the walking speed of the engineering vehicle.
继续参考图1，具体操作时变频器5、行走电机7及轮边减速机9在工程车辆中一般为左右对称设置，即变频器5包括左变频器51、右变频器53；行走电机7包括左行走电机71、右行走电机73；轮边减速机9包括左轮边减速机91、右轮边减速机93；其中，左变频器51对应控制左行走电机71及左轮边减速机91；右变频器53对应控制右行走电机73及右轮边减速机93；相应地，转速感测装置2包括第一转速感测装置21及第二转速感测装置23；其中，第一转速感测装置21用于感测工程车辆的左轮边减速器91的转速信号，并将左轮边减速器91的转速信号发送给左变频器51；第二转速感测装置93用于感测工程车辆的右轮边减速器93的转速信号，并将右轮边减速器93的转速信号发送给右变频器53。Continuing to refer to Fig. 1, the inverter 5, the travel motor 7 and the wheel reducer 9 are generally symmetrically arranged in the construction vehicle during specific operations, that is, the inverter 5 includes a left inverter 51 and a right inverter 53; the travel motor 7 includes Left travel motor 71, right travel motor 73; Wheel limit reducer 9 comprises left wheel limit reducer 91, right wheel limit reducer 93; Wherein, left frequency converter 51 corresponds to control left travel motor 71 and left wheel limit reducer 91; Right frequency conversion Device 53 correspondingly controls right travel motor 73 and right wheel side reducer 93; Correspondingly, rotational speed sensing device 2 comprises first rotational speed sensing device 21 and second rotational speed sensing device 23; Wherein, first rotational speed sensing device 21 Used to sense the rotational speed signal of the left wheel side reducer 91 of the engineering vehicle, and send the rotational speed signal of the left wheel side speed reducer 91 to the left frequency converter 51; the second rotational speed sensing device 93 is used for sensing the right wheel side of the engineering vehicle The speed signal of the speed reducer 93, and the speed signal of the right wheel speed reducer 93 is sent to the right frequency converter 53.
具体操作时，上述第一转速感测装置21及第二转速感测装置23可以为增量编码器或转速传感器。第一转速感测装置21及第二转速感测装置23可以分别对应设置在左轮边减速机91及右轮边减速机93上，以保证感测的准确性。During specific operation, the first rotational speed sensing device 21 and the second rotational speed sensing device 23 may be incremental encoders or rotational speed sensors. The first rotational speed sensing device 21 and the second rotational speed sensing device 23 can be correspondingly arranged on the left wheel side reducer 91 and the right wheel side reducer 93 respectively, so as to ensure the accuracy of sensing.
此外，上述偏移量感测装置1可以为如图2所示的角度传感器11或位移传感器（图未示）等。其中，当采用角度传感器11时，上述偏移量信息为脚踏板的角度偏移量信息，当采用位移传感器时，上述偏移量信息为脚踏板的相对位移信息（也可以称为位移偏移量信息）。角度传感器11及位移传感器均为现有的感测装置，二者的结构及作用过程不再赘述。可以理解的是，上述偏移量感测装置1的安装位置可以根据实际需要设置，只需保证实现相应的功能即可。如：位移传感器可以设置在工程车辆的脚踏板上，随着脚踏板的移动而移动，以检测脚踏板的相对位移。当然，位移传感器还可以设置在脚踏板以外的位置，如脚踏板运动轨迹的延长线上，位移传感器通过检测自身与脚踏板之间的距离变化来感测脚踏板的相对位移。In addition, the above-mentioned offset sensing device 1 may be an angle sensor 11 as shown in FIG. 2 or a displacement sensor (not shown). Wherein, when the angle sensor 11 is adopted, the above-mentioned offset information is the angle offset information of the pedal, and when the displacement sensor is adopted, the above-mentioned offset information is the relative displacement information of the pedal (also referred to as displacement information). offset information). Both the angle sensor 11 and the displacement sensor are existing sensing devices, and the structure and function process of the two will not be repeated here. It can be understood that the installation position of the above-mentioned offset sensing device 1 can be set according to actual needs, and it only needs to ensure that the corresponding functions are realized. For example: the displacement sensor can be set on the foot pedal of the engineering vehicle, and moves with the movement of the foot pedal to detect the relative displacement of the foot pedal. Of course, the displacement sensor can also be arranged at a position other than the pedal, such as on the extension line of the motion track of the pedal, and the displacement sensor senses the relative displacement of the pedal by detecting the distance change between itself and the pedal.
如图2所示，在上述偏移量感测装置1采用角度传感器11时，为了防止角度传感器11被损坏，可以将角度传感器11安装在隔爆箱41中，角度传感器11通过连接杆机构42与脚踏板43连接。这样，当脚踏板43被踩踏时，连接杆机构42带动角度传感器11运动，以实现角度偏移量的感测。上述将角度传感器11安装在隔爆箱41中特别适用安全性不高的井下作业环境，如上述行走速度控制系统应用于井下无轨胶轮车辆（如梭车）时，能有效地保护角度传感器11，避免其损坏。As shown in Figure 2, when the above-mentioned offset sensing device 1 adopts the angle sensor 11, in order to prevent the angle sensor 11 from being damaged, the angle sensor 11 can be installed in the explosion-proof box 41, and the angle sensor 11 is connected with the connecting rod mechanism 42. Pedal 43 is connected. In this way, when the pedal 43 is stepped on, the connecting rod mechanism 42 drives the angle sensor 11 to move, so as to realize the sensing of the angle offset. The above installation of the angle sensor 11 in the explosion-proof box 41 is especially suitable for underground working environments with low safety. For example, when the above-mentioned walking speed control system is applied to an underground trackless rubber-tyred vehicle (such as a shuttle car), it can effectively protect the angle sensor 11. , to avoid its damage.
优选地，为了提高采集信号的准确性，上述角度传感器11可以采用抗干扰能力强的非接触式霍尔角度传感器，以精确确定脚踏板43的偏移量。Preferably, in order to improve the accuracy of the collected signals, the above-mentioned angle sensor 11 can use a non-contact Hall angle sensor with strong anti-interference ability, so as to accurately determine the offset of the pedal 43 .
上述行走速度控制系统的工作原理简述如下（以偏移量感测装置1采用角度传感器11为例进行举例说明）：角度传感器11检测脚踏板43的角度偏移量，并将检测到的角度偏移量传送给控制器3，控制器3确定与该角度偏移量对应的给定频率，并将该对应的给定频率发送给左变频器51和右变频器53，左变频器51和右变频器53按照给定频率对应驱动左行走电机71、右行走电机73按速行驶；第一转速感测装置21、第二转速感测装置23分别将左轮边减速器91及右轮边减速器93的转速信号对应发送至左变频器51和右变频器53以调整工程车辆的行走速度。The working principle of the above-mentioned walking speed control system is briefly described as follows (taking the offset sensing device 1 using the angle sensor 11 as an example): the angle sensor 11 detects the angle offset of the pedal 43, and the detected angle The offset is sent to the controller 3, and the controller 3 determines the given frequency corresponding to the angle offset, and sends the corresponding given frequency to the left converter 51 and the right converter 53, the left converter 51 and the The right frequency converter 53 correspondingly drives the left traveling motor 71 and the right traveling motor 73 according to a given frequency to travel at a speed; The rotation speed signal of the controller 93 is correspondingly sent to the left inverter 51 and the right inverter 53 to adjust the walking speed of the engineering vehicle.
本发明各实施例通过采用偏移量感测装置输出连续信号，相应地，控制器发送给变频器的给定频率为不同的频率信息（变频），从而实现连续（变频）调速；优选地，通过利用转速感测装置与偏移量感测装置、控制器、变频器、行走电机及轮边减速机组成闭环速度控制系统，并利用变频器的现有反馈功能，提高工程车辆行走速度的精度；优选地，将角度传感器设置在隔爆箱中，角度传感器不易损坏，结实耐用。Various embodiments of the present invention output continuous signals by using the offset sensing device, and correspondingly, the given frequency sent by the controller to the frequency converter is different frequency information (frequency conversion), thereby realizing continuous (frequency conversion) speed regulation; preferably, By using the speed sensing device and offset sensing device, controller, frequency converter, travel motor and wheel-side reducer to form a closed-loop speed control system, and using the existing feedback function of the frequency converter, the accuracy of the walking speed of the engineering vehicle is improved; Preferably, the angle sensor is arranged in the explosion-proof box, the angle sensor is not easy to be damaged, and is strong and durable.
以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention within.
Claims (9)
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| CN114545986A (en) * | 2022-03-08 | 2022-05-27 | 山西平阳重工机械有限责任公司 | Graded voltage adjusting device and positioner control system adopting same |
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| CN1558048A (en) * | 2004-01-18 | 2004-12-29 | 三一重工股份有限公司 | Limit load adjustment method of all hydraulic bulldozer and apparatus thereof |
| CN1861445A (en) * | 2004-10-28 | 2006-11-15 | 特克斯特朗有限公司 | Ac drive system for electrically operated vehicle |
| CN201224332Y (en) * | 2008-04-17 | 2009-04-22 | 交通部水运科学研究所 | Electronic throttle apparatus of straddle carrier |
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| JPS59126154A (en) * | 1982-12-29 | 1984-07-20 | Yanmar Diesel Engine Co Ltd | Travelling speed change gear for full-turning system vehicle |
| JP2744707B2 (en) * | 1991-02-05 | 1998-04-28 | 日立建機株式会社 | Engine speed control device for hydraulically driven vehicle |
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| CN1558048A (en) * | 2004-01-18 | 2004-12-29 | 三一重工股份有限公司 | Limit load adjustment method of all hydraulic bulldozer and apparatus thereof |
| CN1861445A (en) * | 2004-10-28 | 2006-11-15 | 特克斯特朗有限公司 | Ac drive system for electrically operated vehicle |
| CN201224332Y (en) * | 2008-04-17 | 2009-04-22 | 交通部水运科学研究所 | Electronic throttle apparatus of straddle carrier |
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