CN102929239B - Distribution type automatic leveling device poll control method of special vehicle - Google Patents
Distribution type automatic leveling device poll control method of special vehicle Download PDFInfo
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- CN102929239B CN102929239B CN201210416271.6A CN201210416271A CN102929239B CN 102929239 B CN102929239 B CN 102929239B CN 201210416271 A CN201210416271 A CN 201210416271A CN 102929239 B CN102929239 B CN 102929239B
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- supporting leg
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- inclination angle
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a distribution type automatic leveling device poll control method of a special vehicle. When an inclined angle collector receives an automatic leveling instruction of a user, a leveling stating instruction is sent; all supporting leg controllers which are connected with an RS485 bus in series receive the instruction and supporting leg leveling control rights are mutually polled to realize coordinated leveling; when the inclined angle collector receives the automatic leveling instruction of the user, a leveling stopping instruction is sent; and after all the supporting leg controllers receive the instruction, the supporting leg leveling control rights are not polled to enter a dormant state. The inclined angle collector is only responsible for collecting two-dimensional inclined angle information and carrying out data communication of the supporting leg controllers, so that the inclined angle collector is not interfered by a motor drive, and the system stability and reliability are higher. According to the a distribution type automatic leveling device poll control method of the special vehicle, the reliability of the automatic leveling is improved; the dependence on supporting legs by an automatic leveling system is reduced; the leveling manner is more flexible and various and the supporting legs can be controlled to move upward or downward; and when the leveling is not successful, sub-optimal leveling state can be automatically realized.
Description
Technical field
The present invention relates to a kind of distributed polling control method, specifically the distributed self-level(l)ing device polling control method of a kind of special vehicle.
Background technology
Special vehicle mainly refers to the special-purpose vehicle of industries such as being applicable to army, news, oil, health, tourism, fire-fighting rescue, earthquake commander.In recent years since, China's economic development is rapid, and people improve fast to the requirement of quality of life and social security, and the research and development of special vehicle correlation technique are also subject to scientific worker's attention day by day.Automatic horizontal control system, as an important control technology of special vehicle, has caused the extensive concern of automotive electronics research and development institution.Existing vehicle automatic horizontal control system adopts the sensors such as inclination angle, pressure, stroke to carry out the various status informations of collection vehicle mostly, by centralized microprocessor, utilizes complicated control method to realize the automatic leveling of vehicle.This control technology comparatively speaking, realized the accurate collection of the real-time information such as inclination of vehicle degree, each lifting jack support situation, motor drive current, lifting jack stroke size, there is the features such as leveling precision is higher, leveling speed, but also there is the shortcomings such as poor reliability, extendability be poor: once abnormal failure has appearred in microprocessor system, whole automatic horizontal control system cannot normally be worked, and even more serious will cause system crash and cause accident; Special vehicle supporting leg number is not identical, and some has 4 supporting legs, and some has 6 supporting legs, if once number of legs changes, and automatic horizontal control system cannot be suitable for, therefore cannot carry out simple and effective system extension.
Summary of the invention
The object of the present invention is to provide the distributed automatic horizontal control system polling control method of a kind of special vehicle, it does not have centralized microprocessor, automatic leveling control method does not adopt centralized control method, but cooperated automatic leveling by the separate microprocessor of each supporting leg, controls.
The step of the technical solution used in the present invention is as follows:
Step 1) inclination angle collector and each supporting leg controller start, and supporting leg controller, in " leveling preparation " state, is waited for and received data, the default supporting leg number of inclination angle collector transmission Single Chip Microcomputer (SCM) program
non RS485 bus, all supporting leg controllers receive supporting leg number
nand be stored in E
2pROM, then enters in " data wait " state, then enters step 2);
Step 2) telechiric device sends automatic leveling enabled instruction, and actuation means receives wireless remote control signals, sends to inclination angle collector automatic leveling enabled instruction, then enters step 3);
Step 3) inclination angle collector sends enabled instruction on RS485 bus, all supporting leg controllers receive after " leveling starts " instruction, enter " inclination angle wait " state, the timing that simultaneously starts timer is T1, the wait T1 time is not received the inclination data of inclination angle collector, send " inclination angle renewal " instruction, then circular wait obliquity information, then enters step 4);
Step 4) inclination angle collector gathers the current two-dimentional inclination angle value of special vehicle, then sends two-dimentional inclination angle and is worth in RS485 bus, then enters step 5)
The all supporting leg controllers of step 5) receive current two-dimentional inclination angle value, then enter " data wait " state, then enter step 6);
The all supporting leg controllers of step 6) are carried out " level judgement " algorithm, judge whether leveling; If inclination data does not meet leveling condition, enter step 7) step; If inclination data has met leveling condition, enter step 6.1);
Step 6.1) all supporting leg controllers is carried out " minimum angle judgement " algorithm, then enters (6.2);
Step 6.2) minimum angle supporting leg controller is carried out " whether carrying out abnormal leveling judgement " algorithm, then enters 6.3);
Step 6.3), if do not carry out abnormal leveling, minimum angle supporting leg controller sends " leveling success " instruction; If carried out abnormal leveling, minimum angle supporting leg controller sends " leveling completes " instruction, then enters step 6.4);
Step 6.4) all supporting leg controllers enters dormant state, then enters step 6.5);
Step 6.5) inclination angle collector receives after " leveling success " or " leveling completes ", notices actuation means and carries out the demonstration of automatic leveling result;
The all supporting leg controllers of step 7) are carried out " fault judgement " algorithm, judge former primary dip value and work as the poor of top rake value, then enter step 8);
If step 8) change of pitch angle value, whether lower than threshold value, enters step 9); If change of pitch angle value, whether higher than threshold value, enters step 10);
The all supporting leg controllers of step 9) are carried out " normal leveling " algorithm, judge whether minimum altitude supporting leg, if minimum altitude supporting leg controller is carried out supporting leg and stretched action; If not minimum altitude supporting leg controller, attonity, enters " data wait " state, then enters step 11);
The all supporting leg controllers of step 10) are carried out " abnormal leveling " algorithm, judge whether maximum height supporting leg, if maximum height supporting leg controller is carried out supporting leg contracting action; If not maximum height supporting leg controller, attonity, enters " data wait " state, then enters step 11);
After the supporting leg controller action of step 11) action executing supporting leg, send " action completes " instruction to inclination angle collector, then enter reception waiting status;
If step 12) telechiric device sends automatic leveling halt instruction, actuation means receives wireless remote control signals, sends to inclination angle collector automatic leveling halt instruction, then enters step 13);
Step 13) inclination angle collector sends " leveling stops " instruction on RS485 bus, and all supporting leg controllers receive after " leveling stops " instruction, stop all execution algorithms, enter reception waiting status.
Compare with background technology, the beneficial effect that the present invention has is:
1) adopt distributed supporting leg leveling control mode, improved self-leveling reliability.
2) adopt distributed supporting leg leveling control mode, improved the dependence of automatic horizontal control system to supporting leg number.
3) leveling mode is more versatile and flexible, can control supporting leg downlink or uplink.
4) leveling report the test clear and definite, leveling is unsuccessful also can realize time good leveling state automatically, and reports that leveling completes.
Accompanying drawing explanation
Fig. 1 is that special vehicle supporting leg of the present invention supports situation schematic diagram (supporting leg number
n=6).
Fig. 2 is special vehicle automatic leveling dcs theory diagram of the present invention.
Fig. 3 is automatic leveling system of special vehicle polling control method FB(flow block) of the present invention.
Fig. 4 is that special vehicle supporting leg of the present invention is
n=4 o'clock level inclination θ x, θ y schematic diagram.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
As shown in Figure 1, special vehicle stops on a supporting surface that has a degree of tilt, has 6 supports (support 1, support 2, support 3, support 4, support 5, support 6), support is symmetrically fixed on vehicle gooseneck, and supporting leg controller is installed on each support, and inclination angle collector is housed on vehicle body.
As shown in Figure 1 and Figure 2, the distributed self-level(l)ing device of special vehicle the present invention relates to forms (in Fig. 2, N is 6) by telechiric device, actuation means, inclination angle collector, a N supporting leg controller, a N electric machine controller, a N motor-driven jack.Between the telechiric device the present invention relates to and actuation means, wireless signal is connected; Between actuation means and inclination angle collector, signal is connected; Between inclination angle collector and six supporting leg controllers, RS485 bus is connected, and the RX line of each supporting leg controller is connected with the RX line of inclination angle collector, and the TX line of each supporting leg controller is connected with the TX line of inclination angle collector; Supporting leg controller is connected with electric machine controller signal, and electric machine controller is connected with motor-driven jack signal; The power positive end of inclination angle collector and N supporting leg controller is received the positive pole of special vehicle power supply, and the power supply negative terminal of inclination angle collector and N supporting leg controller is received the negative pole of special vehicle power supply.Because supporting leg controller is mutually independently, duty separately can not influence each other, so the reliability of total system is higher.After supporting leg number changes, supporting leg director demon, without change, only need to change the supporting leg variable of inclination angle collector internal program, so extensibility is also stronger.
As shown in Figure 3, the present invention relates generally to the poll leveling control method between supporting leg controller and inclination angle collector, mainly comprises following steps:
(1) inclination angle collector and each supporting leg controller start.Supporting leg controller, in " leveling preparation " state, is waited for and is received data.Inclination angle collector sends the default supporting leg number of Single Chip Microcomputer (SCM) program
n(N=4 or 6), on RS485 bus, all supporting leg controllers receive supporting leg number
nand be stored in E
2pROM, then enters in " data wait " state.Then enter step (2).
(2) telechiric device sends automatic leveling enabled instruction, and actuation means receives wireless remote control signals, sends to inclination angle collector automatic leveling enabled instruction.Then enter step (3).
(3) inclination angle collector sends enabled instruction on RS485 bus, and all supporting leg controllers receive after " leveling starts " instruction, enter " inclination angle wait " state.Start timer T1, the wait T1 time is not received the inclination data of inclination angle collector simultaneously, sends " inclination angle renewal " instruction, then circular wait obliquity information.Then enter step (4).
(4) inclination angle collector gathers the current two-dimentional inclination angle value of special vehicle, then sends two-dimentional inclination angle and is worth in RS485 bus.Then enter step (5).
(5) all supporting leg controllers receive current two-dimentional inclination angle value, then enter " data wait " state.Then enter step (6).
(6) all supporting leg controllers are carried out " level judgement " algorithm, judge whether leveling.If inclination data does not meet leveling condition, enter step (7); If inclination data has met leveling condition, enter step (6.1).
(6.1) all supporting leg controllers are carried out " minimum angle judgement " algorithm, then enter step (6.2);
(6.2) minimum angle supporting leg controller is carried out " whether carrying out abnormal leveling judgement " algorithm, then enters step (6.3);
(6.3), if do not carry out abnormal leveling, minimum angle supporting leg controller sends " leveling success " instruction; If carried out abnormal leveling, minimum angle supporting leg controller sends " leveling completes " instruction, then enters step (6.4);
(6.4) all supporting leg controllers enter dormant state, then enter step (6.5);
(6.5) inclination angle collector receives after " leveling success " or " leveling completes ", notices actuation means and carries out the demonstration of automatic leveling result.
(7) all supporting leg controllers are carried out " fault judgement " algorithm, judge former primary dip value and work as the poor of top rake value.Then enter step (8).
(8) if change of pitch angle value whether lower than threshold value, enters step (9); If change of pitch angle value whether higher than threshold value, enters step (10).
(9) all supporting leg controllers are carried out " normal leveling " algorithm, judge whether minimum altitude supporting leg, if minimum altitude supporting leg controller is carried out supporting leg and stretched action; If not minimum altitude supporting leg controller, attonity, enters " data wait " state.Then enter step (11).
(10) all supporting leg controllers are carried out " abnormal leveling " algorithm, judge whether maximum height supporting leg, if maximum height supporting leg controller is carried out supporting leg contracting action; If not maximum height supporting leg controller, attonity, enters " data wait " state.Then enter step (11).
(11) after the supporting leg controller action of action executing supporting leg, send " action completes " instruction to inclination angle collector, then enter reception waiting status.
(12) if telechiric device sends automatic leveling halt instruction, actuation means receives wireless remote control signals, sends to inclination angle collector automatic leveling halt instruction.Then enter step (13).
(13) inclination angle collector sends " leveling stops " instruction on RS485 bus, and all supporting leg controllers receive after " leveling stops " instruction, stop all execution algorithms, enter reception waiting status.
Supplementary notes:
(1) as shown in Figure 4, " level judgement " algorithm that supporting leg controller of the present invention is carried out is as follows: when θ x<0.01 degree and two conditions of θ y<0.01 degree meet simultaneously, " level judgement " algorithm judgment result is that leveling; No person, " level judgement " algorithm judgment result is that not leveling;
(2) " fault judgement " algorithm that supporting leg controller of the present invention is carried out is as follows: the two-dimentional inclination data θ x1 that records inclination angle collector gained of last cycle of leveling implementation, the two-dimentional inclination data θ x2 of θ y1 and a rear cycle inclination angle collector gained, θ y2, if when θ x2< θ x1 and these two conditions of θ y2< θ y1 have one to meet, " fault judgement " algorithm judgment result is that not fault; No person, " fault judgement " algorithm judgment result is that and breaks down.
(3) as shown in Figure 4, " minimum angle judgement " algorithm that supporting leg controller of the present invention is carried out is as follows: when θ x>0 degree and two conditions of θ y>0 degree meet simultaneously, " minimum angle judgement " algorithm judgement supporting leg 1 is minimum supporting leg, and supporting leg 4 is the highest supporting leg.
(4) " normal leveling " algorithm that supporting leg controller of the present invention is carried out refers to such an extent that be drive motor forward, carry out supporting leg and stretch action, by progressively increasing a leg length, make two-dimentional inclination data θ x and the θ y of inclination angle collector gained as far as possible little, finally by " level judgement " algorithm, judgment result is that leveling.
(5) " abnormal leveling " algorithm that supporting leg controller of the present invention is carried out refers to such an extent that be drive motor reversion, carry out supporting leg contracting action, by gradually reducing a leg length, make two-dimentional inclination data θ x and the θ y of inclination angle collector gained as far as possible little, finally by " level judgement " algorithm, judgment result is that leveling.
(6) inclination angle collector is responsible for safeguarding timer T2 and T3.If T2 does not receive the data command of any supporting leg controller in the time, send " inclination data " on RS485 bus.If T3 does not receive the data command of any supporting leg controller in the time, send " leveling failure " instruction to actuation means.The timing value of timer T1, T2 and T3 can regulate according to special vehicle counterweight.
(7) in the algorithm of supporting leg controller judgement minimum altitude supporting leg of the present invention and maximum height supporting leg, can select voluntarily control algolithm according to the difference of supporting leg number, support at present supporting leg to count the situation of N=4 or N=6.
(8) what adopt due to RS485 is half-duplex operation mode, so inclination angle collector and all supporting leg controllers are sending instruction or executing after algorithm, enter at once reception waiting status.
Claims (1)
1. the distributed self-level(l)ing device polling control method of special vehicle, is characterized in that the step of the method is as follows:
Step 1) inclination angle collector and each supporting leg controller start, and supporting leg controller, in " leveling preparation " state, is waited for and received data, the default supporting leg number of inclination angle collector transmission Single Chip Microcomputer (SCM) program
non RS485 bus, all supporting leg controllers receive supporting leg number
nand be stored in E
2pROM, then enters in " data wait " state, then enters step 2);
Step 2) telechiric device sends automatic leveling enabled instruction, and actuation means receives wireless remote control signals, sends to inclination angle collector automatic leveling enabled instruction, then enters step 3);
Step 3) inclination angle collector sends enabled instruction on RS485 bus, all supporting leg controllers receive after " leveling starts " instruction, enter " inclination angle wait " state, the timing that simultaneously starts timer is T1, the wait T1 time is not received the inclination data of inclination angle collector, send " inclination angle renewal " instruction, then circular wait obliquity information, then enters step 4);
Step 4) inclination angle collector gathers the current two-dimentional inclination angle value of special vehicle, then sends two-dimentional inclination angle and is worth in RS485 bus, then enters step 5)
The all supporting leg controllers of step 5) receive current two-dimentional inclination angle value, then enter " data wait " state, then enter step 6);
The all supporting leg controllers of step 6) are carried out " level judgement " algorithm, judge whether leveling; If inclination data does not meet leveling condition, enter step 7) step; If inclination data has met leveling condition, enter step 6.1);
Step 6.1) all supporting leg controllers is carried out " minimum angle judgement " algorithm, then enters (6.2);
Described " minimum angle judgement " algorithm is: when θ x>0 degree and two conditions of θ y>0 degree meet simultaneously, " minimum angle judgement " algorithm judgement supporting leg 1 is minimum supporting leg, and supporting leg 4 is the highest supporting leg;
Step 6.2) minimum angle supporting leg controller is carried out " whether carrying out abnormal leveling judgement " algorithm, then enters 6.3);
Step 6.3), if do not carry out abnormal leveling, minimum angle supporting leg controller sends " leveling success " instruction; If carried out abnormal leveling, minimum angle supporting leg controller sends " leveling completes " instruction, then enters step 6.4);
Step 6.4) all supporting leg controllers enters dormant state, then enters step 6.5);
Step 6.5) inclination angle collector receives after " leveling success " or " leveling completes ", notices actuation means and carries out the demonstration of automatic leveling result;
The all supporting leg controllers of step 7) are carried out " fault judgement " algorithm, judge former primary dip value and work as the poor of top rake value, then enter step 8);
If step 8) change of pitch angle value is lower than threshold value, enter step 9); If change of pitch angle value is higher than threshold value, enter step 10);
The all supporting leg controllers of step 9) are carried out " normal leveling " algorithm, judge whether to belong to minimum altitude supporting leg, if minimum altitude supporting leg controller is carried out supporting leg and stretched action; If not minimum altitude supporting leg controller, attonity, enters " data wait " state, then enters step 11);
The all supporting leg controllers of step 10) are carried out " abnormal leveling " algorithm, judge whether to belong to maximum height supporting leg, if maximum height supporting leg controller is carried out supporting leg contracting action; If not maximum height supporting leg controller, attonity, enters " data wait " state, then enters step 11);
After the supporting leg controller action of step 11) action executing supporting leg, send " action completes " instruction to inclination angle collector, then enter reception waiting status;
If step 12) telechiric device sends automatic leveling halt instruction, actuation means receives wireless remote control signals, sends to inclination angle collector automatic leveling halt instruction, then enters step 13);
Step 13) inclination angle collector sends " leveling stops " instruction on RS485 bus, and all supporting leg controllers receive after " leveling stops " instruction, stop all execution algorithms, enter reception waiting status.
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| CN201210416271.6A CN102929239B (en) | 2012-10-26 | 2012-10-26 | Distribution type automatic leveling device poll control method of special vehicle |
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|---|---|---|---|
| CN201210416271.6A CN102929239B (en) | 2012-10-26 | 2012-10-26 | Distribution type automatic leveling device poll control method of special vehicle |
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| CN102929239B true CN102929239B (en) | 2014-12-10 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103488191B (en) * | 2013-09-27 | 2016-01-20 | 浙江水利水电学院 | A kind of distributed leveling controller circuitry |
| CN103558870A (en) * | 2013-11-18 | 2014-02-05 | 西华大学 | System and method for eliminating virtual legs of electrical vehicle platform of four-point supporting machine |
| CN115685737B (en) * | 2022-11-10 | 2023-07-04 | 桂林星辰科技股份有限公司 | Leveling leg touch electric measurement and control leveling system |
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| CN101559759A (en) * | 2009-05-21 | 2009-10-21 | 杭州恒宏机械有限公司 | Method for controlling automatic leveling system of special vehicle |
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| CN102602856A (en) * | 2012-03-14 | 2012-07-25 | 中联重科股份有限公司 | Leveling control method and leveling control system for working hopper of overhead working truck |
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| CN101280875A (en) * | 2008-05-22 | 2008-10-08 | 上海交通大学 | Control method of automatic leveling system |
| CN101559759A (en) * | 2009-05-21 | 2009-10-21 | 杭州恒宏机械有限公司 | Method for controlling automatic leveling system of special vehicle |
| CN102390788A (en) * | 2011-09-14 | 2012-03-28 | 长沙中联重工科技发展股份有限公司 | Anti-tipping control method, device and system and engineering plant |
| CN102602856A (en) * | 2012-03-14 | 2012-07-25 | 中联重科股份有限公司 | Leveling control method and leveling control system for working hopper of overhead working truck |
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Address after: 311232 red soil farm, Xiaoshan District, Zhejiang, Hangzhou Patentee after: Henghong Intelligent Equipment Co.,Ltd. Address before: 311232 red fifteen line of red farm, Xiaoshan District, Zhejiang, Hangzhou Patentee before: HANGZHOU HENGHONG MACHINERY Co.,Ltd. |
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Denomination of invention: A polling control method of a distributed automatic leveling device for special vehicles Effective date of registration: 20220829 Granted publication date: 20141210 Pledgee: Zhejiang Xiaoshan Rural Commercial Bank Co.,Ltd. Zhejiang Free Trade Zone (Hangzhou) Hongshan Sub branch Pledgor: Henghong Intelligent Equipment Co.,Ltd. Registration number: Y2022330001932 |
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