CN103147380A - Control method and control system for milling machine travelling mechanism - Google Patents
Control method and control system for milling machine travelling mechanism Download PDFInfo
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Abstract
The invention provides a control method and a control system for a milling machine travelling mechanism. The control method of the milling machine walking mechanism comprises the steps of acquiring the working pressure of the hydraulic pump and the slip rate of each crawler; the method comprises the steps of judging the minimum value of the slip rates of all the tracks, taking the minimum value as a target slip rate, calculating the working pressure change rate and the target slip rate change rate according to the working pressure and the target slip rate, calculating the walking efficiency change rate according to the working pressure change rate and the target slip rate change rate, comparing the walking efficiency change rate with a preset value, and adjusting the displacement of a hydraulic pump or the displacement of a hydraulic motor according to the comparison result. According to the technical scheme, the walking efficiency of the walking mechanism is changed by adjusting the rolling speed of the crawler belt, the change rate of the walking efficiency is ensured to be stabilized within a preset range, and the power of the milling machine is prevented from being consumed meaninglessly.
Description
Technical field
The present invention relates to engineering machinery field, in particular to a kind of control method and control system of milling machine walking mechanism.
Background technology
Pavement milling machine is as a kind of special equipment of maintenance of surface, generally is used for the large tracts of land milling crushing operations such as highway and urban road, airport and cement concrete pavement is carried out plucking operation etc.
Fig. 1 is the lateral plan of pavement milling machine, and as shown in the figure, present large-scale milling machine adopts four crawler belts as the walking driving mechanism.Milling mechanism moves road pavement with car body and carries out operation.In order to improve the utilization rate of complete machine power, the milling equipment of most milling machine adopts mechanical transmission.The power that two actions of the milling of milling machine and walking consume accounts for and more than 75% of power consumption, simultaneously, the power of milling equipment consumption and the speed of travel exist and contact directly, during milling machine work, the milling degree of depth is certain, the variation of the speed of travel not only affects the power that walking mechanism consumes, and can affect the consumed power of milling mechanism.
Walking mechanism adopts hydraulic drive, is generally single pump Thomas and reaches configuration.Be motor driven one hydraulic pump, the oil circuit of the hydraulic motor on many crawler belts is in parallel, and is connected with hydraulic pump, forms closed circuit, and namely a hydraulic pump is simultaneously to a plurality of hydraulic motors supply hydraulic oil, and the operating pressure of a plurality of hydraulic motors is identical.Modal milling machine is general uses 4 crawler belts as walking mechanism, and in this case, hydraulic pump is simultaneously to four walk motor with hydraulic pressure fuel feeding.
The power of existing large-scale milling machine is controlled the general general power control mode that adopts, and namely engine speed is fixed during the milling machine construction operation, the engine output torque that this fixed rotating speed is corresponding certain.Moment of torsion corresponding to the power sum that consumes when each executing agency is during greater than the output torque of motor, and motor falls speed.Controller is monitored engine speed.When rotating speed drops to a certain setting value, seriously fall the even flame-out risk of speed for fear of motor, controller reduces the speed of travel of milling machine automatically.The method that this general power is controlled can't provide the operating rate that is complementary with service load, exchanges the functional reliability of motor for the utilization rate of sacrificial section power.
In addition, when carrying out milling and plane operation, be random by the compactness of the ground surface material of milling, destructiveness and degree of aging, thereby when causing actual job, outer load is random.Secondly, milling machine is due to the project organization layout, and the actual adhesion weight on four crawler belts is unequal, and grounding pressure is different, even therefore on same road surface, the maximum adhesion power of every crawler belt is also different.In order to ensure operating efficiency, operating personnel generally control the walking operating speed according to construction experience, and blindly improving the speed of travel guarantees operating efficiency even, the situation of change of accurately loading outside perception in when construction due to operating personnel, so processing ease causes the machine overload, the part crawler belt skids seriously, meaningless trackslipping consumed walking power, and the actual speed of travel increases and be little, causes actual benefit to descend.
Even the milling machine walk motor with hydraulic pressure adopts the multiple spot variable displacement motor, by setting of several grades of discharge capacities, so that the ability to work of motor can adapt to various load, need too to select according to operating personnel's experience the discharge capacity of motor, and the discharge capacity of four motors is controlled simultaneously, and inconvenience is adjusted with the actual condition demand.
Can't adjust the speed of travel according to the external load situation of change for milling machine in prior art, cause the problem of decrease in efficiency, not yet propose at present effective solution.
Summary of the invention
The present invention aims to provide a kind of control method and control system of milling machine walking mechanism, and in prior art, milling machine can't be according to external load situation of change adjustment speed of travel problem to solve.
To achieve these goals, according to an aspect of the present invention, provide a kind of control method of milling machine walking mechanism.Wherein, the milling machine walking mechanism adopts hydraulic drive, and the oil circuit of a plurality of hydraulic motors is connected in parallel to hydraulic pump, drives respectively corresponding crawler belt, and the control method of this milling machine walking mechanism comprises: obtain the operating pressure of hydraulic pump and the slippage rate of each crawler belt; Judge the minimum value in the slippage rate of each crawler belt, and with this minimum value as the target slippage rate; According to operating pressure and target slippage rate difference evaluation work pressure change rate and target slippage rate rate of change; Calculate the wheel efficiency rate of change according to change of pressure rate and target slippage rate rate of change; Compare wheel efficiency rate of change and preset value, according to the discharge capacity of comparative result regulator solution press pump or the discharge capacity of hydraulic motor.
Further, the slippage rate that obtains each crawler belt comprises: obtain the actual travel speed of milling machine to calculate respectively the translational speed of each crawler belt; Obtain respectively the rotating speed of a plurality of hydraulic motors, utilize rotating speed to calculate respectively the rolling speed of the crawler belt of the fluid motor-driven with this rotating speed; The ratio of the rolling speed of calculating crawler belt and the translational speed of crawler belt is to obtain the slippage rate of this crawler belt.
Further, the actual travel speed of obtaining milling machine comprises with the translational speed that calculates respectively each crawler belt: the steering angle that obtains milling machine; Calculate respectively the translational speed of each crawler belt according to steering angle and actual travel speed.
Further, obtaining the operating pressure of hydraulic pump and the slippage rate of each crawler belt comprises: gather the operating pressure of hydraulic pump and the slippage rate of each crawler belt every the default fixed cycle; Judge the minimum value in the slippage rate of each crawler belt, and this minimum value is comprised as the target slippage rate: judge respectively minimum value in the slippage rate of each crawler belt in each fixed cycle to obtain the target slippage rate in each fixed cycle; According to operating pressure and target slippage rate respectively evaluation work pressure change rate and target slippage rate rate of change comprise: calculate respectively the difference of the operating pressure in two adjacent periods, and with the difference of the operating pressure that obtains as the change of pressure rate; Calculate respectively the difference of the target slippage rate in two adjacent periods, and with the difference of the target slippage rate that obtains as target slippage rate rate of change.
Further, comprise according to change of pressure rate and target slippage rate rate of change calculating wheel efficiency rate of change: utilize the operating pressure of hydraulic pump and the corresponding relation of fluid motor-driven power to calculate the driving force rate of change by the change of pressure rate; Calculate the ratio of target slippage rate rate of change and driving force rate of change, and with the ratio that obtains as the wheel efficiency rate of change.
Further, compare wheel efficiency rate of change and preset value, comprise according to the walking hydraulic pressure pump delivery of comparative result adjusting milling machine or the discharge capacity of hydraulic motor: whether judge the wheel efficiency rate of change less than the first preset value, this first preset value is less than the maximum walking of target efficient point; During less than the first preset value, send to hydraulic pump or hydraulic motor the control signal that increases hydraulic motor rotary speed when the wheel efficiency rate of change; Whether judge the wheel efficiency rate of change greater than the second preset value, the second preset value is greater than the maximum walking of target efficient point; During greater than the second preset value, send to hydraulic pump or hydraulic motor the control signal that reduces hydraulic motor rotary speed when the wheel efficiency rate of change.
Further, the control signal to hydraulic pump or hydraulic motor transmission increase hydraulic motor rotary speed comprises: judge whether hydraulic pump is in the maximum pump discharge state; When hydraulic pump is in the maximum pump discharge state, send the control signal that reduces motor displacement to hydraulic motor; When hydraulic pump is not in the maximum pump discharge state, send the control signal that improves hydraulic pump discharge to hydraulic pump.
Further, the control signal to hydraulic pump or hydraulic motor transmission reduction hydraulic motor rotary speed comprises: judge whether hydraulic pump is in the maximum pump discharge state; When hydraulic pump is not in the maximum pump discharge state, send the control signal that reduces hydraulic pump discharge to hydraulic pump; When hydraulic pump is in the maximum pump discharge state, judge whether hydraulic motor is in the maximum pump discharge state; When hydraulic motor is in the maximum pump discharge state, send the control signal that reduces hydraulic pump discharge to hydraulic pump; When hydraulic motor is not in the maximum pump discharge state, send the control signal that increases motor displacement to hydraulic motor.
A kind of control system of milling machine walking mechanism has been proposed according to another aspect of the present invention.Wherein, the milling machine walking mechanism adopts hydraulic drive, and the oil circuit of a plurality of hydraulic motors is connected in parallel to hydraulic pump, drives respectively corresponding crawler belt.The control system of this milling machine walking mechanism comprises: the slippage rate measurement mechanism is used for measuring respectively the slippage rate of each crawler belt; Pressure sensor is arranged on the actuator port place of hydraulic pump, is used for measuring the operating pressure of hydraulic pump; Controller is connected respectively with slippage rate measurement mechanism and pressure sensor, is used for obtaining the operating pressure of hydraulic pump and the slippage rate of each crawler belt; Judge the minimum value in the slippage rate of each crawler belt, and with this minimum value as the target slippage rate; According to operating pressure and target slippage rate difference evaluation work pressure change rate and target slippage rate rate of change; Calculate the wheel efficiency rate of change according to change of pressure rate and target slippage rate rate of change; Compare wheel efficiency rate of change and preset value, according to the discharge capacity of comparative result regulator solution press pump or the discharge capacity of hydraulic motor.
Further, the slippage rate measurement mechanism comprises: a plurality of speed probes are separately positioned on corresponding hydraulic motor, be used for measuring the rotating speed of corresponding hydraulic motor, velocity sensor is arranged on the frame of milling machine, is used for measuring the actual travel speed of milling machine; Controller also is used for: the Negotiation speed sensor obtains the actual travel speed of milling machine to calculate respectively the translational speed of each crawler belt, obtain respectively the rotating speed of a plurality of hydraulic motors by a plurality of speed probes, utilize rotating speed to calculate respectively the rolling speed of the crawler belt of the fluid motor-driven with this rotating speed, the ratio of the rolling speed of calculating crawler belt and the translational speed of crawler belt, and with the slippage rate of this ratio as this crawler belt.
Further, the slippage rate measurement mechanism also comprises: turn to measuring transducer, be used for measuring the steering angle of milling machine and steering angle being sent to controller; Controller also is used for: the steering angle that obtains milling machine; Calculate respectively the translational speed of each crawler belt according to steering angle and actual travel speed.
Further, turning to measuring transducer is the displacement transducer that is arranged on steering cylinder, is used for measuring the piston rod displacement of steering cylinder; Controller also is used for calculating steering angle by piston rod displacement data correspondence.
Use technical scheme of the present invention, technical scheme of the present invention is according to the slippage rate situation of crawler belt and the pressure of hydraulic system, calculate in real time the wheel efficiency of crawler belt, adjust the discharge capacity of hydraulic pump or hydraulic motor according to the situation of change of wheel efficiency, thereby change the wheel efficiency of walking mechanism by the rolling speed of adjusting crawler belt, guarantee that the rate of change of wheel efficiency is stabilized in default scope.Thereby realized that the milling machine walking mechanism adjusts the speed of travel according to the variation of external load in real time, avoided the power unnecessary consumption of milling machine, reduced simultaneously operating personnel's workload.
Description of drawings
The Figure of description that consists of the application's a part is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the lateral plan of existing pavement milling machine;
Fig. 2 is the schematic diagram according to the control system of the milling machine walking mechanism of the embodiment of the present invention;
Fig. 3 is the walking mechanism efficiency curve according to the milling machine walking mechanism of the embodiment of the present invention;
Fig. 4 is the schematic diagram according to the control method of the milling machine walking mechanism of the embodiment of the present invention
Fig. 5 is the mechanism map of control system of the milling machine walking mechanism of the most preferred embodiment according to the present invention;
Fig. 6 is the flow chart of control method of the milling machine walking mechanism of the most preferred embodiment according to the present invention
The specific embodiment
Need to prove, in the situation that do not conflict, embodiment and the feature in embodiment in the application can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
The embodiment of the present invention provides a kind of control system of milling machine walking mechanism, Fig. 2 is the schematic diagram according to the control system of the milling machine walking mechanism of the embodiment of the present invention, as shown in Figure 2, this milling machine walking mechanism comprises: this milling machine walking mechanism adopts hydraulic drive, the oil circuit of a plurality of hydraulic motors 13 is connected in parallel to hydraulic pump 16, drive respectively corresponding crawler belt 12, control system comprises: slippage rate measurement mechanism 18 is used for measuring respectively the slippage rate of each crawler belt 12; Pressure sensor 601 is arranged on the actuator port place of hydraulic pump 16, is used for measuring the operating pressure of hydraulic pump 16; Controller 15 is connected with pressure sensor with slippage rate measurement mechanism 18 and is connected respectively, is used for obtaining the operating pressure of hydraulic motor 13 and the slippage rate of each crawler belt 12; Judge the minimum value in the slippage rate of each crawler belt 12, this minimum value is as the target slippage rate; According to operating pressure and target slippage rate difference evaluation work pressure change rate and target slippage rate rate of change; Calculate the wheel efficiency rate of change according to change of pressure rate and target slippage rate rate of change, wherein the wheel efficiency rate of change is the rate of change of wheel efficiency; Regulate the discharge capacity of walking hydraulic pump 16 of milling machine or the discharge capacity of hydraulic motor 13 according to the wheel efficiency rate of change.
Use the control system of the milling machine walking mechanism of the present embodiment, controller 15 is according to the slippage rate situation of crawler belt 12 and the pressure of hydraulic system, calculate in real time the wheel efficiency of crawler belt 12, adjust the discharge capacity of hydraulic pump 16 or hydraulic motor 13 according to the situation of change of wheel efficiency, thereby change the wheel efficiency of walking mechanism by the rolling speed of adjusting crawler belt 12, guarantee that the rate of change of wheel efficiency is stabilized in default scope.Thereby realized that the milling machine walking mechanism adjusts the speed of travel according to the variation of external load in real time, avoided the power unnecessary consumption of milling machine, reduced simultaneously operating personnel's workload.
The below describes the control principle of the control system of milling machine walking mechanism:
Walking mechanism wheel efficiency η
xWith the rolling efficiency eta
f, the efficiency eta of trackslipping
δDirectly related, namely the relation between the three satisfies formula: η
x=K* η
f* η
δ, wherein, K is a fixed coefficient.Therefore in order to obtain walking mechanism wheel efficiency η
x, must first measure the rolling efficiency eta
fAnd the efficiency eta of trackslipping
δThe rolling efficiency eta
fRelevant to the effective driving force of motor, namely effective driving force of motor is larger, and rolling efficient is higher; The efficiency eta of trackslipping
δThe function relevant to slippage rate.The control system of the present embodiment obtains walking mechanism wheel efficiency η by the rate of change of slippage rate and the rate of change of driving force
xVariation tendency.
All adopt four crawler belts as the walking driving mechanism based on present large-scale milling machine, control system to the milling machine walking mechanism of the present embodiment describes as an example of four crawler belts example at this, technical scheme of the present invention is not limited to the situation of four crawler belts by being applied to the crawler belt milling machine of other form.
The milling machine walking mechanism adopts four crawler belts as the walking driving mechanism, Engine driven Hydraulic Pump 16, and connecting fluid press pump 16 after the working oil path parallel connection of the hydraulic motor 13 of four crawler belts of driving, thus form closed circuit.Hydraulic pump 16 herein can the choice for use electric proportional control the enclosed pump, its discharge capacity can be controlled electric current by adjusting and control; Hydraulic motor 13 uses variable displacement motor, can select the electric proportional control variable displacement motor.
Fig. 3 is the walking mechanism efficiency curve according to the milling machine walking mechanism of the embodiment of the present invention, in the drawings, abscissa is the driving force F of hydraulic motor, and ordinate is the efficient percentages, curve δ shows the track slip rate with the situation of change of motor driving force, curve η
xShow wheel efficiency with the situation of change of motor driving force.According to the walking mechanism efficiency curve, can draw when the adhesion weight of every crawler belt of milling machine walking mechanism and its attachment coefficient one timing with the road surface, increase along with the driving force of hydraulic motor, a driving example part that increases is converted to effective traction power, another part driving force is converted into useless slip, thereby the slippage rate of crawler belt increases gradually, after the driving force of hydraulic motor surpasses a definite value, wheel efficiency is become by increase and reduces, and the driving force major part that namely increases is converted to useless tracks' slip.According to motor output torque formula:
In formula (1), T
mBe the motor output torque, Δ p is the hydraulic motor operting differential pressure, the configuration of adopting single pump Thomas to reach due to milling machine, so in walking mechanism, the Δ p of each hydraulic motor 13 equates, q
mBe the discharge capacity of hydraulic motor 13, η
mhMechanical efficiency for hydraulic motor 13.Therefore, adjust the motor output torque by the governor motor discharge capacity, by controlling respectively the discharge capacity of four hydraulic motors 13, can control respectively the output torque of each motor, suitably regulate again pump delivery and control the whole speed of travel, the slippage rate of finally realizing every crawler belt is basically identical, and whole power output is positioned at optimum range, to improve wheel efficiency.Because driving force F is by motor output torque T
mConvert, so above motor output torque T
mWith the driving force F of hydraulic motor be the linear ratio relation, its factor of proportionality and frame for movement such as speed reducing ratio, sprocket radius are relevant.Thereby the rate of change of fluid motor-driven power is consistent with the rate of change of output torque.
In superincumbent formula (1), hydraulic motor operting differential pressure Δ p can directly measure by pressure sensor, mechanical efficiency η
mhFixed value, the discharge capacity q of hydraulic motor 13
mCan directly be drawn by current control signal by the control signal of hydraulic motor and the corresponding relation of discharge capacity.Thereby can draw by top formula the driving force F that calculates hydraulic motor.
The slippage rate measurement mechanism 18 of the control system of the milling machine walking mechanism of the present embodiment can obtain the rolling speed of crawler belt 12 by the rotating speed correspondence of measuring hydraulic motor 13, in conjunction with the actual speed of milling machine, draw the slippage rate of crawler belt 12.Particularly, slippage rate measurement mechanism 18 comprises: a plurality of speed probes are separately positioned on corresponding hydraulic motor 13, be used for measuring the rotating speed of corresponding hydraulic motor 13, velocity sensor is arranged on the frame of milling machine, is used for measuring the translational speed of milling machine.The flow process that controller 15 calculates slippage rate is specifically as follows: the Negotiation speed sensor obtains the actual travel speed of milling machine, draw the translational speed of each crawler belt according to this actual travel speed, obtain respectively the rotating speed of a plurality of hydraulic motors 13 by a plurality of speed probes, the rolling speed of the crawler belt 12 that the hydraulic motor 13 that utilizes rotating speed to calculate respectively to have this rotating speed drives, the ratio of the rolling speed of calculating crawler belt 12 and the translational speed of crawler belt, this ratio i.e. the slippage rate of this crawler belt 12.The pre-stored mechanism parameter that milling machine is arranged of controller 15 as speed reducing ratio, sprocket radius etc., utilizes and is arranged on the motor rotary speed that four speed probes on hydraulic motor 13 measure, and can calculate the speed of crawler belt 12.When the milling machine straight-line travelling, the actual travel speed of milling machine is identical with the translational speed of each crawler belt, and milling machine great majority operation is all straight-line travellings, generally, can think that the actual travel speed of milling machine is the translational speed of each crawler belt.
Also there is various ways in above-mentioned velocity sensor, and for example velocity sensor can be the GPS device, utilizes the locating information of this GPS to obtain the actual travel speed of milling machine; Also can be the infrared distance measurement device, utilize this infrared distance measurement device installation site to obtain the actual travel speed of milling machine to the distance of object of reference; Can also be supersonic range finder, utilize this supersonic range finder installation site to obtain the actual travel speed of milling machine to the distance of object of reference.
Consider that milling machine is except rectilinear motion, also have some to need the situation of turning operation in real work, due to when turning to, inboard crawler belt is different with the travel distance of outside crawler belt, so need to utilize the actual travel speed of the milling machine that velocity sensor measures to calculate the translational speed of each crawler belt.In the situation that the gait of march of milling machine is certain, turn to the gait of march of outside crawler belt greater than the gait of march of milling machine integral body, and turn to the gait of march of inboard crawler belt less than the gait of march of milling machine integral body, this moment is in the situation that measure steering angle, can use the steering angle value to carry out corrected Calculation to the gait of march of crawler belt, thereby make slippage rate more accurate.
In the situation that milling machine turns to is mobile, the translational speed that obtains each crawler belt 12 also needs the steering angle of milling machine is measured, in this case, the measurement mechanism that turns to of the control system of the milling machine walking mechanism of the present embodiment can also comprise: turn to measuring transducer, be used for to measure the steering angle of milling machine and the steering angle of front crawler belt 12 is sent to controller 15.Controller 15 utilizes and turns to data based steering angle and actual travel speed to calculate respectively the translational speed of each crawler belt.Concrete design formulas can draw in conjunction with the steering angle simple computation according to the distance of velocity sensor to each crawler belt.
When real work, the milling machine steering angle is generally less, and before only needing this moment, crawler belt turns to satisfy and turns to requirement, therefore only before milling machine the crawler belt place arrange one and turn to measuring transducer, calculate to simplify.Consider the situation that few angle of turn is larger, also can be after milling machine the crawler belt place arrange second and turn to measuring transducer, thereby the steering angle in minority is larger, when before and after using simultaneously, crawler belt turned to jointly, controller 15 obtained simultaneously two and turns to the steering angle that measuring transducer measures that the translational speed of crawler belt 12 is calculated.Turn to measuring transducer can use the displacement transducer that is arranged on steering cylinder, be used for measuring the piston rod displacement of steering cylinder; Controller 15 calculates steering angle by piston rod displacement data correspondence.
After obtaining above target slippage rate, controller 15 can send the displacement control signal to a plurality of hydraulic motors 13 respectively according to the target slippage rate, and is substantially identical with the slippage rate of controlling each crawler belt 12, realizes the slippage rate balance of every crawler belt 12.
The computational methods of above-mentioned change of pressure rate and target slippage rate rate of change can be specially, controller can arrange a fixed cycle, within the time in this cycle, controller 15 obtains one action force value and target slippage rate, and calculating book obtained the difference of the numerical value that numerical value and a upper cycle get as rate of change in the cycle.During construction operation, the slippage rate δ of each crawler belt 12 of controller 15 Real-Time Monitorings and motor driving force F, and ask that the ratio of the variation delta F of the variation delta δ of interior slippage rate and motor driving force judges whether walking mechanism efficiency eta x is in the variation tendency of pressure point of maximum efficiency and efficient during according to unit.
Wherein, the driving force F of motor can draw by the output torque correspondence of motor, and output torque calculates according to formula (1).An ideal value (maximum value that is equivalent to curve η x in Fig. 3) is upper to be realized difficulty and easily causes system's undue fluctuation due to parameter value is controlled at, therefore control target and be actually near ideal value a interval, ask that in this district the curvilinear motion of interior walking mechanism efficiency is comparatively mild, slippage rate that can it is corresponding and driving force are as control range.This scope is to draw in advance by a large amount of experiments, can represent the characteristics of adhering on most of construction road surface.The lower limit of this scope is set to the first preset value, and the higher limit of this scope is set to the second preset value, and wherein, the second preset value is greater than the first preset value, and above parameter can be stored in controller 15 for controlling.
Preferentially realize by the control to pump by above control method, control when pump and can't satisfy after electric current reaches maximum, this moment is the whole motor of controlling again.This situation generally appears at the operating modes such as thin layer milling or rigid pavement plucking, working resistance is usually very little, under this operating mode, even it is maximum that pumpage reaches, system pressure neither be too high, the mechanism of namely walking fails to reach the efficient operation interval, and the whole motor displacements that reduce of this Time Controller 15 further improve the speed of travel.
In order to deal with that some limiting condition phenomenon such as certain crawler belt trackslip entirely or certain motor rotary speed surpasses the limit speed of element permission itself, this Time Controller 15 will directly call corresponding emergency processing program, to reach the fast processing problem, prevent the affected purpose of component life.Controller 15 is completed walking by allocating conventional program and emergence program and is controlled.
The embodiment of the present invention also provides a kind of control method of milling machine walking mechanism, the control system of any milling machine walking mechanism that the control method of this milling machine walking mechanism can provide by the above embodiment of the present invention is carried out, and, this control method that plays the milling machine walking mechanism can be applied to comprise the milling machine of above control system, Fig. 4 is that this control method comprises according to the schematic diagram of the control method of the milling machine walking mechanism of the embodiment of the present invention:
Step S41 obtains the operating pressure of hydraulic pump and the slippage rate of each crawler belt;
Step S42 judges the minimum value in the slippage rate of each crawler belt, and this minimum value is as the target slippage rate;
Step S43, according to operating pressure and target slippage rate difference evaluation work pressure change rate and target slippage rate rate of change, wherein the change of pressure rate is the rate of change of operating pressure, target slippage rate rate of change is the rate of change of target slippage rate;
Step S44 calculates the wheel efficiency rate of change according to change of pressure rate and target slippage rate rate of change, and wherein the wheel efficiency rate of change is the rate of change of wheel efficiency;
Step S45 regulates the walking hydraulic pressure pump delivery of milling machine or the discharge capacity of hydraulic motor according to the wheel efficiency rate of change.
Wherein, the slippage rate that obtains each crawler belt in step S41 specifically can comprise: obtain the actual travel speed of milling machine to calculate respectively the translational speed of each crawler belt; Obtain respectively the rotating speed of a plurality of hydraulic motors, utilize rotating speed to calculate respectively the gait of march of the crawler belt of the fluid motor-driven with this rotating speed, namely utilize the rotating speed of the first hydraulic motor to calculate the gait of march of the first crawler belt of the first fluid motor-driven; The ratio of the rolling speed of calculating crawler belt and the translational speed of crawler belt, this ratio i.e. the slippage rate of this crawler belt.
Consider that milling machine turns to the impact on slippage rate, the minimum value of judging in above step S42 in the slippage rate of each crawler belt specifically can comprise: the steering angle that obtains milling machine; According to steering angle, the slippage rate of each crawler belt is revised, obtained the correction slippage rate of each crawler belt; Relatively the correction slippage rate of each crawler belt, draw the correction slippage rate of numerical value minimum as the minimum value in the slippage rate of each crawler belt.For the slippage rate of stablizing each crawler belt basic identical, can also comprise after the step of the minimum value in judging each track slip rate: send the displacement control signal to a plurality of hydraulic motors respectively according to the target slippage rate, identical with the slippage rate of controlling each crawler belt.
Specifically can comprise according to change of pressure rate and target slippage rate rate of change calculating wheel efficiency rate of change in step S44: utilize the operating pressure of hydraulic pump and the corresponding relation of fluid motor-driven power to be calculated the driving force rate of change Δ F of hydraulic motor by the change of pressure rate; Calculate the ratio of target slippage rate rate of change Δ δ and driving force rate of change Δ F, the numerical value that the obtains efficiency change rate Δ δ/Δ F that namely walks.
In order to reduce to calculate the amount of calculation of rate of change, above-mentionedly can adopt the fixed cycle to gather numerical value, utilize the difference of adjacent periods sampling number certificate as the method for rate of change.Particularly, obtaining the operating pressure of hydraulic pump and the slippage rate of each crawler belt comprises: gather the operating pressure of hydraulic pump and the slippage rate of each crawler belt every the default fixed cycle; Judge the minimum value in the slippage rate of each crawler belt, and this minimum value is comprised as the target slippage rate: judge respectively minimum value in the slippage rate of each crawler belt in each fixed cycle to obtain the target slippage rate in each fixed cycle; According to operating pressure and target slippage rate respectively evaluation work pressure change rate and target slippage rate rate of change comprise: calculate respectively the difference of the operating pressure in two adjacent periods, and with the difference of the operating pressure that obtains as the change of pressure rate; Calculate respectively the difference of the target slippage rate in two adjacent periods, and with the difference of the target slippage rate that obtains as target slippage rate rate of change.
Comprise according to the walking hydraulic pressure pump delivery of wheel efficiency rate of change adjusting milling machine or the discharge capacity of hydraulic motor in step S45: judge that whether wheel efficiency rate of change Δ δ/Δ F is less than the first preset value; During less than the first preset value, send to hydraulic pump or hydraulic motor the control signal that increases hydraulic motor rotary speed as wheel efficiency rate of change Δ δ/Δ F; Judge that whether wheel efficiency rate of change Δ δ/Δ F is greater than the second preset value; During greater than the second preset value, send to hydraulic pump or hydraulic motor the control signal that reduces hydraulic motor rotary speed as wheel efficiency rate of change Δ δ/Δ F.
Particularly, the above step that sends the control signal that increases hydraulic motor rotary speed to hydraulic pump or hydraulic motor can comprise: judge whether hydraulic pump is in the maximum pump discharge state; When hydraulic pump is in the maximum pump discharge state, send the control signal that reduces motor displacement to hydraulic motor; When hydraulic pump is not in the maximum pump discharge state, send the control signal that improves hydraulic pump discharge to hydraulic pump.
Similarly, the above step that sends the control signal that reduces hydraulic motor rotary speed to hydraulic pump or hydraulic motor can comprise: judge whether hydraulic pump is in the maximum pump discharge state; When hydraulic pump is not in the maximum pump discharge state, send the control signal that reduces hydraulic pump discharge to hydraulic pump; When hydraulic pump is in the maximum pump discharge state, judge whether hydraulic motor is in the maximum pump discharge state; When hydraulic motor is in the maximum pump discharge state, send the control signal that reduces hydraulic pump discharge to hydraulic pump; When hydraulic motor is not in the maximum pump discharge state, send the control signal that increases motor displacement to hydraulic motor.
Below in conjunction with accompanying drawing, a kind of milling machine that uses four crawler belts of above control method and control system most preferred embodiment of controlling of walking is described, Fig. 5 is the mechanism map of control system of the milling machine walking mechanism of the most preferred embodiment according to the present invention, and Fig. 6 is the flow chart of control method of the milling machine walking mechanism of the most preferred embodiment according to the present invention.
the walking mechanism of this milling machine is fixed on frame 11, hydraulic pump 16 is under the driving of power source (motor), to four hydraulic motor fuel feeding, the oil circuit of four hydraulic motors is in parallel to be connected with hydraulic pump 16, each hydraulic motor drives respectively corresponding crawler belt, be equipped with the speed probe of measuring rotating speed on each hydraulic motor, particularly, the first motor 131 drives the first crawler belt 121, the second motor 132 drives the second crawler belt 122, the 3rd motor 133 drives the 3rd crawler belt 123, the 4th motor 134 drives the 4th crawler belt 124, the first speed probe 301 is arranged on the first motor 131, be used for measuring the rotational speed omega 1 of the first motor 131, the second speed probe 302 is arranged on the second motor 132, be used for measuring the rotational speed omega 2 of the second motor 132, the 3rd speed probe 303 is arranged on the 3rd motor 133, be used for measuring the rotational speed omega 3 of the 3rd motor 133, the 4th speed probe 304 is arranged on the 4th motor 134, be used for measuring the rotational speed omega 4 of the 4th motor 134.Velocity sensor 101 is arranged on the position that is difficult for being interfered on the milling machine frame, is used for measuring milling machine actual travel speed V1.The first displacement transducer 401 and second displacement sensor 402, be assemblied in respectively on the steering cylinder of propons steering cylinder and back axle, controller 15 can judge whether to be in steering state and calculate steering angle α 1, α 2 according to the displacement signal of this oil cylinder piston.Be provided with pressure sensor 601 on the actuator port of hydraulic pump 16, hydraulic pressure P when being used for measuring hydraulic work system, calculate walking driving force F for controller 15 in conjunction with current motor displacement, wherein the discharge capacity of motor can utilize current motor control signal correspondence to draw.
During milling machine work, the velocity sensor 101 that is assemblied on frame is measured actual travel speed V1, and controller 15 reads the measurement result of primary transducer every fixing sense cycle.Velocity sensor 101 is assigned in frame rear end etc. and is not easy disturbed position, can choice for use be ultrasonic sensor or GPS device.
Be assemblied in speed probe 301,302,303,304 on motor and be used for the actual speed of each running motor of Obtaining Accurate, this rotating speed via controller 15 converts, and can draw the rolling speed of every crawler belt.
Simultaneously, controller 15 will read the displacement transducer 401 of steering cylinder, 402 parameter, be straight-line travelling or will be in turn condition with the judgement milling machine.The control system of illustrating in Fig. 5 all is equipped with measuring sensor on forward and backward steering cylinder, controller 15 just can draw milling machine steering angle this moment after processing for these signals.
During milling machine work, steering angle is little, generally can only obtain front crawler belt steering angle, to simplify control program, improves computational speed.Turn to measuring transducer to can be displacement transducer on oil cylinder, converse steering angle by measuring the displacement of steering cylinder piston rod, also can directly adopt angular transducer to measure steering angle.
Start stationarity and starting torque in order to improve, motor is in maximum pump discharge.Before milling and plane operation, pre-set the running parameters such as the milling degree of depth.Operating personnel start corresponding control program by control button, this moment, milling machine speed was 0, it is also 0 that controller 15 calculates the walking mechanism slippage rate, the mechanism efficiency of namely walking is in the high order end of efficiency curve, this moment, efficient was minimum, and controller 15 sends signal to hydraulic pump 16, increased the control electric current of hydraulic pump 16, flow exports each hydraulic motor to, and milling machine begins to advance.
In walking process, each fixed cycle, controller 15 reads the parameter of all the sensors.Controller 15 calculates the velocity of rotation of every crawler belt by 301,302,303,304 4 speed probes, calculate the milling machine steering angle by rotation direction sensor 401,402 survey data, when the milling machine straight-line travelling, steering angle is 0, and the actual travel speed of milling machine is identical with the translational speed of each crawler belt.These data are calculated slippage rate δ 1, δ 2, δ 3, the δ 4 that can draw four crawler belts, with a slippage rate δ p of its intermediate value minimum as controlling target, regulate the control electric current of its excess-three motor, reduce the discharge capacity of the corresponding motor of the high crawler belt of slippage rate, the slippage rate that finally reaches every crawler belt is substantially identical.The benefit of controlling like this has 2 points, and the one, the tracked slippage rate of institute is identical, there is no the unnecessary power loss of trackslipping; The 2nd, control slippage rate identical, straightness accuracy is good during straight line moving, and operating personnel can reduce the frequency of frequent correction direction.
During because of most of milling and plane operation, steering angle is all less, only need use propons and turn to and can satisfy construction requirement, also can only read displacement data that the first displacement transducer 401 measures and carry out steering angle and calculate.Controller 15 utilizes and turns to data based steering angle and actual travel speed to calculate respectively the translational speed of each crawler belt.Concrete design formulas can calculate in conjunction with steering angle according to the distance of velocity sensor to each crawler belt.
Controller 15 is when reading in tach signal, and the walking pressure signal P also is read into.The data that controller 15 read the data that read in this cycle and upper cycle compare, thereby obtaining variation delta δ, wheel efficiency rate of change that target slippage rate rate of change is slippage rate is the variation delta p of operating pressure, because have corresponding relation according to the large size less than operating pressure Δ p of driving force Δ F, can correspondingly draw corresponding driving force Δ F by Δ p.According to the walking mechanism efficiency curve, the value of Δ δ/Δ F i.e. the rate of change of this efficiency curve.In the starting stage of efficiency curve, very little Δ δ changes the variation greatly that just can cause Δ F, and namely the value of Δ δ/Δ F is very little.Along with the continuous increase of Δ δ/Δ F value, walking mechanism enter efficiency curve in the section of asking, this section is stable and change gently, this section is the best effort district and asks.When the value of Δ δ/Δ F further increases, walking mechanism efficient fast-descending, external phenomenon is that track slip strengthens, but actual driving force increases and is few, and most of walking power consumption is on trackslipping.The best effort district asks that the optimum range of separation Δ δ/Δ F draws according to machine condition and a large amount of road surface experiments in advance.F is embodied by system pressure because of driving force, gets final product control system pressure by controlling travel speed, and then controls walking mechanism efficient.
Above speed is controlled and is preferentially realized by the control to pump, controls when hydraulic pump 16 and can't satisfy after electric current reaches maximum, and this moment is the whole motor of controlling again.This situation generally appears at the operating modes such as thin layer milling or rigid pavement plucking, working resistance is usually very little, under this operating mode, even it is maximum that pumpage reaches, system pressure neither be too high, the mechanism of namely walking fails to reach the efficient operation interval, and the whole motor displacements that reduce of this Time Controller 15 further improve the speed of travel.
In order to deal with that some limiting condition phenomenon such as certain motor crawler belt trackslip entirely or certain motor rotary speed surpasses the limit speed of element permission itself, this Time Controller 15 will directly call corresponding emergency processing program, to reach the fast processing problem, prevent the affected purpose of component life.Controller 15 is completed walking by allocating conventional program and emergence program and is controlled.
Use technical scheme of the present invention, technical scheme of the present invention is according to the slippage rate situation of crawler belt and the pressure of hydraulic system, calculate in real time the wheel efficiency of crawler belt, adjust the discharge capacity of hydraulic pump or hydraulic motor according to the situation of change of wheel efficiency, thereby change the wheel efficiency of walking mechanism by the gait of march of adjusting crawler belt, guarantee that the rate of change of wheel efficiency is stabilized in default scope.Thereby realized that the milling machine walking mechanism adjusts the speed of travel according to the variation of external load in real time, avoided the power unnecessary consumption of milling machine, reduced simultaneously operating personnel's workload.
Obviously, those skilled in the art should be understood that, each step of above-mentioned the present invention can realize with general calculation element, they can concentrate on single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in storage device and be carried out by calculation element, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is only the preferred embodiments of the present invention, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (12)
1. the control method of a milling machine walking mechanism, this milling machine walking mechanism adopts hydraulic drive, and the oil circuit of a plurality of hydraulic motors is connected in parallel to hydraulic pump, drives respectively corresponding crawler belt, it is characterized in that, and this control method comprises:
Obtain the operating pressure of described hydraulic pump and the slippage rate of each crawler belt;
Judge the minimum value in the slippage rate of described each crawler belt, and with this minimum value as the target slippage rate;
According to described operating pressure and described target slippage rate difference evaluation work pressure change rate and target slippage rate rate of change;
Calculate the wheel efficiency rate of change according to described change of pressure rate and described target slippage rate rate of change;
More described wheel efficiency rate of change and preset value, the discharge capacity of regulating described hydraulic pressure pump delivery or described hydraulic motor according to comparative result.
2. the control method of milling machine walking mechanism according to claim 1, is characterized in that, the slippage rate that obtains each crawler belt comprises:
Obtain the actual travel speed of described milling machine to calculate respectively the translational speed of described each crawler belt;
Obtain respectively the rotating speed of described a plurality of hydraulic motors, utilize described rotating speed to calculate respectively the rolling speed of the crawler belt of the fluid motor-driven with this rotating speed;
Calculate the ratio of the translational speed of the rolling speed of described crawler belt and described crawler belt, to obtain the slippage rate of this crawler belt.
3. the control method of milling machine walking mechanism according to claim 2, is characterized in that, the actual travel speed of obtaining described milling machine comprises with the translational speed that calculates respectively described each crawler belt:
Obtain the steering angle of described milling machine;
Calculate respectively the translational speed of described each crawler belt according to described steering angle and described actual travel speed.
4. the control method of milling machine walking mechanism according to claim 1, is characterized in that,
Obtaining the operating pressure of described hydraulic pump and the slippage rate of each crawler belt comprises: gather the operating pressure of described hydraulic pump and the slippage rate of described each crawler belt every the default fixed cycle;
Judge the minimum value in the slippage rate of described each crawler belt, and this minimum value is comprised as the target slippage rate: judge respectively minimum value in the slippage rate of described each crawler belt in each described fixed cycle to obtain the described target slippage rate in each described fixed cycle;
According to described operating pressure and described target slippage rate respectively evaluation work pressure change rate and target slippage rate rate of change comprise:
Calculate respectively the difference of the described operating pressure in two adjacent described cycles, and the difference of the described operating pressure that will obtain is as the change of pressure rate;
Calculate respectively the difference of the described target slippage rate in two adjacent described cycles, and the difference of the described target slippage rate that will obtain is as described target slippage rate rate of change.
5. the control method of milling machine walking mechanism according to claim 1, is characterized in that, comprises according to described change of pressure rate and the described wheel efficiency rate of change of described target slippage rate rate of change calculating:
Utilize the operating pressure of described hydraulic pump and the corresponding relation of described fluid motor-driven power to calculate the driving force rate of change by described change of pressure rate;
Calculate the ratio of described target slippage rate rate of change and described driving force rate of change, and with the ratio that obtains as described wheel efficiency rate of change.
6. the control method of milling machine walking mechanism according to claim 1, is characterized in that, more described wheel efficiency rate of change and preset value comprise according to the walking hydraulic pressure pump delivery of the described milling machine of comparative result adjusting or the discharge capacity of described hydraulic motor:
Whether judge described wheel efficiency rate of change less than the first preset value, this first preset value is less than the maximum walking of target efficient point;
During less than described the first preset value, send to described hydraulic pump or described hydraulic motor the control signal that increases hydraulic motor rotary speed when described wheel efficiency rate of change;
Whether judge described wheel efficiency rate of change greater than the second preset value, described the second preset value is greater than the maximum walking of described target efficient point;
During greater than described the second preset value, send to described hydraulic pump or described hydraulic motor the control signal that reduces hydraulic motor rotary speed when described wheel efficiency rate of change.
7. the control method of milling machine walking mechanism according to claim 6, is characterized in that, sends to described hydraulic pump or described hydraulic motor the control signal that increases hydraulic motor rotary speed and comprise:
Judge whether described hydraulic pump is in the maximum pump discharge state;
When described hydraulic pump is in the maximum pump discharge state, send the control signal that reduces motor displacement to described hydraulic motor;
When described hydraulic pump is not in the maximum pump discharge state, send the control signal that improves hydraulic pump discharge to described hydraulic pump.
8. the control method of milling machine walking mechanism according to claim 6, is characterized in that, sends to described hydraulic pump or described hydraulic motor the control signal that reduces hydraulic motor rotary speed and comprise:
Judge whether described hydraulic pump is in the maximum pump discharge state;
When described hydraulic pump is not in the maximum pump discharge state, send the control signal that reduces hydraulic pump discharge to described hydraulic pump;
When described hydraulic pump is in the maximum pump discharge state, judge whether described hydraulic motor is in the maximum pump discharge state;
When described hydraulic motor is in the maximum pump discharge state, send the control signal that reduces hydraulic pump discharge to described hydraulic pump;
When described hydraulic motor is not in the maximum pump discharge state, send the control signal that increases motor displacement to described hydraulic motor.
9. the control system of a milling machine walking mechanism, this milling machine walking mechanism adopts hydraulic drive, and the oil circuit of a plurality of hydraulic motors is connected in parallel to hydraulic pump, drives respectively corresponding crawler belt, it is characterized in that, and described control system comprises:
The slippage rate measurement mechanism is used for measuring respectively the slippage rate of each crawler belt;
Pressure sensor is arranged on the actuator port place of described hydraulic pump, is used for measuring the operating pressure of hydraulic pump;
Controller, with described slippage rate measurement mechanism be connected pressure sensor and be connected respectively, be used for obtaining the operating pressure of described hydraulic pump and the slippage rate of each crawler belt; Judge the minimum value in the slippage rate of described each crawler belt, and with this minimum value as the target slippage rate; According to described operating pressure and described target slippage rate difference evaluation work pressure change rate and target slippage rate rate of change; Calculate the wheel efficiency rate of change according to described change of pressure rate and described target slippage rate rate of change; More described wheel efficiency rate of change and preset value, the discharge capacity of regulating described hydraulic pressure pump delivery or described hydraulic motor according to comparative result.
10. the control system of milling machine walking mechanism according to claim 9, is characterized in that,
Described slippage rate measurement mechanism comprises: a plurality of speed probes, be separately positioned on corresponding hydraulic motor, be used for measuring the rotating speed of corresponding hydraulic motor, velocity sensor, be arranged on the frame of described milling machine, be used for measuring the actual travel speed of described milling machine;
Described controller also is used for: obtain the actual travel speed of milling machine by described velocity sensor to calculate respectively the translational speed of described each crawler belt, obtain respectively the rotating speed of described a plurality of hydraulic motors by described a plurality of speed probes, utilize described rotating speed to calculate respectively the rolling speed of the crawler belt of the fluid motor-driven with this rotating speed, calculate the ratio of the translational speed of the rolling speed of described crawler belt and described crawler belt, and with the slippage rate of this ratio as this crawler belt.
11. the control system of milling machine walking mechanism according to claim 10 is characterized in that,
Described slippage rate measurement mechanism also comprises: turn to measuring transducer, be used for measuring the steering angle of described milling machine and described steering angle being sent to described controller;
Described controller also is used for: the steering angle that obtains milling machine; Calculate respectively the translational speed of described each crawler belt according to described steering angle and described actual travel speed.
12. the control system of milling machine walking mechanism according to claim 11 is characterized in that, turning to measuring transducer is the displacement transducer that is arranged on steering cylinder, is used for measuring the piston rod displacement of steering cylinder; Described controller also is used for calculating described steering angle by described piston rod displacement data correspondence.
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| CN115539225A (en) * | 2022-10-21 | 2022-12-30 | 湖南三一中益机械有限公司 | Milling machine drive control method, drive control system and milling machine |
| CN115539225B (en) * | 2022-10-21 | 2024-07-05 | 湖南三一中益机械有限公司 | Milling machine driving control method, driving control system and milling machine |
| WO2024087508A1 (en) * | 2022-10-28 | 2024-05-02 | 三一石油智能装备有限公司 | Hydraulic system control method and apparatus, and petroleum machinery |
| CN115657744A (en) * | 2022-12-26 | 2023-01-31 | 山推(德州)工程机械有限公司 | Control system and control method for working traveling speed of pavement cold recycling machine |
| CN115657744B (en) * | 2022-12-26 | 2023-04-07 | 山推(德州)工程机械有限公司 | Control system and control method for working traveling speed of pavement cold recycling machine |
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