CN103147380B - Control method and control system for milling machine travelling mechanism - Google Patents
Control method and control system for milling machine travelling mechanism Download PDFInfo
- Publication number
- CN103147380B CN103147380B CN201310095456.6A CN201310095456A CN103147380B CN 103147380 B CN103147380 B CN 103147380B CN 201310095456 A CN201310095456 A CN 201310095456A CN 103147380 B CN103147380 B CN 103147380B
- Authority
- CN
- China
- Prior art keywords
- rate
- change
- milling machine
- crawler belt
- hydraulic pump
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003801 milling Methods 0.000 title claims abstract description 153
- 230000007246 mechanism Effects 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims abstract description 33
- 230000008859 change Effects 0.000 claims abstract description 137
- 238000006073 displacement reaction Methods 0.000 claims abstract description 35
- 238000005096 rolling process Methods 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims description 20
- 239000000523 sample Substances 0.000 claims description 14
- 239000012530 fluid Substances 0.000 claims description 11
- 238000011156 evaluation Methods 0.000 claims description 9
- 230000000052 comparative effect Effects 0.000 claims description 6
- OIGNJSKKLXVSLS-VWUMJDOOSA-N prednisolone Chemical compound O=C1C=C[C@]2(C)[C@H]3[C@@H](O)C[C@](C)([C@@](CC4)(O)C(=O)CO)[C@@H]4[C@@H]3CCC2=C1 OIGNJSKKLXVSLS-VWUMJDOOSA-N 0.000 description 16
- 230000005021 gait Effects 0.000 description 9
- 239000003921 oil Substances 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 239000004568 cement Substances 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Landscapes
- Control Of Fluid Gearings (AREA)
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, as a kind of special equipment of maintenance of surface, is generally used for highway and the large area milling crushing operation such as urban road, airport and carries out plucking operation etc. to cement concrete pavement.
Fig. 1 is the lateral plan of pavement milling machine, and as shown in the figure, current large-scale milling machine adopts four crawler belts as hoofing part 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 current most of milling machine adopts mechanical transmission.The power that the milling of milling machine and walking two actions consume account for and power consumption more than 75%, simultaneously, there is contacting directly in the power of milling equipment consumption and the speed of travel, during milling machine work, the milling degree of depth is certain, the change of the speed of travel not only affects the power of walking mechanism consumption, and can affect the consumed power of milling mechanism.
Walking mechanism adopts hydraulic drive, is generally the configuration of single pump multi-motor.I.e. 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, composition closed circuit, and namely a hydraulic pump is simultaneously to multiple hydraulic motor supply hydraulic oil, and the operating pressure of multiple hydraulic motor is identical.Modal milling machine generally 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 controls general employing general power control mode, and namely during milling machine construction operation, engine speed is fixed, the engine output torque that this fixed rotating speed is corresponding certain.When the moment of torsion that the power sum that each executing agency consumes is corresponding is greater than the output torque of motor, motor falls speed.Controller is monitored engine speed.When rotating speed drops to a certain setting value, in order to avoid motor seriously falls the even flame-out risk of speed, controller reduces the speed of travel of milling machine automatically.The method that this general power controls, cannot provide the operating rate matched with service load, exchange the functional reliability of motor with the utilization rate of sacrificial section power for.
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, thus when causing actual job, outer load is random.Secondly, milling machine is due to 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 bar crawler belt is also different.In order to ensure operating efficiency, operating personnel generally control walking operating speed according to construction experience and blindly improve even the speed of travel and ensure operating efficiency, because operating personnel cannot the situation of change of the accurate outer load of perception when constructing, processing ease like this causes machine to transship, part crawler belt skids serious, meaningless trackslipping consumes walking power, and the actual speed of travel increases and not quite, causes actual benefit to decline.
Even if milling machine walk motor with hydraulic pressure adopts multiple spot variable displacement motor, set by the carrying out of several grades of discharge capacities, various load is adapted to enable the ability to work of motor, need the discharge capacity selecting motor according to the experience of operating personnel too, and the discharge capacity of four motors controls simultaneously, inconvenience adjusts with actual condition demand.
According to the external load situation of change adjustment speed of travel, the problem that efficiency declines cannot be caused, not yet proposes effective solution at present for milling machine in prior art.
Summary of the invention
The present invention aims to provide a kind of control method and control system of milling machine walking mechanism, cannot according to external load situation of change adjustment speed of travel problem to solve milling machine in prior art.
To achieve these goals, according to an aspect of the present invention, a kind of control method of milling machine walking mechanism is provided.Wherein, milling machine walking mechanism adopts hydraulic drive, and the oil circuit of multiple hydraulic motor is connected in parallel to hydraulic pump, and drive corresponding crawler belt respectively, the control method of this milling machine walking mechanism comprises: obtain the operating pressure of hydraulic pump and the slippage rate of each bar crawler belt; Judge the minimum value in the slippage rate of each bar crawler belt, and using this minimum value as target slippage rate; According to operating pressure and target slippage rate evaluation work pressure change rate and target slippage rate rate of change respectively; Wheel efficiency rate of change is calculated according to change of pressure rate and target slippage rate rate of change; Relatively wheel efficiency rate of change and preset value, presses the discharge capacity of pump delivery or hydraulic motor according to comparative result regulator solution.
Further, the slippage rate obtaining each bar crawler belt comprises: obtain the actual travel speed of milling machine to calculate the translational speed of each bar crawler belt respectively; Obtain the rotating speed of multiple hydraulic motor respectively, utilize rotating speed to calculate the rolling speed of the crawler belt of the fluid motor-driven with this rotating speed respectively; Calculate the ratio of the rolling speed of crawler belt and the translational speed of crawler belt, to obtain the slippage rate of this crawler belt.
Further, the actual travel speed obtaining milling machine comprises with the translational speed calculating each bar crawler belt respectively: the steering angle obtaining milling machine; The translational speed of each bar crawler belt is calculated respectively according to steering angle and actual travel speed.
Further, the acquisition operating pressure of hydraulic pump and the slippage rate of each bar crawler belt comprise: gather the operating pressure of hydraulic pump and the slippage rate of each bar crawler belt every the fixed cycle of presetting; Judge the minimum value in the slippage rate of each bar crawler belt, and this minimum value is comprised as target slippage rate: judge that minimum value in the slippage rate of each bar crawler belt in each fixed cycle is to obtain the target slippage rate in each fixed cycle respectively; According to operating pressure and target slippage rate respectively evaluation work pressure change rate and target slippage rate rate of change comprise: the difference calculating the operating pressure in two adjacent periods respectively, and using the difference of operating pressure that obtains as change of pressure rate; Calculate the difference of the target slippage rate in two adjacent periods respectively, and using the difference of target slippage rate that obtains as target slippage rate rate of change.
Further, calculate wheel efficiency rate of change according to change of pressure rate and target slippage rate rate of change to comprise: utilize the corresponding relation of the operating pressure of hydraulic pump and fluid motor-driven power to calculate driving force rate of change by change of pressure rate; Calculate the ratio of target slippage rate rate of change and driving force rate of change, and using the ratio that obtains as wheel efficiency rate of change.
Further, relatively wheel efficiency rate of change and preset value, the walking hydraulic pressure pump delivery of milling machine or the discharge capacity of hydraulic motor is regulated to comprise according to comparative result: judge whether wheel efficiency rate of change is less than the first preset value, this first preset value is less than target maximum wheel efficiency point; When wheel efficiency rate of change is less than the first preset value, send to hydraulic pump or hydraulic motor the control signal increasing hydraulic motor rotary speed; Judge whether wheel efficiency rate of change is greater than the second preset value, the second preset value is greater than target maximum wheel efficiency point; When wheel efficiency rate of change is greater than the second preset value, send to hydraulic pump or hydraulic motor the control signal reducing hydraulic motor rotary speed.
Further, send to hydraulic pump or hydraulic motor the control signal increasing hydraulic motor rotary speed to comprise: judge whether hydraulic pump is in maximum pump discharge state; When hydraulic pump is in maximum pump discharge state, send the control signal reducing motor displacement to hydraulic motor; When hydraulic pump is not in maximum pump discharge state, send the control signal improving hydraulic pump discharge to hydraulic pump.
Further, send to hydraulic pump or hydraulic motor the control signal reducing hydraulic motor rotary speed to comprise: judge whether hydraulic pump is in maximum pump discharge state; When hydraulic pump is not in maximum pump discharge state, send the control signal reducing hydraulic pump discharge to hydraulic pump; When hydraulic pump is in maximum pump discharge state, judge whether hydraulic motor is in maximum pump discharge state; When hydraulic motor is in maximum pump discharge state, send the control signal reducing hydraulic pump discharge to hydraulic pump; When hydraulic motor is not in maximum pump discharge state, send the control signal increasing motor displacement to hydraulic motor.
According to another aspect of the present invention, a kind of control system of milling machine walking mechanism is proposed.Wherein, milling machine walking mechanism adopts hydraulic drive, and the oil circuit of multiple hydraulic motor is connected in parallel to hydraulic pump, drives corresponding crawler belt respectively.The control system of this milling machine walking mechanism comprises: slippage rate measurement mechanism, for measuring the slippage rate of each bar crawler belt respectively; Pressure sensor, is arranged on the actuator port place of hydraulic pump, for measuring the operating pressure of hydraulic pump; Controller, is connected respectively with slippage rate measurement mechanism and pressure sensor, for the slippage rate of the operating pressure and each bar crawler belt that obtain hydraulic pump; Judge the minimum value in the slippage rate of each bar crawler belt, and using this minimum value as target slippage rate; According to operating pressure and target slippage rate evaluation work pressure change rate and target slippage rate rate of change respectively; Wheel efficiency rate of change is calculated according to change of pressure rate and target slippage rate rate of change; Relatively wheel efficiency rate of change and preset value, presses the discharge capacity of pump delivery or hydraulic motor according to comparative result regulator solution.
Further, slippage rate measurement mechanism comprises: multiple speed probe, is separately positioned on corresponding hydraulic motor, for measuring the rotating speed of corresponding hydraulic motor, velocity sensor, is arranged in the frame of milling machine, for measuring the actual travel speed of milling machine; Controller also obtains the actual travel speed of milling machine to calculate the translational speed of each bar crawler belt respectively for: Negotiation speed sensor, the rotating speed of multiple hydraulic motor is obtained respectively by multiple speed probe, rotating speed is utilized to calculate the rolling speed of the crawler belt of the fluid motor-driven with this rotating speed respectively, calculate the ratio of the rolling speed of crawler belt and the translational speed of crawler belt, and using the slippage rate of this ratio as this crawler belt.
Further, slippage rate measurement mechanism also comprises: turn to measuring transducer, for measuring the steering angle of milling machine and steering angle being sent to controller; Controller also for: obtain the steering angle of milling machine; The translational speed of each bar crawler belt is calculated respectively according to steering angle and actual travel speed.
Further, measuring transducer is turned to be the displacement transducer be arranged on steering cylinder, for measuring the piston rod displacement of steering cylinder; Controller is also for calculating steering angle by piston rod displacement data correspondence.
Apply technical scheme of the present invention, the slippage rate situation of technical scheme of the present invention according to crawler belt and the pressure of hydraulic system, the wheel efficiency of real-time calculating crawler belt, according to the situation of change adjustment hydraulic pump of wheel efficiency or the discharge capacity of hydraulic motor, thus the wheel efficiency of walking mechanism is changed by the rolling speed of adjustment crawler belt, ensure that the rate of change of wheel efficiency is stabilized in default scope.Thus achieve milling machine walking mechanism in real time according to the change adjustment speed of travel of external load, avoid the power unnecessary consumption of milling machine, reduce the workload of operating personnel simultaneously.
Accompanying drawing explanation
The Figure of description forming a application's part is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation 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 of the control system of milling machine walking mechanism according to the embodiment of the present invention;
Fig. 3 is the walking mechanism efficiency curve of the milling machine walking mechanism according to the embodiment of the present invention;
Fig. 4 is the schematic diagram of the control method of milling machine walking mechanism according to the embodiment of the present invention
Fig. 5 is the mechanism map of the control system of milling machine walking mechanism according to preferred embodiment;
Fig. 6 is the flow chart of the control method of milling machine walking mechanism according to preferred embodiment
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Below with reference to the accompanying drawings and describe the present invention in detail in conjunction with the embodiments.
Embodiments provide a kind of control system of milling machine walking mechanism, Fig. 2 is the schematic diagram of the control system of milling machine walking mechanism according to 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 multiple hydraulic motor 13 is connected in parallel to hydraulic pump 16, drive corresponding crawler belt 12 respectively, control system comprises: slippage rate measurement mechanism 18, for measuring the slippage rate of each bar crawler belt 12 respectively; Pressure sensor 601, is arranged on the actuator port place of hydraulic pump 16, for measuring the operating pressure of hydraulic pump 16; Controller 15, is connected respectively with slippage rate measurement mechanism 18 and pressure sensor 601, for the slippage rate of the operating pressure and each bar crawler belt 12 that obtain hydraulic motor 13; Judge the minimum value in the slippage rate of each bar crawler belt 12, this minimum value is as target slippage rate; According to operating pressure and target slippage rate evaluation work pressure change rate and target slippage rate rate of change respectively; Calculate wheel efficiency rate of change according to change of pressure rate and target slippage rate rate of change, wherein wheel efficiency rate of change is the rate of change of wheel efficiency; The discharge capacity of walking hydraulic pump 16 or the discharge capacity of hydraulic motor 13 of milling machine is regulated according to wheel efficiency rate of change.
Use the control system of the milling machine walking mechanism of the present embodiment, the slippage rate situation of controller 15 according to crawler belt 12 and the pressure of hydraulic system, the wheel efficiency of real-time calculating crawler belt 12, according to the situation of change adjustment hydraulic pump 16 of wheel efficiency or the discharge capacity of hydraulic motor 13, thus the wheel efficiency of walking mechanism is changed by the rolling speed of adjustment crawler belt 12, ensure that the rate of change of wheel efficiency is stabilized in default scope.Thus achieve milling machine walking mechanism in real time according to the change adjustment speed of travel of external load, avoid the power unnecessary consumption of milling machine, reduce the workload of operating personnel simultaneously.
Below the control principle of the control system of milling machine walking mechanism is described:
Walking mechanism wheel efficiency η
xwith rolling efficiency eta
f, efficiency eta of trackslipping
δdirectly related, the relation namely between three meets 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 rolling efficiency eta
fand efficiency eta of trackslipping
δ.Rolling efficiency eta
frelevant to the effective driving force of motor, namely effective driving force of motor is larger, and rolling efficiency is higher; To trackslip efficiency eta
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 hoofing part mechanism based on current large-scale milling machine, be described for the control system of four crawler belts to the milling machine walking mechanism of the present embodiment at this, technical scheme of the present invention, by being applied to the crawler belt milling machine of other form, is not limited to the situation of four crawler belts.
Milling machine walking mechanism adopts four crawler belts as hoofing part mechanism, Engine driven Hydraulic Pump 16, connecting fluid press pump 16 after the working oil path parallel connection of the hydraulic motor 13 of driving four crawler belts, thus composition closed circuit.Hydraulic pump 16 herein can the enclosed pump of choice for use electric proportional control, and its discharge capacity controls by regulable control electric current; Hydraulic motor 13 uses variable displacement motor, can select electric proportional control variable displacement motor.
Fig. 3 is the walking mechanism efficiency curve of the milling machine walking mechanism according to the embodiment of the present invention, in the drawings, abscissa is the driving force F of hydraulic motor, and ordinate is Percent efficiency numerical value, curve δ shows the situation of change of track slip rate with motor drive power, curve η
xshow the situation of change of wheel efficiency with motor drive power.According to walking mechanism efficiency curve, can draw when the adhesion weight of the every bar crawler belt of milling machine walking mechanism and its attachment coefficient one with road surface regularly, along with the increase of the driving force of hydraulic motor, the driving example part increased is converted to effective traction power, another part driving force is converted into useless slip, thus the slippage rate of crawler belt increases gradually, after the driving force of hydraulic motor is more than a definite value, wheel efficiency becomes reduction from increase, and the driving force major part namely increased is converted to useless tracks' slip.According to motor output torque formula:
In formula (1), T
mfor motor output torque, Δ p is hydraulic motor operting differential pressure, and because milling machine adopts the configuration of single pump multi-motor, therefore in walking mechanism, the Δ p of each hydraulic motor 13 is equal, q
mfor the discharge capacity of hydraulic motor 13, η
mhfor the mechanical efficiency of hydraulic motor 13.Therefore, motor output torque is adjusted by governor motor discharge capacity, by controlling the discharge capacity of four hydraulic motors 13 respectively, the output torque of each motor can be controlled respectively, pump delivery is suitably regulated to control the overall speed of travel again, the slippage rate of final realization every bar crawler belt is basically identical, and overall 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
mbe linear ratio relation with the driving force F of hydraulic motor, its factor of proportionality is as relevant in speed reducing ratio, sprocket radius to frame for movement.Thus 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 directly can be measured by pressure sensor and draw, mechanical efficiency η
mhfixed value, the discharge capacity q of hydraulic motor 13
mdirectly can be drawn by current control signal by the corresponding relation of the control signal of hydraulic motor and discharge capacity.Thus the driving force F calculating hydraulic motor can be drawn by formula above.
The slippage rate measurement mechanism 18 of the control system of the milling machine walking mechanism of the present embodiment, can be obtained the rolling speed of crawler belt 12, in conjunction with the actual speed of milling machine, draw the slippage rate of crawler belt 12 by the rotating speed correspondence measuring hydraulic motor 13.Particularly, slippage rate measurement mechanism 18 comprises: multiple speed probe, is separately positioned on corresponding hydraulic motor 13, for measuring the rotating speed of corresponding hydraulic motor 13, velocity sensor, is arranged in the frame of milling machine, for measuring the translational speed of milling machine.The flow process that controller 15 calculates slippage rate is specifically as follows: Negotiation speed sensor obtains the actual travel speed of milling machine, the translational speed of each bar crawler belt is drawn according to this actual travel speed, the rotating speed of multiple hydraulic motor 13 is obtained respectively by multiple speed probe, the rolling speed of the crawler belt 12 utilizing rotating speed to calculate respectively to have the hydraulic motor 13 of this rotating speed to drive, calculate the ratio of the rolling speed of crawler belt 12 and the translational speed of crawler belt, this ratio i.e. slippage rate of this crawler belt 12.Controller 15 is previously stored with the mechanism parameter of milling machine, as speed reducing ratio, sprocket radius etc., utilizes the motor rotary speed being arranged on the speed probe measurement on four hydraulic motors 13 and obtaining, can calculate the speed of crawler belt 12.When milling machine straight-line travelling, the actual travel speed of milling machine is identical with the translational speed of each bar crawler belt, and milling machine great majority to run are all straight-line travellings, generally, the actual travel speed of milling machine and the translational speed of each bar crawler belt can be thought.
Also there is various ways in above-mentioned velocity sensor, such as velocity sensor can be GPS device, utilizes the locating information of this GPS to obtain the actual travel speed of milling machine; Also can be infrared distance measurement device, utilize this infrared distance measurement device installation site to the distance of object of reference to obtain the actual travel speed of milling machine; Can also be supersonic range finder, utilize this supersonic range finder installation site to the distance of object of reference to obtain the actual travel speed of milling machine.
Consider that milling machine is except rectilinear motion, in real work, also have some to need the situation of turning operation, due to when turning to, inner side crawler belt is different with the travel distance of outside crawler belt, therefore needs the actual travel speed of the milling machine utilizing velocity sensor measurement to obtain to calculate the translational speed of each bar crawler belt.When the gait of march of milling machine is certain, the gait of march of outside crawler belt is turned to be greater than the gait of march of milling machine entirety, and turn to the gait of march of inner side crawler belt to be less than the gait of march of milling machine entirety, now when measurement obtains steering angle, steering angle value can be used to carry out corrected Calculation to the gait of march of crawler belt, thus make slippage rate more accurate.
When milling machine turns to mobile, the translational speed obtaining each bar crawler belt 12 also needs to measure the steering angle of milling machine, 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, for measuring the steering angle of milling machine and the steering angle of front crawler belt 12 being sent to controller 15.Controller 15 utilizes and turns to data to calculate the translational speed of each bar crawler belt respectively according to steering angle and actual travel speed.Concrete design formulas can draw in conjunction with steering angle simple computation according to the distance of velocity sensor to each crawler belt.
When real work, milling machine steering angle is general less, and before now only needing, crawler belt turns to meet and turns to requirement, and therefore only before milling machine, crawler belt place arranges one and turns to measuring transducer, to simplify calculating.Consider the situation that few angle of turn is larger, also can arrange second and turn to measuring transducer in crawler belt place after milling machine, thus it is larger at the steering angle of minority, when before and after using, crawler belt turns to jointly simultaneously, controller 15 obtains the translational speed of two steering angles turning to measuring transducer to measure to crawler belt 12 simultaneously and calculates.Turn to measuring transducer can use the displacement transducer be arranged on steering cylinder, 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 displacement control signal according to target slippage rate respectively to multiple hydraulic motor 13, substantially identical with the slippage rate controlling each bar crawler belt 12, realizes the slippage rate balance of every bar 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 every this cycle, controller 15 obtains one action force value and target slippage rate, and the difference of the numerical value that acquisition numerical value and the upper cycle in this cycle of calculating gets is as rate of change.During construction operation, the slippage rate δ of each crawler belt 12 of controller 15 Real-Time Monitoring and motor drive power F, and judge whether walking mechanism efficiency eta x is in the variation tendency of pressure point of maximum efficiency and efficiency according to the ratio of the variation delta F of the variation delta δ and motor drive power that ask interior slippage rate during unit.
Wherein, the driving force F of motor can be drawn by the output torque correspondence of motor, and output torque calculates according to formula (1).Owing to parameter value being controlled in the upper realization difficulty of an ideal value (being equivalent to the maximum value of curve η x in Fig. 3) and easily causing system undue fluctuation, therefore control objectives is actually an interval near ideal value, ask that in this district the curvilinear motion of interior walking mechanism efficiency is comparatively mild, can using the slippage rate of its correspondence and driving force as control range.This scope is drawn in advance by a large amount of experiments, can represent the attachment feature on major part 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 control.
Controller 15 regulates the discharge capacity of walking hydraulic pump 16 of milling machine or the step of the discharge capacity of hydraulic motor 13 specifically to comprise according to wheel efficiency rate of change: judge whether wheel efficiency rate of change is less than the first preset value; When wheel efficiency rate of change is less than the first preset value, send to hydraulic pump 16 or hydraulic motor 13 control signal increasing hydraulic motor 13 rotating speed; Judge whether wheel efficiency rate of change is greater than the second preset value; When wheel efficiency rate of change is greater than the second preset value, send to hydraulic pump 16 or hydraulic motor 13 control signal reducing hydraulic motor 13 rotating speed.Wherein, send to hydraulic pump 16 or hydraulic motor 13 control signal increasing hydraulic motor 13 rotating speed can specifically comprise: judge whether hydraulic pump 16 is in maximum pump discharge state; When hydraulic pump 16 is in maximum pump discharge state, send the control signal reducing motor displacement to hydraulic motor 13; When hydraulic pump 16 is not in maximum pump discharge state, send the control signal improving hydraulic pump 16 discharge capacity to hydraulic pump 16.Send to hydraulic pump 16 or hydraulic motor 13 control signal reducing hydraulic motor 13 rotating speed specifically can comprise: judge whether hydraulic pump 16 is in maximum pump discharge state; When hydraulic pump 16 is not in maximum pump discharge state, send the control signal reducing hydraulic pump 16 discharge capacity to hydraulic pump 16; When hydraulic pump 16 is in maximum pump discharge state, judge whether hydraulic motor 13 is in maximum pump discharge state; When hydraulic motor 13 is in maximum pump discharge state, send the control signal reducing hydraulic pump 16 discharge capacity to hydraulic pump 16; When hydraulic motor 13 is not in maximum pump discharge state, send the control signal increasing motor displacement to hydraulic motor 13.
By above control method preferentially by realizing the control of pump, when pump control electric current reach maximum after can't meet, now overallly again control motor.This situation generally appears at the operating mode such as thin layer milling or rigid pavement plucking, working resistance is usually very little, under such conditions, even if pumpage reaches maximum, system pressure neither be too high, namely walking mechanism fails to reach between efficacious workaround, and this Time Controller 15 entirety reduces motor displacement, and the speed of travel is improved further.
In order to deal with some limiting condition phenomenon as certain crawler belt entirely trackslip or certain motor rotary speed exceed element itself allow limit speed, this Time Controller 15 will directly call corresponding emergency processing program, to reach fast processing problem, prevent the affected object of component life.Controller 15 completes travelling control by allocating conventional program and emergence program.
The embodiment of the present invention additionally provides a kind of control method of milling machine walking mechanism, the control system of any one milling machine walking mechanism that the control method of this milling machine walking mechanism can be provided by the above embodiment of the present invention performs, and, this control method playing milling machine walking mechanism can be applied to the milling machine comprising above control system, Fig. 4 is the schematic diagram of the control method of milling machine walking mechanism according to the embodiment of the present invention, and this control method comprises:
Step S41, obtains the operating pressure of hydraulic pump and the slippage rate of each bar crawler belt;
Step S42, judge the minimum value in the slippage rate of each bar crawler belt, this minimum value is as target slippage rate;
Step S43, according to operating pressure and target slippage rate evaluation work pressure change rate and target slippage rate rate of change respectively, wherein change of pressure rate is the rate of change of operating pressure, and target slippage rate rate of change is the rate of change of target slippage rate;
Step S44, calculate wheel efficiency rate of change according to change of pressure rate and target slippage rate rate of change, wherein 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 wheel efficiency rate of change.
Wherein, the slippage rate obtaining each bar crawler belt in step S41 specifically can comprise: obtain the actual travel speed of milling machine to calculate the translational speed of each bar crawler belt respectively; Obtain the rotating speed of multiple hydraulic motor respectively, utilize rotating speed to calculate the gait of march of the crawler belt of the fluid motor-driven with this rotating speed respectively, 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; Calculate the ratio of the rolling speed of crawler belt and the translational speed of crawler belt, this ratio i.e. slippage rate of this crawler belt.
Consider that milling machine turns to the impact on slippage rate, in above step S42, judge that the minimum value in the slippage rate of each bar crawler belt specifically can comprise: the steering angle obtaining milling machine; Revise according to the slippage rate of steering angle to each bar crawler belt, obtain the correction slippage rate of each bar crawler belt; The correction slippage rate of more each bar crawler belt, show that the minimum correction slippage rate of numerical value is as the minimum value in the slippage rate of each bar crawler belt.In order to the slippage rate stablizing each crawler belt is substantially identical, can also comprise after the step judging the minimum value in each bar track slip rate: send displacement control signal according to target slippage rate respectively to multiple hydraulic motor, identical with the slippage rate controlling each bar crawler belt.
Calculate wheel efficiency rate of change according to change of pressure rate and target slippage rate rate of change in step S44 specifically can comprise: utilize the corresponding relation of the operating pressure of hydraulic pump and fluid motor-driven power to calculate the driving force rate of change Δ F of hydraulic motor by change of pressure rate; Calculate the ratio of target slippage rate rate of change Δ δ and driving force rate of change Δ F, namely the numerical value obtained walk efficiency change rate Δ δ/Δ F.
In order to reduce to calculate the amount of calculation of rate of change, above-mentionedly the fixed cycle can be adopted to gather numerical value, utilizing the method for difference as rate of change of adjacent periods sampling number certificate.Specifically, the acquisition operating pressure of hydraulic pump and the slippage rate of each bar crawler belt comprise: gather the operating pressure of hydraulic pump and the slippage rate of each bar crawler belt every the fixed cycle of presetting; Judge the minimum value in the slippage rate of each bar crawler belt, and this minimum value is comprised as target slippage rate: judge that minimum value in the slippage rate of each bar crawler belt in each fixed cycle is to obtain the target slippage rate in each fixed cycle respectively; According to operating pressure and target slippage rate respectively evaluation work pressure change rate and target slippage rate rate of change comprise: the difference calculating the operating pressure in two adjacent periods respectively, and using the difference of operating pressure that obtains as change of pressure rate; Calculate the difference of the target slippage rate in two adjacent periods respectively, and using the difference of target slippage rate that obtains as target slippage rate rate of change.
The walking hydraulic pressure pump delivery of milling machine or the discharge capacity of hydraulic motor is regulated to comprise according to wheel efficiency rate of change in step S45: to judge whether wheel efficiency rate of change Δ δ/Δ F is less than the first preset value; When wheel efficiency rate of change Δ δ/Δ F is less than the first preset value, send to hydraulic pump or hydraulic motor the control signal increasing hydraulic motor rotary speed; Judge whether wheel efficiency rate of change Δ δ/Δ F is greater than the second preset value; When wheel efficiency rate of change Δ δ/Δ F is greater than the second preset value, send to hydraulic pump or hydraulic motor the control signal reducing hydraulic motor rotary speed.
Particularly, the above step sending the control signal of increase hydraulic motor rotary speed to hydraulic pump or hydraulic motor can comprise: judge whether hydraulic pump is in maximum pump discharge state; When hydraulic pump is in maximum pump discharge state, send the control signal reducing motor displacement to hydraulic motor; When hydraulic pump is not in maximum pump discharge state, send the control signal improving hydraulic pump discharge to hydraulic pump.
Similarly, the above step sending the control signal of reduction hydraulic motor rotary speed to hydraulic pump or hydraulic motor can comprise: judge whether hydraulic pump is in maximum pump discharge state; When hydraulic pump is not in maximum pump discharge state, send the control signal reducing hydraulic pump discharge to hydraulic pump; When hydraulic pump is in maximum pump discharge state, judge whether hydraulic motor is in maximum pump discharge state; When hydraulic motor is in maximum pump discharge state, send the control signal reducing hydraulic pump discharge to hydraulic pump; When hydraulic motor is not in maximum pump discharge state, send the control signal increasing motor displacement to hydraulic motor.
Below in conjunction with accompanying drawing, a kind of most preferred embodiment using the milling machine of four crawler belts of above control method and control system to carry out travelling control is described, Fig. 5 is the mechanism map of the control system of milling machine walking mechanism according to preferred embodiment, and Fig. 6 is the flow chart of the control method of milling machine walking mechanism according to preferred embodiment.
The walking mechanism of this milling machine is fixed in frame 11, hydraulic pump 16 is under the driving of power source (motor), to four hydraulic motor fuel feeding, the oil circuit parallel connection of four hydraulic motors is connected with hydraulic pump 16, each hydraulic motor drives corresponding crawler belt respectively, each hydraulic motor is equipped with the speed probe measuring rotating speed, particularly, first motor 131 drives the first crawler belt 121, second motor 132 drives the second crawler belt 122, 3rd motor 133 drives the 3rd crawler belt 123, 4th motor 134 drives the 4th crawler belt 124, first speed probe 301 is arranged on the first motor 131, for measuring the rotational speed omega 1 of the first motor 131, second speed probe 302 is arranged on the second motor 132, for measuring the rotational speed omega 2 of the second motor 132, 3rd speed probe 303 is arranged on the 3rd motor 133, for measuring the rotational speed omega 3 of the 3rd motor 133, 4th speed probe 304 is arranged on the 4th motor 134, for measuring the rotational speed omega 4 of the 4th motor 134.Velocity sensor 101, is arranged on the position that milling machine frame is not easily interfered, and is used for measuring milling machine actual travel speed V1.First displacement transducer 401 and second displacement sensor 402, be assemblied on the steering cylinder of propons steering cylinder and back axle respectively, controller 15 can judge whether to be in steering state according to the displacement signal of this oil cylinder piston and calculate steering angle α 1, α 2.The actuator port of hydraulic pump 16 is provided with pressure sensor 601, for measuring hydraulic pressure P during hydraulic work system, calculate hoofing part power F for controller 15 in conjunction with current motor displacement, wherein the discharge capacity of motor can utilize present motor control signal correspondence to draw.
During milling machine work, actual travel speed V1 measures by the velocity sensor 101 be assemblied in frame, 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.
The speed probe 301,302,303,304 be assemblied on motor is used for the actual speed of each running motor of Obtaining Accurate, and this rotating speed via controller 15 converts, and can draw the rolling speed of every bar crawler belt.
Meanwhile, controller 15 by reading the parameter of displacement transducer 401,402 of steering cylinder, to judge that milling machine is straight-line travelling or is in turn condition.The control system illustrated in Fig. 5 is all provided with measuring sensor on forward and backward steering cylinder, and controller 15 just can draw milling machine steering angle this moment for after these signal transacting.
During milling machine work, steering angle is little, crawler belt steering angle before generally can only obtaining, and to simplify control program, improves computational speed.Turn to measuring transducer to can be displacement transducer on oil cylinder, conversing steering angle by measuring the displacement of steering cylinder piston rod, also can directly adopt angular transducer to measure steering angle.
Controller 15, by receiving the signal of above each sensor, just can adjust walking states in real time, like this can operation to the speed of travel, walking gear when the personnel of simplifying the operation construct greatly, reduction working strength; The operating efficiency of walking mechanism is high simultaneously, reduces the overall energy consumption of milling and plane operation, improves benefit.The detailed control flow of the ambulation control method of this milling machine is as shown in Figure 6:
Start stationarity and starting torque 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, now milling machine speed is 0, it is also 0 that controller 15 calculates walking mechanism slippage rate, namely mechanism efficiency of walking is in the high order end of efficiency curve, now efficiency is minimum, and controller 15 sends signal to hydraulic pump 16, increases the control electric current of hydraulic pump 16, flow exports each hydraulic motor to, and milling machine starts 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 bar crawler belt by 301,302,303,304 4 speed probes, milling machine steering angle is calculated by the survey data of rotation direction sensor 401,402, when 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 bar crawler belt.These data are calculated slippage rate δ 1, δ 2, δ 3, the δ 4 that can draw four crawler belts, using minimum for its intermediate value slippage rate δ p as control objectives, 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 finally reaching every bar crawler belt is substantially identical.The benefit of such control has 2 points, and one is that the tracked slippage rate of institute is identical, then do not have unnecessary power loss of trackslipping; Two is that control slippage rate is identical, then during straight line moving, straightness accuracy is good, and operating personnel can reduce the frequent frequency revising direction.
Because steering angle during most of milling and plane operation is all less, only need use propons and turn to and can meet construction requirement, the displacement data that also only can read the first displacement transducer 401 measurement carries out steering angle calculating.Controller 15 utilizes and turns to data to calculate the translational speed of each bar crawler belt respectively according to steering angle and actual travel speed.Concrete design formulas can calculate in conjunction with steering angle according to the distance of velocity sensor to each crawler belt.
Controller 15 is while reading in tach signal, and walking pressure signal P is also read into.The data that the data read in this cycle and upper cycle read contrast by controller 15, thus obtain the variation delta p of the variation delta δ of target slippage rate rate of change and slippage rate, wheel efficiency rate of change and operating pressure, because the size being less than greatly operating pressure Δ p according to driving force Δ F exists corresponding relation, corresponding driving force Δ F correspondingly can be drawn by Δ p.According to walking mechanism efficiency curve, the value i.e. rate of change of this efficiency curve of Δ δ/Δ F.In the starting stage of efficiency curve, very little Δ δ change just can cause the change greatly of 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 enters the section of asking in efficiency curve, and this section is comparatively stable and change is mild, and this section is best effort district and asks.When the value of Δ δ/Δ F increases further, walking mechanism efficiency declines fast, and external phenomenon is that track slip strengthens, but actual driving force increases also few, and most of walking power consumption is on trackslipping.Best effort district asks that the optimum range of separation Δ δ/Δ F draws according to machine condition and the experiment of a large amount of road surfaces in advance.Because driving force F is embodied by system pressure, get final product control system pressure by controlling travel speed, and then control walking mechanism efficiency.
Above speeds control preferentially by realizing the control of pump, when hydraulic pump 16 control electric current reach maximum after can't meet, now overallly again control motor.This situation generally appears at the operating mode such as thin layer milling or rigid pavement plucking, working resistance is usually very little, under such conditions, even if pumpage reaches maximum, system pressure neither be too high, namely walking mechanism fails to reach between efficacious workaround, and this Time Controller 15 entirety reduces motor displacement, and the speed of travel is improved further.
In order to deal with some limiting condition phenomenon as certain motor crawler belt entirely trackslip or certain motor rotary speed exceed element itself allow limit speed, this Time Controller 15 will directly call corresponding emergency processing program, to reach fast processing problem, prevent the affected object of component life.Controller 15 completes travelling control by allocating conventional program and emergence program.
Apply technical scheme of the present invention, the slippage rate situation of technical scheme of the present invention according to crawler belt and the pressure of hydraulic system, the wheel efficiency of real-time calculating crawler belt, according to the situation of change adjustment hydraulic pump of wheel efficiency or the discharge capacity of hydraulic motor, thus the wheel efficiency of walking mechanism is changed by the gait of march of adjustment crawler belt, ensure that the rate of change of wheel efficiency is stabilized in default scope.Thus achieve milling machine walking mechanism in real time according to the change adjustment speed of travel of external load, avoid the power unnecessary consumption of milling machine, reduce the workload of operating personnel simultaneously.
Obviously, those skilled in the art should be understood that, the each step of above-mentioned the present invention can realize with general calculation element, they can concentrate on single calculation element, or be distributed on network that multiple calculation element forms, alternatively, they can realize with the executable program code of calculation element, thus, they can be stored and be performed by calculation element in the storage device, or they are made into each integrated circuit modules respectively, or the multiple module in them or step are made into single integrated circuit module to realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, 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 amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (12)
1. a control method for milling machine walking mechanism, this milling machine walking mechanism adopts hydraulic drive, and the oil circuit of multiple hydraulic motor is connected in parallel to hydraulic pump, and drive corresponding crawler belt respectively, it is characterized in that, this control method comprises:
Obtain the operating pressure of described hydraulic pump and the slippage rate of each bar crawler belt;
Judge the minimum value in the slippage rate of described each bar crawler belt, and using this minimum value as target slippage rate;
According to described operating pressure and described target slippage rate evaluation work pressure change rate and target slippage rate rate of change respectively;
Wheel efficiency rate of change is calculated 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, regulate the discharge capacity of 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 obtaining each bar crawler belt comprises:
Obtain the actual travel speed of described milling machine to calculate the translational speed of described each bar crawler belt respectively;
Obtain the rotating speed of described multiple hydraulic motor respectively, utilize described rotating speed to calculate the rolling speed of the crawler belt of the fluid motor-driven with this rotating speed respectively;
Calculate the ratio of the rolling speed of described crawler belt and the translational speed of 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 obtaining described milling machine comprises with the translational speed calculating described each bar crawler belt respectively:
Obtain the steering angle of described milling machine;
The translational speed of described each bar crawler belt is calculated respectively 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,
The slippage rate of the operating pressure and each bar crawler belt that obtain described hydraulic pump comprises: gather the operating pressure of described hydraulic pump and the slippage rate of described each bar crawler belt every the fixed cycle of presetting;
Judge the minimum value in the slippage rate of described each bar crawler belt, and this minimum value is comprised as target slippage rate: judge that minimum value in the slippage rate of the described each bar crawler belt in each described fixed cycle is to obtain the described target slippage rate in each described fixed cycle respectively;
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 the difference of the described operating pressure in two adjacent described fixed cycles respectively, and using the difference of described operating pressure that obtains as change of pressure rate;
Calculate the difference of the described target slippage rate in two adjacent described fixed cycles respectively, and using the difference of described target slippage rate that obtains 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, calculates described wheel efficiency rate of change comprise according to described change of pressure rate and described target slippage rate rate of change:
The corresponding relation of the operating pressure of described hydraulic pump and described fluid motor-driven power is utilized to calculate 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 using 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, regulates the walking hydraulic pressure pump delivery of described milling machine or the discharge capacity of described hydraulic motor to comprise according to comparative result:
Judge whether described wheel efficiency rate of change is less than the first preset value, this first preset value is less than target maximum wheel efficiency point;
When described wheel efficiency rate of change is less than described first preset value, send to described hydraulic pump or described hydraulic motor the control signal increasing hydraulic motor rotary speed;
Judge whether described wheel efficiency rate of change is greater than the second preset value, described second preset value is greater than described target maximum wheel efficiency point;
When described wheel efficiency rate of change is greater than described second preset value, send to described hydraulic pump or described hydraulic motor the control signal reducing hydraulic motor rotary speed.
7. the control method of milling machine walking mechanism according to claim 6, is characterized in that, sends the control signal increasing hydraulic motor rotary speed comprise to described hydraulic pump or described hydraulic motor:
Judge whether described hydraulic pump is in maximum pump discharge state;
When described hydraulic pump is in maximum pump discharge state, send the control signal reducing motor displacement to described hydraulic motor;
When described hydraulic pump is not in maximum pump discharge state, send the control signal improving 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 the control signal reducing hydraulic motor rotary speed comprise to described hydraulic pump or described hydraulic motor:
Judge whether described hydraulic pump is in maximum pump discharge state;
When described hydraulic pump is not in maximum pump discharge state, send the control signal reducing hydraulic pump discharge to described hydraulic pump;
When described hydraulic pump is in maximum pump discharge state, judge whether described hydraulic motor is in maximum pump discharge state;
When described hydraulic motor is in maximum pump discharge state, send the control signal reducing hydraulic pump discharge to described hydraulic pump;
When described hydraulic motor is not in maximum pump discharge state, send the control signal increasing motor displacement to described hydraulic motor.
9. a control system for milling machine walking mechanism, this milling machine walking mechanism adopts hydraulic drive, and the oil circuit of multiple hydraulic motor is connected in parallel to hydraulic pump, and drive corresponding crawler belt respectively, it is characterized in that, described control system comprises:
Slippage rate measurement mechanism, for measuring the slippage rate of each bar crawler belt respectively;
Pressure sensor, is arranged on the actuator port place of described hydraulic pump, for measuring the operating pressure of hydraulic pump;
Controller, is connected respectively with described slippage rate measurement mechanism and described pressure sensor, for the slippage rate of the operating pressure and each bar crawler belt that obtain described hydraulic pump; Judge the minimum value in the slippage rate of described each bar crawler belt, and using this minimum value as target slippage rate; According to described operating pressure and described target slippage rate evaluation work pressure change rate and target slippage rate rate of change respectively; Wheel efficiency rate of change is calculated 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, regulate the discharge capacity of 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: multiple speed probe, be separately positioned on corresponding hydraulic motor, for measuring the rotating speed of corresponding hydraulic motor, velocity sensor, be arranged in the frame of described milling machine, for measuring the actual travel speed of described milling machine;
Described controller also for: obtain the actual travel speed of milling machine to calculate the translational speed of described each bar crawler belt respectively by described velocity sensor, the rotating speed of described multiple hydraulic motor is obtained respectively by described multiple speed probe, described rotating speed is utilized to calculate the rolling speed of the crawler belt of the fluid motor-driven with this rotating speed respectively, calculate the ratio of the rolling speed of described crawler belt and the translational speed of described crawler belt, and using the slippage rate of this ratio as this crawler belt.
The control system of 11. milling machine walking mechanisms according to claim 10, is characterized in that,
Described slippage rate measurement mechanism also comprises: turn to measuring transducer, for measuring the steering angle of described milling machine and described steering angle being sent to described controller;
Described controller also for: obtain the steering angle of milling machine; The translational speed of described each bar crawler belt is calculated respectively according to described steering angle and described actual travel speed.
The control system of 12. milling machine walking mechanisms according to claim 11, is characterized in that, turns to measuring transducer to be the displacement transducer be arranged on steering cylinder, for measuring the piston rod displacement of steering cylinder; Described controller is also for calculating described steering angle by described piston rod displacement data correspondence.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310095456.6A CN103147380B (en) | 2013-03-22 | 2013-03-22 | Control method and control system for milling machine travelling mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310095456.6A CN103147380B (en) | 2013-03-22 | 2013-03-22 | Control method and control system for milling machine travelling mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103147380A CN103147380A (en) | 2013-06-12 |
| CN103147380B true CN103147380B (en) | 2015-05-20 |
Family
ID=48545673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310095456.6A Active CN103147380B (en) | 2013-03-22 | 2013-03-22 | Control method and control system for milling machine travelling mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103147380B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103669188B (en) * | 2013-12-11 | 2015-11-04 | 中联重科股份有限公司 | Milling machine, steering control method and device thereof, and steering control system |
| CN105386399B (en) * | 2015-10-13 | 2018-03-09 | 长安大学 | A kind of pavement milling machine and milling flatness auxiliary control method |
| CN107524063A (en) * | 2016-06-21 | 2017-12-29 | 中国铁建高新装备股份有限公司 | A kind of synchronous walking control device and corresponding control method |
| CN106284179B (en) * | 2016-08-31 | 2019-09-20 | 天嘉智能装备制造江苏股份有限公司 | Round brush revolving speed following control system based on snow sweeper operating rate |
| CN107885104B (en) * | 2017-02-07 | 2024-10-15 | 徐州徐工筑路机械有限公司 | CAN bus panel control system and milling machine |
| CN108252190B (en) * | 2017-12-26 | 2023-11-21 | 徐州徐工筑路机械有限公司 | Milling machinery walking anti-slip hydraulic control system |
| CN109577154A (en) * | 2018-12-11 | 2019-04-05 | 江苏山河机电技术有限公司 | A kind of anti-slip control system of milling machine hydraulic moving and go to action |
| DE102019210644A1 (en) * | 2019-07-18 | 2021-01-21 | Wirtgen Gmbh | Self-propelled construction machine and method for processing floor coverings |
| CN111236027A (en) * | 2020-03-16 | 2020-06-05 | 徐州徐工筑路机械有限公司 | Milling machine landing leg motion control system |
| CN113187782B (en) * | 2021-05-07 | 2022-08-02 | 潍柴动力股份有限公司 | Control method, device and equipment of closed hydraulic system and storage medium |
| CN113536434B (en) * | 2021-07-22 | 2023-10-20 | 厦门安科科技有限公司 | Control method and control device for integral jacking platform |
| CN113848901B (en) * | 2021-09-23 | 2024-05-21 | 湖南三一中益机械有限公司 | Control method and control system of electric milling machine and electric milling machine |
| CN113775755B (en) * | 2021-09-28 | 2022-03-25 | 北京理工大学 | Optimal dynamic control method and system for hydraulic stepless transmission |
| 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 |
| CN115596740A (en) * | 2022-10-28 | 2023-01-13 | 三一石油智能装备有限公司（Cn） | Hydraulic system control method and device and petroleum machinery |
| 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 |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1789561A (en) * | 2005-12-26 | 2006-06-21 | 三一重工股份有限公司 | Control method and apparatus for omnirange stepless speed-adjusting travel drive of milling machine |
| CN101480921A (en) * | 2008-01-09 | 2009-07-15 | 三一重工股份有限公司 | Hydraulic power transmission engineering vehicle antiskid method, system as well as leveler |
| CN101603559A (en) * | 2009-06-25 | 2009-12-16 | 三一重工股份有限公司 | Detect the method and apparatus and the engineering machinery of efficiency parameters of hydraulic system |
| CN101799022A (en) * | 2009-02-06 | 2010-08-11 | 徐州重型机械有限公司 | Multi-pump work control method, device and system and crane |
| CN201614543U (en) * | 2010-01-29 | 2010-10-27 | 常州机电职业技术学院 | Hydraulic control device of pavement milling machine |
| EP1674766B1 (en) * | 2003-09-30 | 2011-06-29 | Hitachi Construction Machinery Co., Ltd. | Traveling control device of hydraulically driven vehicle and hydraulically driven vehicle |
-
2013
- 2013-03-22 CN CN201310095456.6A patent/CN103147380B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1674766B1 (en) * | 2003-09-30 | 2011-06-29 | Hitachi Construction Machinery Co., Ltd. | Traveling control device of hydraulically driven vehicle and hydraulically driven vehicle |
| CN1789561A (en) * | 2005-12-26 | 2006-06-21 | 三一重工股份有限公司 | Control method and apparatus for omnirange stepless speed-adjusting travel drive of milling machine |
| CN101480921A (en) * | 2008-01-09 | 2009-07-15 | 三一重工股份有限公司 | Hydraulic power transmission engineering vehicle antiskid method, system as well as leveler |
| CN101799022A (en) * | 2009-02-06 | 2010-08-11 | 徐州重型机械有限公司 | Multi-pump work control method, device and system and crane |
| CN101603559A (en) * | 2009-06-25 | 2009-12-16 | 三一重工股份有限公司 | Detect the method and apparatus and the engineering machinery of efficiency parameters of hydraulic system |
| CN201614543U (en) * | 2010-01-29 | 2010-10-27 | 常州机电职业技术学院 | Hydraulic control device of pavement milling machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103147380A (en) | 2013-06-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103147380B (en) | Control method and control system for milling machine travelling mechanism | |
| US7337054B2 (en) | Systems and methods for controlling slip | |
| CN203144876U (en) | Control system of milling machine walking mechanism and milling machine | |
| AU2013206698B2 (en) | System and method for operating a machine | |
| US8706363B2 (en) | System and method for adjusting a boundary for a machine | |
| US9207157B2 (en) | System and method for determining a state of compaction | |
| CN104067190A (en) | Autonomous implement | |
| CN110453572B (en) | Electric control intelligent hydraulic vibratory roller system and control method thereof | |
| US9043097B2 (en) | System and method for estimating machine pitch angle | |
| US9845580B2 (en) | Compaction system including articulated joint force measurement | |
| CN105626495B (en) | Pumping equipment control method and control device and concrete pumping equipment | |
| CN109183568A (en) | A kind of novel energy-conserving road roller power matching system | |
| CN106978772B (en) | Compaction system for determining roller decoupling | |
| CN104594161B (en) | Tire paver and traveling control system thereof | |
| CN106870181A (en) | Leg legged type robot hydraulic system petrol engine rotation speed servo control method | |
| CN111857157A (en) | Method for adjusting motion path of vibratory roller and control system | |
| CN106284179A (en) | Round brush rotating speed following control system based on snow sweeper operating rate and control method thereof | |
| US20160237630A1 (en) | System and Method for Determining a State of Compaction | |
| CN111749084A (en) | Control method of road roller and road roller | |
| CN107044147A (en) | A kind of BBG wheeled hydraulic excavator drive-control system and control method | |
| CN104379433A (en) | Control method, computer program and control device of a tracked vehicle | |
| CN202944206U (en) | Double-steel-wheel road roller anti-slip system | |
| CN105320011A (en) | An electric vehicle control system | |
| CN102425197B (en) | Fully hydraulic bulldozer, driving control system and control method thereof | |
| CN112596541B (en) | Self-moving type jig frame mechanism control system and method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |