CN103550893B - The automatic leveling controlling system of fire fighting truck workbench, fire fighting truck and leveling method - Google Patents
The automatic leveling controlling system of fire fighting truck workbench, fire fighting truck and leveling method Download PDFInfo
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- CN103550893B CN103550893B CN201310547553.4A CN201310547553A CN103550893B CN 103550893 B CN103550893 B CN 103550893B CN 201310547553 A CN201310547553 A CN 201310547553A CN 103550893 B CN103550893 B CN 103550893B
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Abstract
The invention discloses a kind of automatic leveling controlling system of fire fighting truck workbench, fire fighting truck and leveling method, comprising: control device, horizontal angle sensor, angular acceleration transducer and leveling executing agency; Horizontal angle sensor gathers fire fighting truck workbench angle of inclination with respect to the horizontal plane and is sent to control device; The rotating angular acceleration that angular acceleration transducer collection is cranked arm also is sent to control device; Control device, according to workbench angle of inclination with respect to the horizontal plane and the rotating angular acceleration generation control signal of cranking arm, controls the Levelling operation that leveling executing agency completes fire fighting truck workbench.Automatic leveling controlling system of the present invention, fire fighting truck and leveling method, introduce the feedback of angular acceleration, jitter phenomenon is suppressed with the feedback component of angular acceleration, take two kinds of different Controlling model and control the automatic leveling problem of workbench in lifting and descent respectively, and leveling cut-off region is set, improve self-leveling effect.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of automatic leveling controlling system of fire fighting truck workbench, fire fighting truck and leveling method.
Background technology
Fire fighting truck, such as Elevating platform fire truck, generally include car body, jib, crank arm and the part such as workbench.Workbench is positioned at the end of cranking arm of truck, is used for loading or manned working bucket (or claiming hanging basket), by the luffing of jib, revolution, the flexible and Zhan Heshou that cranks arm, realizes lifting and the decline of workbench.In theory, must ensure that workbench is in level all the time, so just can ensure the personal safety of staff in the process.But in actual mechanical process, due to factors such as the delayed of Movement transmit and vibration interference, workbench certainly exists certain inclination.In use, the angle of inclination of workbench within the specific limits, can think that workbench is level to Elevating platform fire truck.When the angle tilted is greater than certain value, then opened the switch of hydraulic valve by control device, control stretching or contract, realizing the automatic leveling of workbench of leveling cyclinder.
The automatic leveling controlling system of existing fire fighting truck workbench as shown in FIG. 1A and 1B, the angular transducer 2(3 be installed on workbench 9 is redundancy) be used for the level of perception workbench 9, the reading numerical values u (t) of control device 1 detecting sensor 2, and can a=0 be set with initial level setting value a() compare, both notes difference is e (t)=u (t)-a; Compare with e (t) and leveling action setting value b (b>0).
As e (t) > b, now workbench 9 presents hysteretic state (level height of sensor 2 is lower than the horizontal level of sensor 3), control device 1 sends leveling instruction, control the unlatching of electro-hydraulic proportional valve 4, hydraulic system fuel feeding, promote leveling cyclinder 7,8 action, and then drive levelling gear 12 action, workbench 9 is rotated by counter clockwise direction around jointed shaft 10, makes workbench 9 be tending towards level, thus realize self-leveling function; As e (t) <-b, now workbench 9 presents Lead conditions (level height of sensor 2 is higher than the horizontal level of sensor 3), control device 1 sends leveling instruction, control the unlatching of electro-hydraulic proportional valve 4, hydraulic system fuel feeding, promote leveling cyclinder 7,8 action, and then drive levelling gear 12 action, workbench 9 is rotated in the direction of the clock around jointed shaft 10, makes workbench 9 be tending towards level, thus realize self-leveling function.
The automatic leveling controlling system of existing fire fighting truck workbench has following weak point:
1, when processing automatic leveling, scarcely distinguish workbench and be in lifting or decline state, but carry out automatic leveling according to unified mode, but stressed and that the bear load of workbench in lifting and when declining is different, and therefore single model is difficult to automatic leveling when meeting lifting and this two operating modes of decline simultaneously.Time normally lifting (or decline), levelling effect is good, and decline (or lifting) time levelling effect bad.
2, workbench is in leveling process, occurs oscillatory occurences sometimes.Namely workbench 9 switches (crossing 0 ° of position with taking place frequently) continually between lead and lag state.Current existing technical solution is setting leveling cut-off region, namely sets leveling working value b, when the inclined degree of workbench 1 is less than b, then thinks that workbench 1 is level, do not carry out automatic leveling.In theory, this method to solve oscillation problem, but in actual use, the value of b is difficult to fix.B value too small (cut-off region is narrow), due to the inertia of mechanical action, workbench 1 is easy to cross cut-off region, crosses horizontal level (0 °) become delayed (or advanced) state from advanced (or delayed) state.B value excessive (cut-off region is wide), then can cause the inclined degree of workbench 1 to aggravate.
3, the luffing of jib and the rotary motion of cranking arm can produce the change of workbench inclination angle angular speed, and the marked change of inclination angle acceleration can produce shake or the vibration of leveling process.And existing leveling technology is most based on level angle status monitoring, do not consider the impact of angular acceleration change, even if take into account, also be that the secondary differentiate of employing to level angle is to calculate angular acceleration, this method is feasible in theory, but in practice, can there are cumulative errors, actual effect is unsatisfactory.
Summary of the invention
In view of this, the technical problem that the present invention will solve is to provide a kind of automatic leveling controlling system of fire fighting truck workbench, introduces the angle of inclination of horizontal plane and the feedback of angular acceleration.
An automatic leveling controlling system for fire fighting truck workbench, comprising: control device, horizontal angle sensor, angular acceleration transducer and leveling executing agency; Described control device is electrically connected with described horizontal angle sensor and described angular acceleration transducer respectively; Described horizontal angle sensor is arranged on fire fighting truck workbench, gathers fire fighting truck workbench angle of inclination with respect to the horizontal plane and is sent to described control device; On described angular acceleration transducer is arranged on and cranks arm, the rotating angular acceleration that collection is cranked arm also is sent to described control device; Described control device is according to fire fighting truck workbench angle of inclination with respect to the horizontal plane and the rotating angular acceleration generation control signal of cranking arm, and described control signal is sent to described leveling executing agency, controls the Levelling operation that described leveling executing agency completes fire fighting truck workbench.
According to an embodiment of system of the present invention, further, described leveling executing agency comprises: electro-hydraulic proportional valve, leveling cyclinder; The two ends of described leveling cyclinder respectively with crank arm and workbench hinged; The control signal that described electro-hydraulic proportional valve sends according to described control device, by control flow check through the pressure of the hydraulic oil of described electro-hydraulic proportional valve and flow, controls described leveling cyclinder and stretches; Wherein, described control signal is voltage signal.
According to an embodiment of system of the present invention, further, also comprise alarm; Described alarm is electrically connected with described control device.
According to an embodiment of system of the present invention, further, fire fighting truck workbench arranges 2 described horizontal angle sensor; 2 described horizontal angle sensor are all electrically connected with described control device; Described 2 described horizontal angle sensor gather fire fighting truck workbench angle of inclination with respect to the horizontal plane respectively and are sent to described control device respectively.
According to an embodiment of system of the present invention, further, 2 described angular acceleration transducers are set on cranking arm; 2 described angular acceleration transducers are all electrically connected with described control device; Described 2 described angular acceleration transducers gather the rotating angular acceleration of cranking arm respectively and are also sent to described control device respectively.
Present invention also offers following technical scheme:
A kind of fire fighting truck, is characterized in that: the automatic leveling controlling system comprising fire fighting truck workbench as above.
Present invention also offers following technical scheme:
A leveling control method for the automatic leveling controlling system of fire fighting truck workbench as above, comprising: described control device reads the level angle sampled value of the horizontal angle sensor collection be installed on workbench respectively and is installed on the angular acceleration sampled value of the collection of the angular acceleration transducer on cranking arm; Whether described control device inquiry has the associative operation of workbench, if there is the operation of workbench, then judges that workbench is lift operation or landing operation; If lift operation then enters " lifting leveling pattern ", otherwise enter " landing leveling pattern "; Described control device calculates the difference e (t) of described level angle sampled value and horizontal level setting value, the inclined degree that described e (t) is workbench and horizontal level setting value; E (t) and leveling action setting value b compare by described control device, and wherein, b is greater than a; When e (t) is greater than-b and is less than b, described control device judges that workbench does not need leveling, when | e (t) | during > b, then described control device judges that workbench needs to carry out leveling action; Described control device is applied " lifting pattern leveling Controlling model " or " landing mode leveling Controlling model " and is adopted the sampled value u of angular acceleration transducer
2t () is revised leveling Controlling model, suppress due to luffing range of cantilever support or the shake rotating and produce of cranking arm; Described control device generates control signal according to level angle sampled value and angular acceleration sampled value, by controlling the opening degree of electro-hydraulic proportional valve, controlling the stroke of leveling cyclinder, carrying out automatic leveling operation.
Schematic diagram according to one embodiment of the method for the invention, further, in automatic leveling process, described control device real-time read level angular samples value, and the difference e (t) of real-time calculating and angular acceleration sampled value and horizontal level setting value; When | e (t) | during >c, described control device controls siren and reports to the police; Wherein, c is oblique degree danger warning threshold value, and c is greater than b.
Schematic diagram according to one embodiment of the method for the invention, further, in automatic leveling process, when | e (t) | during >d, the described luffing action of control device locking jib and the automatic leveling action of workbench; Wherein, d is forced locking threshold value, and d is greater than c.When being adjusted to artificial leveling pattern or taking manual reset, locking action removed by described control device.
Schematic diagram according to one embodiment of the method for the invention, further, if there is oscillatory occurences in leveling process, and when the number of times of vibration is greater than number of oscillation threshold value, the parameter in described control device Correction and Control model, slows down leveling process.
The automatic leveling controlling system of fire fighting truck workbench of the present invention, fire fighting truck and leveling method, introduce the feedback of angular acceleration, jitter phenomenon is suppressed with the feedback component of angular acceleration, take two kinds of different Controlling model and control the automatic leveling problem of workbench in lifting and descent respectively, and leveling cut-off region is set, improve self-leveling effect.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Figure 1A is the schematic diagram of the automatic leveling controlling system of fire fighting truck workbench in prior art; Figure 1B is the schematic diagram of the levelling gear of fire fighting truck workbench in prior art;
Fig. 2 is the schematic diagram of an embodiment of the automatic leveling controlling system of fire fighting truck workbench of the present invention;
Fig. 3 is the flow chart of an embodiment of the leveling method of the automatic leveling controlling system of fire fighting truck workbench of the present invention;
Wherein, 1---control device; 2,3---angular transducer (redundancy); 4---electro-hydraulic proportional valve; 5,6---safe lock valve; 7,8---leveling cyclinder; 9---workbench; 10---jointed shaft; 11---jib; 12---levelling gear.
Detailed description of the invention
With reference to the accompanying drawings the present invention is described more fully, exemplary embodiment of the present invention is wherein described.Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.Below in conjunction with figure and embodiment, many-sided description is carried out to technical scheme of the present invention.
Hereafter convenient in order to describe, hereinafter alleged "left", "right", " on ", left and right, the upper and lower of D score and accompanying drawing itself is to consistent.
As shown in Figure 2, the automatic leveling controlling system of fire fighting truck workbench comprises: control device 23, horizontal angle sensor 22, angular acceleration transducer 24 and leveling executing agency.Control device 23 is electrically connected with horizontal angle sensor 22 and angular acceleration transducer 24 respectively.
Horizontal angle sensor 22 is arranged on fire fighting truck workbench 21, gathers fire fighting truck workbench 21 angle of inclination with respect to the horizontal plane and is sent to control device 23.Angular acceleration transducer 24 is arranged on cranks arm on 26, gather crank arm 26 rotating angular acceleration and be sent to control device 23.
Control device 23 is according to fire fighting truck workbench angle of inclination with respect to the horizontal plane and the rotating angular acceleration generation control signal of cranking arm, and control signal is sent to leveling executing agency, controls the Levelling operation that leveling executing agency completes fire fighting truck workbench.
According to one embodiment of present invention, can there be multiple implementation in leveling executing agency, and such as, leveling executing agency comprises: electro-hydraulic proportional valve 27, leveling cyclinder 25; The two ends of leveling cyclinder 25 respectively with crank arm 26 and workbench 21 hinged.The control signal that electro-hydraulic proportional valve 27 sends according to control device 23, by control flow check through the pressure of the hydraulic oil of electro-hydraulic proportional valve 27 and flow, controls leveling cyclinder 25 and stretches.Wherein, control signal is voltage signal.Leveling executing agency also comprises and jib 29 and 26 hinged oil cylinders 28 of cranking arm of cranking arm.
According to one embodiment of present invention, alarm is electrically connected with control device 23, for reporting to the police.
According to one embodiment of present invention, fire fighting truck workbench 21 arranges 2 horizontal angle sensor 22.2 horizontal angle sensor 22 are all electrically connected with control device 23, and 2 horizontal angle sensor 22 gather fire fighting truck workbench angle of inclination with respect to the horizontal plane respectively and are sent to control device 23 respectively.Redundancy arranges the reliability that 2 horizontal angle sensor 22 can improve system.
According to one embodiment of present invention, 2 angular acceleration transducers 24 are set cranking arm on 26.2 angular acceleration transducers 24 are all electrically connected with control device 23,2 angular acceleration transducers 24 gather respectively crank arm 26 rotating angular acceleration and be sent to control device 23 respectively.Redundancy arranges the reliability that 2 angular acceleration transducers 24 can improve system.
The automatic leveling controlling system of fire fighting truck workbench of the present invention, can control fire fighting truck workbench and be horizontal all the time, to ensure the safety of fire fighter in luffing range of cantilever support operation.Being cranked arm by jib 29(26 is epimerite arms, belongs to a part for jib) luffing motion realize the elevating movement of workbench 21.Wherein, comprise jib 29 luffing motion, oil cylinder 28 of cranking arm drive crank arm 26 rotary motion.
In the process, be installed on the angle of inclination of the horizontal angle sensor 22 moment monitoring platform 21 on workbench 21, be installed on angular acceleration transducer 24 monitoring of cranking arm on 26 crank arm 26 rotating angular acceleration, and feed back to control device 23, control device 23 adjusts opening and closing and the opening degree of servo proportion 27 by corresponding control algolithm, and then control the stroke of leveling cyclinder 25, thus realize the automatic leveling of workbench 21.
According to one embodiment of present invention, what angular acceleration transducer 24 exported is voltage signal, adopts the object of angular acceleration transducer 24, mainly suppresses the impact in workbench 21 leveling process.
The signal of angular acceleration transducer 24 and the signal of horizontal angle sensor 22 are negative correlation.Such as, suppose that the output signal of horizontal angle sensor 22 is a (t), the output of angular acceleration transducer 24 is b (t), then control signal y (t) with the pass of the data of sensor collection is: y (t)=a (t)-k*b (t), k is rejection coefficient.
According to one embodiment of present invention, electro-hydraulic proportional valve 27 or other magnetic valve are large or diminish according to the change of control signal, by controlling pressure and the flow of the hydraulic oil of electro-hydraulic proportional valve 27 or other magnetic valve, control the flexible amplitude of leveling cyclinder 25 and speed.That is, judge the impact degree in current leveling process by the state of angular acceleration, impact large, then the b (t) of the output of angular acceleration transducer 24 is large.If now do not suppressed output signal y (t), then leveling process likely produces shake.Introduce angular acceleration b (t) that angular acceleration transducer 24 gathers, then, when impact is large, suppress the output signal of control device 23, impact larger, inhibition is stronger.
In order to the personal safety of fire fighter, require that workbench 21 is in level (i.e. β=0 °) all the time in theory, but in the leveling process of reality, due to interference and the impact of all factors, advanced (β > 0 °) or delayed (the β < 0 °) phenomenon of leveling often attended by workbench 1, drastically influence the security of the lives and property of staff.
Due to workbench 21 lifting (θ changes from small to big) and landing (θ from large to small) process in, its stressed situation is not identical, in addition, also there is large chamber and the inconsistent situation of loculus active area in crank arm oil cylinder 28, leveling cyclinder 25, therefore the lifting of workbench 21 and landing can think two kinds of different operating modes.Therefore the lifting of workbench and landing leveling are set to two kinds of different mode of operations, Controlling model corresponding different respectively by the present invention.
According to one embodiment of present invention, a kind of fire fighting truck comprises the automatic leveling controlling system of fire fighting truck workbench as above.
According to one embodiment of present invention, a leveling control method for the automatic leveling controlling system of fire fighting truck workbench as above, comprising: control device reads the level angle sampled value of the horizontal angle sensor collection be installed on workbench respectively and is installed on the angular acceleration sampled value of the collection of the angular acceleration transducer on cranking arm.Whether control device inquiry has the associative operation of workbench, if there is the operation of workbench, then judges that workbench is lift operation or landing operation; If lift operation then enters " lifting leveling pattern ", otherwise enter " landing leveling pattern ".
According to one embodiment of present invention, fire fighting truck is when lifting and landing, the output signal of its operating grip is different, therefore just can judge that fire fighting truck works in lifting or landing state according to the output state of operating grip, control device is also select the pattern of its work according to the duty of operating grip.
Time lifting state (" lifting leveling pattern "), 26 exhibitions of cranking arm, leveling cyclinder 25 shrinks, angular acceleration transducer 24 is rotated counterclockwise, and time state of landing (" landing leveling pattern "), 26 receipts of cranking arm, leveling cyclinder 25 is stretched, and angular acceleration transducer 24 turns clockwise.During this two kinds of duties, leveling cyclinder 25 is the oil-feed of large chamber and loculus oil-feed respectively.
Duty is different, and the stressed situation of leveling system and the hydraulic shock suffered by leveling cyclinder 25 are different, and therefore will be divided into lifting leveling pattern and landing leveling pattern, their rejection coefficient k will get different values.
The difference e (t) of control device calculated level angular samples value and horizontal level setting value, the inclined degree that e (t) is workbench and horizontal level setting value; E (t) and leveling action setting value b compare by control device, and wherein, b is greater than a; When e (t) is greater than-b and is less than b, control device judges that workbench does not need leveling, when | e (t) | during > b, then control device judges that workbench needs to carry out leveling action.
Control device is applied " lifting pattern leveling Controlling model " or " landing mode leveling Controlling model " and is adopted the sampled value u of angular acceleration transducer
2t () is revised leveling Controlling model, suppress due to luffing range of cantilever support or the shake rotating and produce of cranking arm; Control device generates control signal according to level angle sampled value and angular acceleration sampled value, by controlling the opening degree of electro-hydraulic proportional valve, controlling the stroke of leveling cyclinder, carrying out automatic leveling operation.
Schematic diagram according to an embodiment of the invention, in automatic leveling process, control device real-time read level angular samples value, and the difference e (t) of real-time calculating and angular acceleration sampled value and horizontal level setting value.When | e (t) | during >c, control device controls siren and reports to the police; Wherein, c is oblique degree danger warning threshold value, and c is greater than b.
According to one embodiment of present invention, in automatic leveling process, when | e (t) | during >d, the luffing action of control device locking jib and the automatic leveling action of workbench; Wherein, d is forced locking threshold value, and d is greater than c.When being adjusted to artificial leveling pattern or taking manual reset, control device is forbidden removing locking action.
According to one embodiment of present invention, if there is oscillatory occurences in leveling process, and when the number of times of vibration is greater than number of oscillation threshold value, the parameter in control device Correction and Control model, slows down leveling process.
According to one embodiment of present invention, occur oscillatory occurences in leveling process, mainly workbench crosses 0 ° continually, changing between lead and lag state repeatedly, makes people feel uncomfortable.Its reason mainly fire fighting truck control signal y (t) is excessive, and the hydraulic system inertia of leveling system is large, and (hydraulic system, after control signal disappears, also can work on a period of time, leveling cyclinder also can be stretched (or contracting) segment distance.Control signal is larger, and the inertia of hydraulic system is larger).Therefore, suppress vibration will inhibitory control signal y (t).Aforementioned, y (t)=a (t)-k*b (t), also can be expressed as y (t)=m*(a (t)-k*b (t)), under normal circumstances, m=1, i.e. y (t)=a (t)-k*b (t).When there is vibration, adjustment parameter m, makes control signal y (t) reduce.
According to one embodiment of present invention, electro-hydraulic proportional valve 27 or other magnetic valve are large or diminish according to the change of control signal, by controlling pressure and the flow of the hydraulic oil of electro-hydraulic proportional valve 27 or other magnetic valve, control the flexible amplitude of leveling cyclinder 25 and speed, thus control leveling process, and then avoid vibration.
As shown in Figure 3: step 301, first power on to control device 23 while fire fighting truck powers on, control device 23 carries out initializing and self-inspection.
Step 302, control device 23 reads the sampled value u being installed on horizontal angle sensor on workbench 21 22 and being installed on the angular acceleration transducer 24 of cranking arm on 26 respectively
1(t), u
2(t).
Step 303,304, the associative operation whether having workbench 21 inquired about by control device 23, if do not have associative operation, then control device 23 continues the state of poll workbench 21.
Step 305, if the operation having workbench 21, then judges that workbench 21 be lift operation or landing operation is that lift operation then enters " lifting leveling pattern ", otherwise enters " landing leveling pattern ".In these two patterns, be respectively arranged with different Controlling model, with for different duty requirements.Below for lifting process:
Step 308,309, the sampled value u of calculated level angular transducer 22
1t () and horizontal level setting value a(can set a=0, i.e. horizontal level) difference, be designated as e (t)=u
1t ()-a, represents the inclined degree of workbench 1 and horizontal level a with e (t).
Step 311, with e (t) and leveling action setting value b(b>a, or is called leveling cut-off region setting value) compare.
Step 314,315 is as-b<e (t) <b, think workbench 21 heeling condition within the acceptable range, now do not need leveling, if | e (t) | >b, then now need to carry out leveling action.Transfer " lifting pattern leveling Controlling model " or " landing mode leveling Controlling model ", and utilize the sampled value u of angular acceleration transducer 24
2t () is revised leveling Controlling model, with suppress due to jib 29 luffing or crank arm 26 rotation time, angular acceleration marked change and the shake produced.
Step 316, pass through computing, the control signal of the control signal of horizontal angle sensor 22 and angular acceleration transducer 24 is merged into a control signal, and the opening degree of servo proportion 27 is controlled by this synthesis control signal, and then control the stroke of leveling cyclinder 25, carry out automatic leveling operation.
Step 318, in leveling process, the inclined degree of workbench 21 should reduce in theory gradually, if but the excessive velocities of jib 29 luffing or 26 rotations of cranking arm, likely cause the situation that workbench 21 angle of inclination is aggravated.Therefore inclined degree e (t) continuing to monitor workbench 21 in the process of leveling is necessary, if in automatic leveling process, the inclined degree aggravation of workbench 21, and | e (t) | >c(c>b, for workbench 21 inclined degree danger warning value), then illustrate that the inclined degree of now workbench 21 has arrived degree of danger, siren sends alarm signal off and on, and lifting operation personnel take care.
Step 324, if in automatic leveling process, the inclined degree of workbench 21 aggravates further, and | e (t) | >d(d>c, workbench 1 inclined degree forced locking value), now should the luffing action of locking jib at once and the automatic leveling action of workbench 21, and siren yowls, and sends alarm signal.Now should be adjusted to artificial leveling pattern or take manual reset, otherwise forbidding removing locking action, with the personal safety of safeguard work personnel.
Step 322, if do not have run-off the straight degree e (t) to exceed the situation of alarming value d, then continue to carry out automatic leveling action, and the moment judges whether leveling action completes (| e (t) | < b), if do not complete leveling action, then continue to return leveling process, if leveling action completes, then return the status monitoring of workbench 21, to wait for leveling action next time.
Carry out, in the process of leveling process, occurring oscillatory occurences sometimes at driving leveling cyclinder 25, namely workbench 21 switches (crossing 0 ° of position with taking place frequently) continually between lead and lag state.Current existing technical solution is setting leveling cut-off region, namely sets leveling working value b, when the inclined degree of workbench 21 is less than b, then thinks that workbench 21 is levels, do not carry out automatic leveling.In theory, this method to solve oscillation problem, but in actual use, the value of b is difficult to fix.B value too small (cut-off region is narrow), due to the inertia of mechanical action, workbench 21 is easy to cross cut-off region, crosses horizontal level (0 °) become delayed (or advanced) state from advanced (or delayed) state.B value excessive (cut-off region is wide), then can cause the inclined degree of workbench 21 to aggravate.
Step 319,320, in order to make up this problem, adds the suppression to oscillatory occurences in control device 23.On the basis of existing scheme, add the monitoring of the number of oscillation.If there is oscillatory occurences in leveling process, and the number of times of vibration is greater than 3 times, then the parameter in Correction and Control model, to slow down leveling process, avoids workbench 21 to cross leveling cut-off region, causes oscillatory occurences.
The automatic leveling controlling system of fire fighting truck workbench of the present invention, fire fighting truck and leveling method control the automatic leveling problem of workbench in lifting and descent respectively owing to taking two kinds of different Controlling model, therefore avoid single Controlling model and control two kinds of operating modes and the shortcoming of the bad adaptability produced, improve self-leveling effect.
Leveling cut-off region is set and can avoids oscillatory occurences to a certain extent.When cut-off region arranges too small, workbench may be crossed cut-off region and produce vibration, and cut-off region arranges excessive, then workbench tilts serious.On the basis of setting leveling cut-off region, the method for combination model correction, whether moment monitoring platform exists oscillatory occurences, if existed, then correction model, slows down automatic leveling action, avoids vibration.So namely, workbench can be made more to be tending towards horizontal level, to turn avoid vibration.
In automatic leveling process, luffing range of cantilever support and crank arm rotate produce acceleration change and cause jitter problem time occur, in order to suppress shake, introduce the feedback of angular acceleration.Jitter phenomenon is suppressed with the feedback component of angular acceleration.
Arbitrary technical scheme disclosed in the invention described above unless otherwise stated, if the number range of it discloses, so disclosed number range is preferred number range, anyly it should be appreciated by those skilled in the art: preferred number range is only the numerical value that in many enforceable numerical value, technique effect is obvious or representative.Because numerical value is more, cannot be exhaustive, so the present invention just discloses component values to illustrate technical scheme of the present invention, and the above-mentioned numerical value enumerated should not form the restriction to the invention protection domain.
Simultaneously, if the invention described above discloses or relate to parts or the structural member of connection fastened to each other, so, unless otherwise stated, be fixedly connected with and can be understood as: can releasably be fixedly connected with (such as using bolt or screw to connect), also can be understood as: to be non-removablely fixedly connected with (such as rivet, weld), certainly, connection fastened to each other also can be replaced by integral type structure (such as use casting technique is integrally formed create) (obviously cannot adopt except integrally formed technique).
In addition, apply in arbitrary technical scheme disclosed in the invention described above for represent position relationship or shape term unless otherwise stated its implication comprise approximate with it, similar or close state or shape.Arbitrary parts provided by the invention both can be assembled by multiple independent part, and also can be one of the forming manufacture technics separate part out.
Finally should be noted that: above embodiment is only in order to illustrate that technical scheme of the present invention is not intended to limit; Although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the field are to be understood that: still can modify to the specific embodiment of the present invention or carry out equivalent replacement to portion of techniques feature; And not departing from the spirit of technical solution of the present invention, it all should be encompassed in the middle of the technical scheme scope of request of the present invention protection.
Claims (10)
1. an automatic leveling controlling system for fire fighting truck workbench, is characterized in that, comprising:
Control device, horizontal angle sensor, angular acceleration transducer and leveling executing agency;
Described control device is electrically connected with described horizontal angle sensor and described angular acceleration transducer respectively; Described horizontal angle sensor is arranged on fire fighting truck workbench, gathers fire fighting truck workbench angle of inclination with respect to the horizontal plane and is sent to described control device; On described angular acceleration transducer is arranged on and cranks arm, the rotating angular acceleration that collection is cranked arm also is sent to described control device;
Described control device is according to fire fighting truck workbench angle of inclination with respect to the horizontal plane and the rotating angular acceleration generation control signal of cranking arm, and described control signal is sent to described leveling executing agency, controls the Levelling operation that described leveling executing agency completes fire fighting truck workbench.
2. the system as claimed in claim 1, is characterized in that:
Described leveling executing agency comprises: electro-hydraulic proportional valve, leveling cyclinder;
The two ends of described leveling cyclinder respectively with crank arm and workbench hinged; The control signal that described electro-hydraulic proportional valve sends according to described control device, by control flow check through the pressure of the hydraulic oil of described electro-hydraulic proportional valve and flow, controls described leveling cyclinder and stretches;
Wherein, described control signal is voltage signal.
3. system as claimed in claim 2, is characterized in that:
Also comprise alarm;
Described alarm is electrically connected with described control device.
4. system as claimed in claim 3, is characterized in that:
Fire fighting truck workbench arranges 2 described horizontal angle sensor;
2 described horizontal angle sensor are all electrically connected with described control device; 2 described horizontal angle sensor gather fire fighting truck workbench angle of inclination with respect to the horizontal plane respectively and are sent to described control device respectively.
5. system as claimed in claim 4, is characterized in that:
2 described angular acceleration transducers are set on cranking arm;
2 described angular acceleration transducers are all electrically connected with described control device; 2 described angular acceleration transducers gather the rotating angular acceleration of cranking arm respectively and are also sent to described control device respectively.
6. a fire fighting truck, is characterized in that:
Comprise the automatic leveling controlling system of the fire fighting truck workbench as described in claim 1 to 5 any one.
7. a leveling method for the automatic leveling controlling system of the fire fighting truck workbench described in claim 3 to 5 any one, comprising:
Described control device reads the level angle sampled value of the horizontal angle sensor collection be installed on workbench respectively and is installed on the angular acceleration sampled value of the collection of the angular acceleration transducer on cranking arm;
Whether described control device inquiry has the associative operation of workbench, if there is the operation of workbench, then judges that workbench is lift operation or landing operation; If lift operation then enters " lifting leveling pattern ", otherwise enter " landing leveling pattern ";
Described control device calculates the difference e (t) of described level angle sampled value and horizontal level setting value, the inclined degree that described e (t) is workbench and horizontal level setting value;
E (t) and leveling action setting value b compare by described control device, and wherein, b is greater than a; When e (t) is greater than-b and is less than b, described control device judges that workbench does not need leveling, when | e (t) | during >b, then described control device judges that workbench needs to carry out leveling action;
Described control device is applied " lifting pattern leveling Controlling model " or " landing mode leveling Controlling model " and is adopted the sampled value u of angular acceleration transducer
2t () is revised leveling Controlling model, suppress due to luffing range of cantilever support or the shake rotating and produce of cranking arm;
Described control device generates control signal according to level angle sampled value and angular acceleration sampled value, by controlling the opening degree of electro-hydraulic proportional valve, controlling the stroke of leveling cyclinder, carrying out automatic leveling operation.
8. method as claimed in claim 7, is characterized in that:
In automatic leveling process, described control device real-time read level angular samples value, and the difference e (t) of real-time calculating and angular acceleration sampled value and horizontal level setting value;
When | e (t) | during >c, described control device controls siren and reports to the police;
Wherein, c is oblique degree danger warning threshold value, and c is greater than b.
9. method as claimed in claim 8, is characterized in that:
In automatic leveling process, when | e (t) | during > d, the described luffing action of control device locking jib and the automatic leveling action of workbench; Wherein, d is forced locking threshold value, and d is greater than c;
When being adjusted to artificial leveling pattern or taking manual reset, locking action removed by described control device.
10. method as claimed in claim 9, is characterized in that:
If there is oscillatory occurences in leveling process, and when the number of times of vibration is greater than number of oscillation threshold value, the parameter in described control device Correction and Control model, slows down leveling process.
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| CN104019069A (en) * | 2014-06-26 | 2014-09-03 | 徐州徐工随车起重机有限公司 | Automatic oil feeding type isomorphic double-cylinder leveling system |
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| CN110775904B (en) * | 2019-10-31 | 2022-04-05 | 三一汽车制造有限公司 | Leveling control system and leveling control method for working bucket of high-altitude vehicle and high-altitude vehicle |
| CN110975195B (en) * | 2019-12-16 | 2021-06-29 | 深圳市荣盛智能装备有限公司 | Anti-overturning automatic reset method and system and electronic equipment |
| CN111547653B (en) * | 2020-05-19 | 2021-10-29 | 三一海洋重工有限公司 | Fork leveling system and method and telescopic arm forklift |
| CN112710241B (en) * | 2020-12-17 | 2023-03-31 | 中铁电气化局集团有限公司 | Method and device for detecting cantilever offset |
| CN113414740A (en) * | 2021-07-09 | 2021-09-21 | 济南轩玥昇家具有限公司 | Horizontal anti-inclination knocking device for furniture assembly |
| CN114439804B (en) * | 2021-12-31 | 2023-09-05 | 湖南中联重科智能高空作业机械有限公司 | Leveling system, leveling method and engineering machinery |
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| JP2006239215A (en) * | 2005-03-04 | 2006-09-14 | Hitachi Constr Mach Co Ltd | Fire-fighting system |
| CN102935988B (en) * | 2012-10-31 | 2014-10-15 | 长沙中联消防机械有限公司 | Operation control method, operation control device and operation control system for lifting engineering van and engineering van |
| CN202937174U (en) * | 2012-11-26 | 2013-05-15 | 长沙中联消防机械有限公司 | Pulley gear, fire-fighting aerial ladder truck ladder assembly and fire fighting truck |
| CN203763747U (en) * | 2013-11-07 | 2014-08-13 | 徐州重型机械有限公司 | Automatic leveling control system of fire engine working platform and fire engine |
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Effective date of registration: 20170123 Address after: 221004 Jiangsu Province, Xuzhou City Yunlong District No. 165 Patentee after: Xugong fire safety equipment Co. Ltd. Address before: 221004 Xuzhou, Zhejiang Province, Jiangsu Road No. 165 Patentee before: Xuzhou Heavy Machinery Co., Ltd. |