CN103631136A - Control method and system of vibratory roller and vibratory roller - Google Patents

Abstract

The invention discloses a control method and a control system of a vibratory roller and the vibratory roller, wherein the method comprises the following steps: determining the rigidity of a vibratory roller operation object through real-time monitored physical parameters; and calculating a first ratio of the vibration force of the vibratory roller, and if the calculated first ratio of the vibration force of the vibratory roller is not in a preset ideal range, adjusting the working frequency of the vibratory roller so that the first ratio is in the preset ideal range. Through the mode, the compaction device is beneficial to the compaction effect of the operation object and the improvement of the utilization rate of energy.

Description

The control method of vibroll, system and vibroll

Technical field

The present invention relates to technical field of engineering machinery, particularly relate to a kind of control method, system and vibroll of vibroll.

Background technology

Vibroll is that the vibrator (excentric shaft of High Rotation Speed or eccentric block) by vibrating wheels produces centrifugal force, thereby makes the vibrating wheels of vibroll produce vibration, reaches the object of compacting operation object.

At present, vibroll, conventionally according to the difference of its manipulating object, designs one or more frequency of operation targetedly, adopts higher operational frequency when compacting pitch, concrete and road surface, when compacted subgrade and first base, adopts lower frequency of operation.For example: for the situation of compacted subgrade, the reference work frequency range of vibroll is 25～30Hz; For the situation of compacting first base, the reference work frequency range of vibroll is 25～40Hz; For the situation on compacting pitch, concrete and road surface, the reference work frequency range of vibroll is 30～50Hz.

But, vibroll is when actual job, the situation of manipulating object varies, and in the process of vibroll one-stop operation, the rigidity that is compacted manipulating object also can increase along with the increase of compacting counting, the situation of so easy generation overcompaction manipulating object, has also reduced capacity usage ratio simultaneously, is unfavorable for the raising of vibroll operation quality and efficiency.

Summary of the invention

The technical matters that the present invention mainly solves is to provide a kind of control method, system and vibroll of vibroll, can both be conducive to the consolidation effect of manipulating object, is conducive to again put forward high-octane utilization factor.

For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of control method of vibroll is provided, comprises: the physical parameter that Real-Time Monitoring is relevant to the stiffness variation of vibroll manipulating object; By the physical parameter of described Real-Time Monitoring, determine the rigidity k of described vibroll manipulating object ₂; Utilize the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force the first ratio

f wherein _sthe acting force of vibrating wheels to manipulating object while being described vibroll vibration, F _s' vibrating wheels is passed to the effect of vibration power of getting on the bus while being the vibration of described vibroll; If described vibroll vibration force first ratio of described calculating

not in default ideal range, regulate the frequency of operation ω of described vibroll, so that described vibroll vibration force first ratio of described calculating in default ideal range, wherein, described default ideal range is that described the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

Wherein, described physical parameter is vibration acceleration or vibration acceleration rate of change.

Wherein, the described physical parameter of utilizing described Real-Time Monitoring is determined the rigidity k of described vibroll manipulating object ₂step, comprising: by FUZZY ALGORITHMS FOR CONTROL, utilize the physical parameter of described Real-Time Monitoring to determine the rigidity k of described vibroll manipulating object ₂.

Wherein, described the first ratio $\left|\frac{F_s}{F_s^{\&prime;}}\right|=\frac{1}{\mathrm{\&lambda;}}{\mathrm{\&omega;}}_n^2(\frac{1}{{\mathrm{\&omega;}}^2}-\frac{1}{{\mathrm{\&omega;}}_a^2}),$ Wherein, ${\mathrm{\&omega;}}_n=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">k</figure-callout>}}_2/{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">m</figure-callout>}}_2}$ For described vibroll main system free-running frequency, m ₂the quality of described vibroll main system,

for the free-running frequency of described Vibration System of Vibration Rollers, k ₁the rigidity of described Vibration System of Vibration Rollers, m ₁the quality of described Vibration System of Vibration Rollers, λ=m ₁/ m ₂for described Vibration System of Vibration Rollers quality and main system mass ratio.

Wherein, the frequency of operation ω of the described vibroll of described adjusting, so that described vibroll vibration force first ratio of described calculating

step in default ideal range, comprising: if described the first ratio is greater than first threshold, increase the frequency of operation ω of described vibroll, if described the first ratio is less than Second Threshold, reduce the frequency of operation ω of described vibroll.

For solving the problems of the technologies described above, another technical solution used in the present invention is: the control system that a kind of vibroll is provided, described control system comprises: monitoring modular, for the Real-Time Monitoring physical parameter relevant to the stiffness variation of vibroll manipulating object; Determination module, for determining the rigidity k of described vibroll manipulating object by the physical parameter of described Real-Time Monitoring ₂; Computing module, for utilizing the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force the first ratio

f wherein _sthe acting force of vibrating wheels to manipulating object while being described vibroll vibration, F _s' vibrating wheels is passed to the effect of vibration power of getting on the bus while being the vibration of described vibroll; Adjustment module, for described vibroll vibration force the first ratio in described calculating

with not in default ideal range time, regulate the frequency of operation ω of described vibroll, so that described vibroll vibration force first ratio of described calculating

in default ideal range, wherein, described default ideal range is that described the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

Wherein, described physical parameter is vibration acceleration or vibration acceleration rate of change.

Wherein, described determination module is specifically for by FUZZY ALGORITHMS FOR CONTROL, utilizes the physical parameter of described Real-Time Monitoring to determine the rigidity k of described vibroll manipulating object ₂.

Wherein, described the first ratio $\left|\frac{F_s}{F_s^{\&prime;}}\right|=\frac{1}{\mathrm{\&lambda;}}{\mathrm{\&omega;}}_n^2(\frac{1}{{\mathrm{\&omega;}}^2}-\frac{1}{{\mathrm{\&omega;}}_a^2}),$ Wherein, ${\mathrm{\&omega;}}_n=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">k</figure-callout>}}_2/{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">m</figure-callout>}}_2}$ For described vibroll main system free-running frequency, m ₂the quality of described vibroll main system,

for the free-running frequency of described Vibration System of Vibration Rollers, k ₁the rigidity of described Vibration System of Vibration Rollers, m ₁the quality of described Vibration System of Vibration Rollers, λ=m ₁/ m ₂for described Vibration System of Vibration Rollers quality and main system mass ratio.

Wherein, described adjustment module, specifically for when described the first ratio is greater than first threshold, increases the frequency of operation ω of described vibroll, when described the first ratio is less than Second Threshold, reduces the frequency of operation ω of described vibroll.

For solving the problems of the technologies described above, another technical scheme that the present invention adopts is: a kind of control system of vibroll is provided, and described control system comprises: acceleration transducer, controller and frequency of operation sensor; Described acceleration transducer is arranged on getting off of vibroll, be connected with described controller, the vibration acceleration of getting off for Real-Time Monitoring vibroll, described vibration acceleration is relevant to the stiffness variation of vibroll manipulating object, and the described vibration acceleration real-time monitoring is transferred to controller; Described frequency of operation sensor setting is got off in vibroll, is connected with described controller, for the frequency of operation ω of monitoring vibration street roller, and the described frequency of operation ω monitoring is transferred to controller; Described controller is arranged on vibroll, for receiving the vibration acceleration of described acceleration transducer transmission and the frequency of operation ω of the vibroll that described frequency of operation sensor sends, by described vibration acceleration, determine the rigidity k of described vibroll manipulating object ₂; Utilize the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force the first ratio

f wherein _sthe acting force of vibrating wheels to manipulating object while being described vibroll vibration, F _s' vibrating wheels is passed to the effect of vibration power of getting on the bus while being the vibration of described vibroll; If described vibroll vibration force first ratio of described calculating not in default ideal range, sending controling instruction, requires to regulate the frequency of operation ω of described vibroll, so that described vibroll vibration force first ratio of described calculating in default ideal range, wherein, described default ideal range is that described the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

Wherein, described controller is also for by FUZZY ALGORITHMS FOR CONTROL, utilizes the vibration acceleration of described Real-Time Monitoring to determine the rigidity k of described vibroll manipulating object ₂.

Wherein, described the first ratio $\left|\frac{F_s}{F_s^{\&prime;}}\right|=\frac{1}{\mathrm{\&lambda;}}{\mathrm{\&omega;}}_n^2(\frac{1}{{\mathrm{\&omega;}}^2}-\frac{1}{{\mathrm{\&omega;}}_a^2}),$ Wherein, ${\mathrm{\&omega;}}_n=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">k</figure-callout>}}_2/{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">m</figure-callout>}}_2}$ For described vibroll main system free-running frequency, m ₂the quality of described vibroll main system, for the free-running frequency of described Vibration System of Vibration Rollers, k ₁the rigidity of described Vibration System of Vibration Rollers, m ₁the quality of described Vibration System of Vibration Rollers, λ=m ₁/ m ₂for described Vibration System of Vibration Rollers quality and main system mass ratio.

Wherein, described controller is also for when described the first ratio is greater than first threshold, sending controling instruction, require to increase the frequency of operation ω of described vibroll, when described the first ratio is less than Second Threshold, sending controling instruction, requirement reduces the frequency of operation ω of described vibroll.

For solving the problems of the technologies described above, another technical scheme that the present invention adopts is: a kind of vibroll is provided, and involving vibrations wheel, described vibroll also comprises the control system described in any one as mentioned above, described control system is connected with described vibrating wheels.

The invention has the beneficial effects as follows: be different from the situation of prior art, the present invention determines the rigidity of vibroll manipulating object by the physical parameter of Real-Time Monitoring; Calculate vibroll vibration force the first ratio, if the first ratio is not in default ideal range, regulate the frequency of operation of vibroll, so that the first ratio is in default ideal range.Because the situation of change of the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thereby realize the consolidation effect that had both been conducive to manipulating object, be conducive to again put forward high-octane utilization factor.

Accompanying drawing explanation

Fig. 1 is the process flow diagram of control method one embodiment of vibroll of the present invention;

Fig. 2 is the mathematical model schematic diagram of vibroll;

Fig. 3 is the structural representation of control system one embodiment of vibroll of the present invention;

Fig. 4 is the structural representation of another embodiment of control system of vibroll of the present invention;

Fig. 5 is the structural representation of vibroll one embodiment of the present invention.

Embodiment

Below in conjunction with drawings and embodiments, the present invention is described in detail.

Consult Fig. 1, Fig. 1 is the process flow diagram of control method one embodiment of vibroll of the present invention, comprising:

Step S101: the physical parameter that Real-Time Monitoring is relevant to the stiffness variation of vibroll manipulating object.

Vibroll is to produce centrifugal force by vibrating wheels vibrator (excentric shaft of High Rotation Speed or eccentric block), makes the vibrating wheels of vibroll produce vibration, thereby reaches the object of compacting operation object.On the one hand, vibroll is larger to the acting force on ground while getting off (vibrating wheels) vibration, and the consolidation effect of vibroll is better.On the other hand, it is less that vibrating wheels is passed to the effect of vibration power of getting on the bus, and the comfortableness of vibroll is better, and the utilization factor of energy is also higher.In order to take, to realize vibroll to get off that (vibrating wheels) when vibration control with the coordination that is passed to the effect of vibration power of getting on the bus the acting force on ground be target, can the Real-Time Monitoring physical parameter relevant to the stiffness variation of vibroll manipulating object, vibroll frequency of operation is controlled automatically with vibrating compacting situation (being the stiffness variation of manipulating object).

The physical parameter relevant to the stiffness variation of vibroll manipulating object can be that the vibration acceleration of the vibrating wheels of vibroll is, the amplitude of the rate of change of vibration acceleration or vibration etc., because these physical parameters are relevant to the stiffness variation of manipulating object, therefore utilize these physical parameters, can know rigidity or the stiffness variation situation of manipulating object, thereby vibroll frequency of operation is controlled automatically with vibrating compacting situation (being the stiffness variation of manipulating object).

Step S102: the rigidity k that determines vibroll manipulating object by the physical parameter of Real-Time Monitoring ₂.

Because physical parameter is relevant to the stiffness variation of manipulating object, therefore utilize these physical parameters, can determine rigidity or the stiffness variation situation of manipulating object.

For example: abundant and more accurately in situation in the empirical data of the rigidity of physical parameter and manipulating object, can set up the empirical data relation between physical parameter and the rigidity of manipulating object, or further determine the functional relation between physical parameter and the rigidity of manipulating object, or relation is complicated between physical parameter and the rigidity of manipulating object, in the time of can not setting up linear or deterministic relation, also can by some algorithms for example FUZZY ALGORITHMS FOR CONTROL by the physical parameter of Real-Time Monitoring, determine the rigidity k of vibroll manipulating object ₂.

Wherein, step S102 specifically: by FUZZY ALGORITHMS FOR CONTROL, utilize the physical parameter of Real-Time Monitoring to determine the rigidity k of vibroll manipulating object ₂.

Fuzzy control is the complication system of describing by existing rule being difficult to, and adopts natural language (as large, medium and small) to be narrated, and by qualitatively, the control expressed of coarse and fuzzy conditional statement, is a kind of Based Intelligent Control based on language.Ultimate principle is: the accurate amount of being measured by various sensors is converted into the fuzzy quantity that is suitable for fuzzy budget, then by the computing in addition in fuzzy controller of these fuzzy quantities, finally again the fuzzy quantity in operation result is converted to accurate amount, so that each actuator carries out concrete operation, controls.In embodiment of the present invention, the variablees such as the vibration acceleration signal that fuzzy controller is got off to the vibroll collecting or vibration acceleration rate of change carry out analyzing and processing, actual input variable is converted within the scope of fuzzy domain, and obtain corresponding fuzzy value, set up membership function, realize the obfuscation of input variable.

For example: input variable and output variable separately in domain dividing subset close, input acceleration is divided in its domain to " very little (NB) ", " little (NM) " " less (NS) ", " in (Z) ", " large (PS) ", " large (PM) ", " very large (PB) ".

Only take acceleration during as input variable, control law form as:

If?Q?is?A _i，then?u?is?C _i。

Take acceleration and rate of acceleration change during as input variable, and control law is as R simultaneously _i: If Q is A _iand δ Q is B _i, then u is C _i.

The fuzzy inference rule of the vibroll manipulating object rigidity that described FUZZY ALGORITHMS FOR CONTROL adopts is as following table:

Fuzzy reasoning table

The fuzzy control rule of setting up by the learning method of vibroll operation Experiential Knowledge Database and measurement data, obtains the rigidity k corresponding to the vibroll manipulating object of the sharpening of each variable fuzzy interval ₂.

Step S103: the rigidity k that utilizes vibroll manipulating object ₂, calculate vibroll vibration force the first ratio f wherein _sthe acting force of vibrating wheels to manipulating object while being vibroll vibration, F _s' be that vibroll when vibration vibrating wheels is passed to the effect of vibration power of getting on the bus.

Referring to Fig. 2, Fig. 2 is the mathematical model of vibroll, according to the mathematical model of vibroll, can know:

Vibroll while getting off (vibrating wheels) vibration to the acting force of ground (manipulating object) is:

$F_s=k_2{x}_2-C_2{\stackrel{\&CenterDot;}{x}}_2$

Vibrating wheels is passed to the effect of vibration power of getting on the bus:

${F^{\&prime;}}_s=k_1(x_1-x_2)-C_1({\stackrel{\&CenterDot;}{x}}_1-{\stackrel{\&CenterDot;}{x}}_2)$

Wherein, C ₁the ratio of damping of vibroll shock mitigation system, C ₂the ratio of damping of vibroll main system, x ₁the displacement of vibroll shock mitigation system, x ₂the displacement of vibroll main system, k ₁the rigidity of vibroll shock mitigation system.At above-mentioned parameter, be all known in the situation that, can calculate vibroll vibration force the first ratio

Wherein, the first ratio $\left|\frac{F_s}{F_s^{\&prime;}}\right|=\frac{1}{\mathrm{\&lambda;}}{\mathrm{\&omega;}}_n^2(\frac{1}{{\mathrm{\&omega;}}^2}-\frac{1}{{\mathrm{\&omega;}}_a^2}),$ ${\mathrm{\&omega;}}_n=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">k</figure-callout>}}_2/{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">m</figure-callout>}}_2}$ For vibroll main system free-running frequency, m ₂the quality of vibroll main system,

for the free-running frequency of Vibration System of Vibration Rollers, k ₁the rigidity of Vibration System of Vibration Rollers, m ₁the quality of Vibration System of Vibration Rollers, λ=m ₁/ m ₂for Vibration System of Vibration Rollers quality and main system mass ratio.

Illustrate below reasoning process.

Referring to the mathematical model of the vibroll of Fig. 2, the equation of motion corresponding to this mathematical model is:

$m_2{\stackrel{\&CenterDot;\&CenterDot;}{x}}_2+({\mathrm{<figure-callout\; id="1"\; label="C"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">C</figure-callout>}}_1+C_2){\stackrel{\&CenterDot;}{x}}_2+({\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+k_2)x_2-C_1{\stackrel{\&CenterDot;}{x}}_1-k_1{x}_1=F_0\sin \mathrm{\&omega;t}$

$m_1{\stackrel{\&CenterDot;\&CenterDot;}{x}}_1+C_1{\stackrel{\&CenterDot;}{x}}_1+k_1{x}_1-C_1{\stackrel{\&CenterDot;}{x}}_2-k_1{x}_2=0$

F ₀＝mrω ²

Wherein, F ₀for the exciting force of vibroll, m is the quality of eccentric block in vibrating wheels, the eccentric throw that r is eccentric block, and t is the time.

For the sake of simplicity, ignore the impact of damping in system, the equation of motion becomes:

$m_2{\stackrel{\&CenterDot;\&CenterDot;}{x}}_2+({\mathrm{<figure-callout\; id="1"\; label="k"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">k</figure-callout>}}_1+k_2)x_2-k_1{x}_1=F_0\sin \mathrm{\&omega;t}$

$m_1{\stackrel{\&CenterDot;\&CenterDot;}{x}}_1+k_1{x}_1-k_1{x}_2=0$

The steady state solution of above-mentioned equation is:

x ₁＝X ₁sinωt

x ₂＝X ₂sinωt

In above-mentioned formula:

${\mathrm{<figure-callout\; id="1"\; label="X"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">X</figure-callout>}}_1=\frac{x_{\mathrm{st}}}{[1+\mathrm{\&lambda;}{({\mathrm{\&omega;}}_a/{\mathrm{\&omega;}}_n)}^2-{(\mathrm{\&omega;}/{\mathrm{\&omega;}}_n)}^2][1-{(\mathrm{\&omega;}/{\mathrm{\&omega;}}_a)}^2]-\mathrm{\&lambda;}{({\mathrm{\&omega;}}_a/{\mathrm{\&omega;}}_n)}^2}$

${\mathrm{<figure-callout\; id="2"\; label="X"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">X</figure-callout>}}_2=\frac{[1-{(\mathrm{\&omega;}/{\mathrm{\&omega;}}_a)}^2]x_{\mathrm{st}}}{[1+\mathrm{\&lambda;}{({\mathrm{\&omega;}}_a/{\mathrm{\&omega;}}_n)}^2-{(\mathrm{\&omega;}/{\mathrm{\&omega;}}_n)}^2][1-{(\mathrm{\&omega;}/{\mathrm{\&omega;}}_a)}^2]-\mathrm{\&lambda;}{({\mathrm{\&omega;}}_a/{\mathrm{\&omega;}}_n)}^2}$

Wherein, x _st=F ₀/ k ₂quiet distortion for main system (vibrating wheels and soil series system);

The impact of damping in ignoring system, vibroll can be reduced to the acting force on ground while getting off (vibrating wheels) vibration:

F _s＝k ₂x ₂

Vibrating wheels is passed to the effect of vibration power of getting on the bus and can be reduced to:

F _s'＝k ₁(x ₁-x ₂)

So,

$\left|\frac{F_s}{F_s^{\&prime;}}\right|=\frac{K_2{x}_2}{K_1(x_1-x_2)}=\frac{K_2[1-{(\mathrm{\&omega;}/{\mathrm{\&omega;}}_a)}^2]x_{\mathrm{st}}}{K_1{(\mathrm{\&omega;}/{\mathrm{\&omega;}}_a)}^2{x}_{\mathrm{st}}}=\frac{1}{\mathrm{\&lambda;}}{\mathrm{\&omega;}}_n^2(\frac{1}{{\mathrm{\&omega;}}^2}-\frac{1}{{\mathrm{\&omega;}}_a^2})$

Step S104: if vibroll vibration force the first ratio calculating

not in default ideal range, regulate the frequency of operation ω of vibroll, so that the first ratio is in default ideal range, wherein, default ideal range is that the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

As previously mentioned, on the one hand, vibroll is larger to the acting force on ground while getting off (vibrating wheels) vibration, and the consolidation effect of vibroll is better.On the other hand, it is less that vibrating wheels is passed to the effect of vibration power of getting on the bus, and the comfortableness of vibroll is better, and the utilization factor of energy is also higher.In the course of work of vibroll, wish F _sbe the bigger the better, F _s' the smaller the better, so F _swith F _s' ratio is larger more favourable to the high-quality of street roller, high efficiency work.

Although the first ratio in theory

be the bigger the better, but in actual conditions, for concrete system,

within certain scope, the efficiency of manipulating object consolidation effect and energy utilization just all can reach good result.Default ideal range refers to for certain concrete system, meeting manipulating object consolidation effect and capacity usage ratio high in the situation that,

the desirable scope having.This ideal range is data acquisition rule of thumb, and default ideal range is that the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold, and first threshold and Second Threshold are respectively minimum edge dividing value and the maximum boundary values of default ideal range.

Judge that the first ratio is whether in default ideal range, if the first ratio is not in default ideal range, when the first ratio is less than first threshold or the first ratio and is greater than Second Threshold, due to the displacement x of vibroll shock mitigation system ₁displacement x with vibroll main system ₂all relevant with the frequency of operation ω of vibroll, therefore can be by regulating the frequency of operation ω of vibroll, reach the object of the first ratio in default ideal range, thereby realize the consolidation effect that had both been conducive to manipulating object, be conducive to again put forward high-octane utilization factor.

Wherein, in step S104, regulate the frequency of operation ω of vibroll, so that vibroll vibration force the first ratio calculating

step in default ideal range, can be:

If the first ratio is greater than first threshold, increase the frequency of operation ω of vibroll, if the first ratio is less than Second Threshold, reduce the frequency of operation ω of vibroll.

For example, in the control system of a concrete vibroll, the first threshold of setting is 5, Second Threshold is 10, if the first ratio calculating is 2, needs to increase the frequency of operation ω of vibroll, the first ratio is increased to and is at least 5, but can not surpass 10; If the first ratio calculating is 15, need to reduce the frequency of operation ω of vibroll, the first ratio is reduced to and is at least 10, but can not be less than 5.

Embodiment of the present invention is determined the rigidity of vibroll manipulating object by the physical parameter of Real-Time Monitoring; Calculate vibroll vibration force the first ratio, if the first ratio is not in default ideal range, regulate the frequency of operation of vibroll, so that the first ratio is in default ideal range.Because the situation of change of the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thereby realize the consolidation effect that had both been conducive to manipulating object, be conducive to again put forward high-octane utilization factor.In addition, by FUZZY ALGORITHMS FOR CONTROL, can realize Based Intelligent Control; By ignoring the impact of damping, can simplify computation process.

Consult Fig. 3, Fig. 3 is the structural representation of control system one embodiment of vibroll of the present invention, comprising: monitoring modular 101, determination module 102, computing module 103 and adjustment module 104.

It should be noted that the corresponding steps of the control system of present embodiment in can execution graph 1.

Monitoring modular 101 is for the Real-Time Monitoring physical parameter relevant to the stiffness variation of vibroll manipulating object.

Vibroll is to produce centrifugal force by vibrating wheels vibrator (excentric shaft of High Rotation Speed or eccentric block), makes the vibrating wheels of vibroll produce vibration, thereby reaches the object of compacting operation object.On the one hand, vibroll is larger to the acting force on ground while getting off (vibrating wheels) vibration, and the consolidation effect of vibroll is better.On the other hand, it is less that vibrating wheels is passed to the effect of vibration power of getting on the bus, and the comfortableness of vibroll is better, and the utilization factor of energy is also higher.In order to take, to realize vibroll to get off that (vibrating wheels) when vibration control with the coordination that is passed to the effect of vibration power of getting on the bus the acting force on ground be target, can the Real-Time Monitoring physical parameter relevant to the stiffness variation of vibroll manipulating object, vibroll frequency of operation is controlled automatically with vibrating compacting situation (being the stiffness variation of manipulating object).

The physical parameter relevant to the stiffness variation of vibroll manipulating object can be that the vibration acceleration of the vibrating wheels of vibroll is, the amplitude of the rate of change of vibration acceleration or vibration etc., because these physical parameters are relevant to the stiffness variation of manipulating object, therefore utilize these physical parameters, can know rigidity or the stiffness variation situation of manipulating object, thereby vibroll frequency of operation is controlled automatically with vibrating compacting situation (being the stiffness variation of manipulating object).

Determination module 102 is for determining the rigidity k of vibroll manipulating object by the physical parameter of Real-Time Monitoring ₂.

Because physical parameter is relevant to the stiffness variation of manipulating object, therefore utilize these physical parameters, can determine rigidity or the stiffness variation situation of manipulating object.

For example: abundant and more accurately in situation in the empirical data of the rigidity of physical parameter and manipulating object, can set up the empirical data relation between physical parameter and the rigidity of manipulating object, or further determine the functional relation between physical parameter and the rigidity of manipulating object, or relation is complicated between physical parameter and the rigidity of manipulating object, in the time of can not setting up linear or deterministic relation, also can by some algorithms for example FUZZY ALGORITHMS FOR CONTROL by the physical parameter of Real-Time Monitoring, determine the rigidity k of vibroll manipulating object ₂.

Wherein, determination module 102 is specifically for by FUZZY ALGORITHMS FOR CONTROL, utilizes the physical parameter of Real-Time Monitoring to determine the rigidity k of vibroll manipulating object ₂.

Fuzzy control is the complication system of describing by existing rule being difficult to, and adopts natural language (as large, medium and small) to be narrated, and by qualitatively, the control expressed of coarse and fuzzy conditional statement, is a kind of Based Intelligent Control based on language.In embodiment of the present invention, the variablees such as the vibration acceleration signal that fuzzy controller is got off to the vibroll collecting or vibration acceleration rate of change carry out analyzing and processing, actual input variable is converted within the scope of fuzzy domain, and obtain corresponding fuzzy value, set up membership function, realize the obfuscation of input variable; The fuzzy control rule of setting up by the learning method of vibroll operation Experiential Knowledge Database and measurement data, obtains the rigidity k corresponding to the vibroll manipulating object of the sharpening of each variable fuzzy interval ₂.

Computing module 103 is for utilizing the rigidity k of vibroll manipulating object ₂, calculate vibroll vibration force the first ratio f wherein _sthe acting force of vibrating wheels to manipulating object while being vibroll vibration, F _s' be that vibroll when vibration vibrating wheels is passed to the effect of vibration power of getting on the bus.

Wherein, the first ratio $\left|\frac{F_s}{F_s^{\&prime;}}\right|=\frac{1}{\mathrm{\&lambda;}}{\mathrm{\&omega;}}_n^2(\frac{1}{{\mathrm{\&omega;}}^2}-\frac{1}{{\mathrm{\&omega;}}_a^2}),$ ${\mathrm{\&omega;}}_n=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">k</figure-callout>}}_2/{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">m</figure-callout>}}_2}$ For vibroll main system free-running frequency, m ₂the quality of vibroll main system,

for the free-running frequency of Vibration System of Vibration Rollers, k ₁the rigidity of Vibration System of Vibration Rollers, m ₁the quality of Vibration System of Vibration Rollers, λ=m ₁/ m ₂for Vibration System of Vibration Rollers quality and main system mass ratio.

Vibroll vibration force first ratio of adjustment module 104 for calculating in the time of not in default ideal range, regulate the frequency of operation ω of vibroll, so that vibroll vibration force the first ratio calculating

in default ideal range, wherein, default ideal range is that the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

As previously mentioned, on the one hand, vibroll is larger to the acting force on ground while getting off (vibrating wheels) vibration, and the consolidation effect of vibroll is better.On the other hand, it is less that vibrating wheels is passed to the effect of vibration power of getting on the bus, and the comfortableness of vibroll is better, and the utilization factor of energy is also higher.In the course of work of vibroll, wish F _sbe the bigger the better, F _s' the smaller the better, so F _swith F _s' ratio is larger more favourable to the high-quality of street roller, high efficiency work.

Although the first ratio in theory

be the bigger the better, but in actual conditions, for concrete system,

within certain scope, the efficiency of manipulating object consolidation effect and energy utilization just all can reach good result.Default ideal range refers to for certain concrete system, meeting manipulating object consolidation effect and capacity usage ratio high in the situation that,

the desirable scope having.This ideal range is data acquisition rule of thumb, and default ideal range is that the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold, and first threshold and Second Threshold are respectively minimum edge dividing value and the maximum boundary values of default ideal range.

Judge that the first ratio is whether in default ideal range, if the first ratio is not in default ideal range, when the first ratio is less than first threshold or the first ratio and is greater than Second Threshold, due to the displacement x of vibroll shock mitigation system ₁displacement x with vibroll main system ₂all relevant with the frequency of operation ω of vibroll, therefore can be by regulating the frequency of operation ω of vibroll, reach the object of the first ratio in default ideal range, thereby realize the consolidation effect that had both been conducive to manipulating object, be conducive to again put forward high-octane utilization factor.

Wherein, adjustment module 104, specifically for when the first ratio is greater than first threshold, increases the frequency of operation ω of vibroll, when the first ratio is less than Second Threshold, reduces the frequency of operation ω of vibroll.

Embodiment of the present invention is determined the rigidity of vibroll manipulating object by the physical parameter of Real-Time Monitoring; Calculate vibroll vibration force the first ratio, if the first ratio is not in default ideal range, regulate the frequency of operation of vibroll, so that the first ratio is in default ideal range.Because the situation of change of the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thereby realize the consolidation effect that had both been conducive to manipulating object, be conducive to again put forward high-octane utilization factor.In addition, by FUZZY ALGORITHMS FOR CONTROL, can realize Based Intelligent Control; By ignoring the impact of damping, can simplify computation process.

Consult Fig. 4, Fig. 4 is the structural representation of another embodiment of control system of vibroll of the present invention, and this control system comprises: acceleration transducer 201, controller 202 and frequency of operation sensor 203.

Acceleration transducer 201 is arranged on getting off of vibroll, be connected with controller 202, the vibration acceleration of getting off for Real-Time Monitoring vibroll, vibration acceleration is relevant to the stiffness variation of vibroll manipulating object, and the vibration acceleration real-time monitoring is transferred to controller 202.

Frequency of operation sensor 203 is arranged at getting off of vibroll, is connected with controller 202, for the frequency of operation ω of monitoring vibration street roller, and the frequency of operation ω monitoring is transferred to controller 202.

Controller 202 is arranged on vibroll, for receiving the vibration acceleration of acceleration transducer 201 transmissions and the frequency of operation ω of the vibroll that frequency of operation sensor 203 sends, determines the rigidity k of vibroll manipulating object by vibration acceleration ₂; Utilize the rigidity k of vibroll manipulating object ₂, calculate vibroll vibration force the first ratio

f wherein _sthe acting force of vibrating wheels to manipulating object while being vibroll vibration, F _s' be that vibroll when vibration vibrating wheels is passed to the effect of vibration power of getting on the bus; If vibroll vibration force the first ratio calculating

not in default ideal range, sending controling instruction, requires to regulate the frequency of operation ω of vibroll, so that vibroll vibration force the first ratio calculating

in default ideal range, wherein, default ideal range is that the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

Wherein, controller 202 is also for by FUZZY ALGORITHMS FOR CONTROL, utilizes the vibration acceleration of Real-Time Monitoring to determine the rigidity k of vibroll manipulating object ₂.

Wherein, the first ratio $\left|\frac{F_s}{F_s^{\&prime;}}\right|=\frac{1}{\mathrm{\&lambda;}}{\mathrm{\&omega;}}_n^2(\frac{1}{{\mathrm{\&omega;}}^2}-\frac{1}{{\mathrm{\&omega;}}_a^2}),$ Wherein, ${\mathrm{\&omega;}}_n=\sqrt{{\mathrm{<figure-callout\; id="2"\; label="k"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">k</figure-callout>}}_2/{\mathrm{<figure-callout\; id="2"\; label="m"\; filenames="HDA0000437362360000033.png"\; state="\{\{state\}\}">m</figure-callout>}}_2}$ For vibroll main system free-running frequency, m ₂the quality of vibroll main system,

for the free-running frequency of Vibration System of Vibration Rollers, k ₁the rigidity of Vibration System of Vibration Rollers, m ₁the quality of Vibration System of Vibration Rollers, λ=m ₁/ m ₂for Vibration System of Vibration Rollers quality and main system mass ratio.

Wherein, controller 202 is also for when the first ratio is greater than first threshold, and sending controling instruction requires to increase the frequency of operation ω of vibroll, and when the first ratio is less than Second Threshold, sending controling instruction, requires to reduce the frequency of operation ω of vibroll.

Embodiment of the present invention is determined the rigidity of vibroll manipulating object by the physical parameter of Real-Time Monitoring; Calculate vibroll vibration force the first ratio, if the first ratio is not in default ideal range, regulate the frequency of operation of vibroll, so that the first ratio is in default ideal range.Because the situation of change of the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thereby realize the consolidation effect that had both been conducive to manipulating object, be conducive to again put forward high-octane utilization factor.In addition, by FUZZY ALGORITHMS FOR CONTROL, can realize Based Intelligent Control; By ignoring the impact of damping, can simplify computation process.

Consult Fig. 5, the present invention also provides a kind of vibroll, and this vibroll comprises front frame part 1, rear vehicle frame part 2 and is arranged on front frame part 1 and rear vehicle frame part 2 pilothouse part 3 above.

Rear vehicle frame part 2 involving vibrations wheels 11, acceleration transducer 12, CD-ROM drive motor 15, hub reduction gear 16 and rear vehicle frame 17, wherein, vibrating wheels 11, acceleration transducer 12 and CD-ROM drive motor 15 and hub reduction gear 16 are all installed on rear vehicle frame 17.

Front frame part 1 involving vibrations wheel 11, frequency of operation sensor 13, vibrating motor 18 and front frame 19, wherein, vibrating wheels 11, frequency of operation sensor 13 and vibrating motor 18 are all installed in front frame 19.

Pilothouse part 3 comprises display screen 20, instrument box 21, controller 14, throttle control handle 22, control crank 23, operation panel 24 and vibrate push button 25.Wherein, display screen 20 is arranged on instrument box 21 panels, and controller 14 is arranged on instrument box 21 inside, and throttle control handle 22 is arranged on instrument box 21 casings, and control crank 23 is arranged on operation panel 24, and vibrate push button 25 is arranged on control crank 23 tops.

Wherein, control system comprises acceleration transducer 12, frequency of operation sensor 13 and controller 14, acceleration transducer 12 is all connected with controller 14 with frequency of operation sensor 13, and acceleration transducer 12 is also all connected with vibrating wheels 11 respectively with frequency of operation sensor 13.Control system is any one control system in above-mentioned embodiment, at this, goes to live in the household of one's in-laws on getting married and chats no longer one by one.

Embodiment of the present invention is determined the rigidity of vibroll manipulating object by the physical parameter of Real-Time Monitoring; Calculate vibroll vibration force the first ratio, if the first ratio is not in default ideal range, regulate the frequency of operation of vibroll, so that the first ratio is in default ideal range.Because the situation of change of the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thereby realize the consolidation effect that had both been conducive to manipulating object, be conducive to again put forward high-octane utilization factor.In addition, by FUZZY ALGORITHMS FOR CONTROL, can realize Based Intelligent Control; By ignoring the impact of damping, can simplify computation process.

The foregoing is only embodiments of the present invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes instructions of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present invention.

Claims (15)

1. a control method for vibroll, is characterized in that, comprising:

The physical parameter that Real-Time Monitoring is relevant to the stiffness variation of vibroll manipulating object;

By the physical parameter of described Real-Time Monitoring, determine the rigidity k of described vibroll manipulating object ₂;

Utilize the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force the first ratio

f wherein _sthe acting force of vibrating wheels to manipulating object while being described vibroll vibration, F _s' vibrating wheels is passed to the effect of vibration power of getting on the bus while being the vibration of described vibroll;

If described vibroll vibration force first ratio of described calculating not in default ideal range, regulate the frequency of operation ω of described vibroll, so that described vibroll vibration force first ratio of described calculating

in default ideal range, wherein, described default ideal range is that described the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

2. method according to claim 1, is characterized in that, described physical parameter is vibration acceleration or vibration acceleration rate of change.

3. method according to claim 1, is characterized in that, the described physical parameter of utilizing described Real-Time Monitoring is determined the rigidity k of described vibroll manipulating object ₂step, comprising:

By FUZZY ALGORITHMS FOR CONTROL, utilize the physical parameter of described Real-Time Monitoring to determine the rigidity k of described vibroll manipulating object ₂.

4. method according to claim 1, is characterized in that, described the first ratio

wherein,

for described vibroll main system free-running frequency, m ₂the quality of described vibroll main system, for the free-running frequency of described Vibration System of Vibration Rollers, k ₁the rigidity of described Vibration System of Vibration Rollers, m ₁the quality of described Vibration System of Vibration Rollers, λ=m ₁/ m ₂for described Vibration System of Vibration Rollers quality and main system mass ratio.

5. method according to claim 1, is characterized in that, the frequency of operation ω of the described vibroll of described adjusting, so that described vibroll vibration force first ratio of described calculating

step in default ideal range, comprising:

If described the first ratio is greater than first threshold, increase the frequency of operation ω of described vibroll, if described the first ratio is less than Second Threshold, reduce the frequency of operation ω of described vibroll.

6. a control system for vibroll, is characterized in that, described control system comprises:

Monitoring modular (101), for the Real-Time Monitoring physical parameter relevant to the stiffness variation of vibroll manipulating object;

Determination module (102), for determining the rigidity k of described vibroll manipulating object by the physical parameter of described Real-Time Monitoring ₂;

Computing module (103), for utilizing the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force the first ratio

f wherein _sthe acting force of vibrating wheels to manipulating object while being described vibroll vibration, F _s' vibrating wheels is passed to the effect of vibration power of getting on the bus while being the vibration of described vibroll;

Adjustment module (104), for described vibroll vibration force the first ratio in described calculating in the time of not in default ideal range, regulate the frequency of operation ω of described vibroll, so that described vibroll vibration force first ratio of described calculating

in default ideal range, wherein, described default ideal range is that described the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

7. control system according to claim 6, is characterized in that, described physical parameter is vibration acceleration or vibration acceleration rate of change.

8. control system according to claim 6, is characterized in that, described determination module (102) is specifically for by FUZZY ALGORITHMS FOR CONTROL, utilizes the physical parameter of described Real-Time Monitoring to determine the rigidity k of described vibroll manipulating object ₂.

9. control system according to claim 6, is characterized in that, described the first ratio wherein,

for described vibroll main system free-running frequency, m ₂the quality of described vibroll main system,

for the free-running frequency of described Vibration System of Vibration Rollers, k ₁the rigidity of described Vibration System of Vibration Rollers, m ₁the quality of described Vibration System of Vibration Rollers, λ=m ₁/ m ₂for described Vibration System of Vibration Rollers quality and main system mass ratio.

10. control system according to claim 6, it is characterized in that, described adjustment module (104) is specifically for when described the first ratio is greater than first threshold, increase the frequency of operation ω of described vibroll, when described the first ratio is less than Second Threshold, reduce the frequency of operation ω of described vibroll.

The control system of 11. 1 kinds of vibrolls, is characterized in that, described control system comprises: acceleration transducer (201), controller (202) and frequency of operation sensor (203);

Described acceleration transducer (201) is arranged on getting off of vibroll, be connected with described controller (202), the vibration acceleration of getting off for Real-Time Monitoring vibroll, described vibration acceleration is relevant to the stiffness variation of vibroll manipulating object, and the described vibration acceleration real-time monitoring is transferred to controller (202);

Described frequency of operation sensor (203) is arranged at getting off of vibroll, is connected with described controller (202), for the frequency of operation ω of monitoring vibration street roller, and the described frequency of operation ω monitoring is transferred to controller (202);

Described controller (202) is arranged on vibroll, be used for receiving the vibration acceleration of described acceleration transducer (201) transmission and the frequency of operation ω of the vibroll that described frequency of operation sensor (203) sends, by described vibration acceleration, determine the rigidity k of described vibroll manipulating object ₂; Utilize the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force the first ratio

f wherein _sthe acting force of vibrating wheels to manipulating object while being described vibroll vibration, F _s' vibrating wheels is passed to the effect of vibration power of getting on the bus while being the vibration of described vibroll; If described vibroll vibration force first ratio of described calculating not in default ideal range, sending controling instruction, requires to regulate the frequency of operation ω of described vibroll, so that described vibroll vibration force first ratio of described calculating

in default ideal range, wherein, described default ideal range is that described the first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

12. control system according to claim 11, is characterized in that, described controller (202) is also for by FUZZY ALGORITHMS FOR CONTROL, utilize the vibration acceleration of described Real-Time Monitoring to determine the rigidity k of described vibroll manipulating object ₂.

13. control system according to claim 11, is characterized in that, described the first ratio wherein,

for described vibroll main system free-running frequency, m ₂the quality of described vibroll main system,

for the free-running frequency of described Vibration System of Vibration Rollers, k ₁the rigidity of described Vibration System of Vibration Rollers, m ₁the quality of described Vibration System of Vibration Rollers, λ=m ₁/ m ₂for described Vibration System of Vibration Rollers quality and main system mass ratio.

14. control system according to claim 11, it is characterized in that, described controller (203) is also for when described the first ratio is greater than first threshold, sending controling instruction, require to increase the frequency of operation ω of described vibroll, when described the first ratio is less than Second Threshold, sending controling instruction, requirement reduces the frequency of operation ω of described vibroll.

15. 1 kinds of vibrolls, involving vibrations wheel (11), is characterized in that, described vibroll also comprises the control system as described in claim 6 to 14 any one, described control system is connected with described vibrating wheels (11).

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