CN103631136B - The control method of vibroll, system and vibroll - Google Patents

Abstract

The invention discloses a kind of control method of vibroll, system and vibroll, the method comprises: by the rigidity of the physical parameter determination vibroll manipulating object of Real-Time Monitoring; Calculate vibroll vibration force first ratio, if vibroll vibration force first ratio calculated is not in the ideal range preset, then regulate the frequency of operation of vibroll, to make the first ratio in the ideal range preset.By the way, the present invention both can be conducive to the consolidation effect of manipulating object, is conducive to again putting forward high-octane utilization factor.

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 of vibroll, system and vibroll.

Background technology

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

At present, vibroll, usually according to the difference of its manipulating object, designs one or more frequency of operation targetedly, compacting pitch, concrete and road surface time adopt higher operational frequency, when compacted subgrade and first base, adopt lower frequency of operation.Such as: 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 being compacted manipulating object also can increase along with the increase of compacting counting, the situation of so easy generation overcompaction manipulating object, also reduces 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 of vibroll, system and vibroll, both can be conducive to the consolidation effect of manipulating object, be conducive to again putting forward high-octane utilization factor.

For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: the control method providing a kind of vibroll, comprising: the physical parameter that Real-Time Monitoring is relevant to the stiffness variation of vibroll manipulating object; The rigidity k of described vibroll manipulating object is determined by the physical parameter of described Real-Time Monitoring ₂; Utilize the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force first ratio wherein F _swhen being the vibration of described vibroll, vibrating wheels is to the acting force of manipulating object, F _s' be described vibroll vibration time vibrating wheels be passed to the effect of vibration power of getting on the bus; If described vibroll vibration force first ratio of described calculating not in the ideal range preset, then regulate the frequency of operation ω of described vibroll, to make described vibroll vibration force first ratio of described calculating in the ideal range preset, wherein, described default ideal range is that described 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 rigidity k utilizing the physical parameter of described Real-Time Monitoring to determine 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 first ratio $\left|\frac{F_s}{F_s^{\′}}\right|=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2}),$ Wherein, ${\mathrm{\ω}}_n=\sqrt{k_2/m_2}$ 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 adjustment, to make described vibroll vibration force first ratio of described calculating step in the ideal range preset, comprising: if described first ratio is greater than first threshold, then increase the frequency of operation ω of described vibroll, if described first ratio is less than Second Threshold, then reduces 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 providing a kind of vibroll, described control system comprises: monitoring modular, for the physical parameter that Real-Time Monitoring is 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 first ratio wherein F _swhen being the vibration of described vibroll, vibrating wheels is to the acting force of manipulating object, F _s' be described vibroll vibration time vibrating wheels be passed to the effect of vibration power of getting on the bus; Adjustment module, for described vibroll vibration force first ratio in described calculating with not preset ideal range in time, regulate the frequency of operation ω of described vibroll, to make described vibroll vibration force first ratio of described calculating in the ideal range preset, wherein, described default ideal range is that described 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, 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 first ratio $\left|\frac{F_s}{F_s^{\′}}\right|=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2}),$ Wherein, ${\mathrm{\ω}}_n=\sqrt{k_2/m_2}$ 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 first ratio is greater than first threshold, increases the frequency of operation ω of described vibroll, when described 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: the control system providing a kind of vibroll, 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, for the vibration acceleration that Real-Time Monitoring vibroll is got off, described vibration acceleration is relevant to the stiffness variation of vibroll manipulating object, and the described vibration acceleration real-time monitored is transferred to controller; Described frequency of operation sensor setting getting 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 monitored is transferred to controller; Described controller is arranged on vibroll, for the frequency of operation ω of the vibroll that the vibration acceleration and described frequency of operation sensor that receive the transmission of described acceleration transducer send, determined the rigidity k of described vibroll manipulating object by described vibration acceleration ₂; Utilize the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force first ratio wherein F _swhen being the vibration of described vibroll, vibrating wheels is to the acting force of manipulating object, F _s' be described vibroll vibration time vibrating wheels be passed to the effect of vibration power of getting on the bus; If described vibroll vibration force first ratio of described calculating not in the ideal range preset, then sending controling instruction, requires the frequency of operation ω regulating described vibroll, to make described vibroll vibration force first ratio of described calculating in the ideal range preset, wherein, described default ideal range is that described first ratio is less than or equal to first threshold and is more than or equal to Second Threshold.

Wherein, described controller 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 first ratio $\left|\frac{F_s}{F_s^{\′}}\right|=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2}),$ Wherein, ${\mathrm{\ω}}_n=\sqrt{k_2/m_2}$ 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 also for when described first ratio is greater than first threshold, sending controling instruction, require the frequency of operation ω increasing described vibroll, when described first ratio is less than Second Threshold, sending controling instruction, requires the frequency of operation ω reducing described vibroll.

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

The invention has the beneficial effects as follows: the situation being different from prior art, the present invention is by the rigidity of the physical parameter determination vibroll manipulating object of Real-Time Monitoring; Calculate vibroll vibration force first ratio, if the first ratio is not in the ideal range preset, then regulate the frequency of operation of vibroll, to make the first ratio in the ideal range preset.Situation of change due to the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thus realizes the consolidation effect being both conducive to manipulating object, is conducive to again putting 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 produces centrifugal force by vibrating wheels vibrator (excentric shaft of High Rotation Speed or eccentric block), makes the vibrating wheels of vibroll produce vibration, thus reach the object of compacting operation object.On the one hand, it is larger to the acting force on ground when vibrating that vibroll is got off (vibrating wheels), 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 realize vibroll and get off when (vibrating wheels) is vibrated to the acting force on ground be passed to the cooperation control of the effect of vibration power of getting on the bus for 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 (i.e. the stiffness variation of manipulating object).

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

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

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

Such as: abundant and more accurately in situation in the empirical data of the rigidity of physical parameter and manipulating object, the empirical data relation between physical parameter and the rigidity of manipulating object can be set up, 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, when can not set up linear or deterministic relation, also can be carried out the rigidity k of the physical parameter determination vibroll manipulating object by Real-Time Monitoring by some algorithms such as FUZZY ALGORITHMS FOR CONTROL ₂.

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

Fuzzy control is the complication system to being difficult to describe by existing rule, adopts natural language (as large, medium and small) to be described, 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 precise volume measured by various sensor is converted into the fuzzy quantity being 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 precise volume, controls so that each actuator carries out concrete operation.In embodiments of the present invention, fuzzy controller carries out analyzing and processing to the variable such as vibration acceleration signal or vibration acceleration rate of change that the vibroll collected is got off, 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.

Such as: in input variable and output variable separately domain, dividing subset is closed, input acceleration is divided in its domain " very little (NB) ", " little (NM) " " less (NS) ", " in (Z) ", " comparatively large (PS) ", " large (PM) ", " very large (PB) ".

When with acceleration being only input variable, control law form as:

IfQisA _i，thenuisC _i。

Simultaneously with acceleration and rate of acceleration change for input variable time, control law is as R _i: IfQisA _iand δ QisB _i, thenuisC _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

By the fuzzy control rule that the learning method of vibroll operation Experiential Knowledge Database and measurement data is set up, obtain the rigidity k of the vibroll manipulating object of the sharpening corresponding to each variable fuzzy interval ₂.

Step S103: the rigidity k utilizing vibroll manipulating object ₂, calculate vibroll vibration force first ratio wherein F _swhen being vibroll vibration, vibrating wheels is to the acting force of manipulating object, F _s' be vibroll vibration time vibrating wheels be passed to the effect of vibration power of getting on the bus.

See the mathematical model that Fig. 2, Fig. 2 are vibrolls, according to the mathematical model of vibroll, can know:

Vibroll is got off (vibrating wheels) when vibrating to the acting force of ground (manipulating object) is:

$F_s=k_2{x}_2-C_2{\stackrel{\·}{x}}_2$

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

${F^{\′}}_s=k_1(x_1-x_2)-C_1({\stackrel{\·}{x}}_1-{\stackrel{\·}{x}}_2)$

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.When above-mentioned parameter is all known, vibroll vibration force first ratio can be calculated

Wherein, the first ratio $\left|\frac{F_s}{F_s^{\′}}\right|=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2}),$ ${\mathrm{\ω}}_n=\sqrt{k_2/m_2}$ 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.

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

$m_2{\stackrel{\·\·}{x}}_2+(C_1+C_2){\stackrel{\·}{x}}_2+(k_1+k_2)x_2-C_1{\stackrel{\·}{x}}_1-k_1{x}_1=F_0\sin \mathrm{\ωt}$

$m_1{\stackrel{\·\·}{x}}_1+C_1{\stackrel{\·}{x}}_1+k_1{x}_1-C_1{\stackrel{\·}{x}}_2-k_1{x}_2=0$

F ₀＝mrω ²

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

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

$m_2{\stackrel{\·\·}{x}}_2+(k_1+k_2)x_2-k_1{x}_1=F_0\sin \mathrm{\ωt}$

$m_1{\stackrel{\·\·}{x}}_1+k_1{x}_1-k_1{x}_2=0$

The steady state solution of above-mentioned equation is:

x ₁＝X ₁sinωt

x ₂＝X ₂sinωt

In above-mentioned formula:

$X_1=\frac{x_{\mathrm{st}}}{[1+\mathrm{\λ}{({\mathrm{\ω}}_a/{\mathrm{\ω}}_n)}^2-{(\mathrm{\ω}/{\mathrm{\ω}}_n)}^2][1-{(\mathrm{\ω}/{\mathrm{\ω}}_a)}^2]-\mathrm{\λ}{({\mathrm{\ω}}_a/{\mathrm{\ω}}_n)}^2}$

$X_2=\frac{[1-{(\mathrm{\ω}/{\mathrm{\ω}}_a)}^2]x_{\mathrm{st}}}{[1+\mathrm{\λ}{({\mathrm{\ω}}_a/{\mathrm{\ω}}_n)}^2-{(\mathrm{\ω}/{\mathrm{\ω}}_n)}^2][1-{(\mathrm{\ω}/{\mathrm{\ω}}_a)}^2]-\mathrm{\λ}{({\mathrm{\ω}}_a/{\mathrm{\ω}}_n)}^2}$

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

Ignoring the impact of damping in system, vibroll is got off (vibrating wheels) can be reduced to the acting force on ground when vibrating:

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,

$\left|\frac{F_s}{F_s^{\′}}\right|=\frac{K_2{x}_2}{K_1(x_1-x_2)}=\frac{K_2[1-{(\mathrm{\ω}/{\mathrm{\ω}}_a)}^2]x_{\mathrm{st}}}{K_1{(\mathrm{\ω}/{\mathrm{\ω}}_a)}^2{x}_{\mathrm{st}}}=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2})$

Step S104: if vibroll vibration force first ratio calculated not in the ideal range preset, then regulate the frequency of operation ω of vibroll, to make the first ratio in the ideal range preset, wherein, the ideal range preset 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, it is larger to the acting force on ground when vibrating that vibroll is got off (vibrating wheels), 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.F is wished in the course of work of vibroll _sbe the bigger the better, F _s' the smaller the better, therefore F _swith F _s' the larger high-quality to street roller of ratio, high efficiency work is more favourable.

Although the first ratio in theory be the bigger the better, but in a practical situation, for concrete system, within certain scope, the efficiency of manipulating object consolidation effect and Energy harvesting just all can reach good result.The ideal range preset refers to for certain concrete system, when meeting manipulating object consolidation effect and capacity usage ratio is high, the desirable scope had.This ideal range can rule of thumb data acquisition, and the ideal range namely preset 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 minimum edge dividing value and the maximum boundary value of default ideal range respectively.

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

Wherein, in step S104, regulate the frequency of operation ω of vibroll, to make vibroll vibration force first ratio calculated step in the ideal range preset, Ke Yishi:

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

Such as, in the control system of a concrete vibroll, the first threshold of setting is 5, Second Threshold is 10, if the first ratio calculated is 2, then needs the frequency of operation ω increasing vibroll, first ratio is increased to and is at least 5, but can not more than 10; If the first ratio calculated is 15, then needs the frequency of operation ω reducing vibroll, the first ratio is reduced to and is at least 10, but can not 5 be less than.

Embodiment of the present invention is by the rigidity of the physical parameter determination vibroll manipulating object of Real-Time Monitoring; Calculate vibroll vibration force first ratio, if the first ratio is not in the ideal range preset, then regulate the frequency of operation of vibroll, to make the first ratio in the ideal range preset.Situation of change due to the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thus realizes the consolidation effect being both conducive to manipulating object, is conducive to again putting forward high-octane utilization factor.In addition, Based Intelligent Control can be realized by FUZZY ALGORITHMS FOR CONTROL; By ignoring the impact of damping, computation process can be simplified.

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 control system of present embodiment can perform the corresponding steps in Fig. 1.

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

Vibroll produces centrifugal force by vibrating wheels vibrator (excentric shaft of High Rotation Speed or eccentric block), makes the vibrating wheels of vibroll produce vibration, thus reach the object of compacting operation object.On the one hand, it is larger to the acting force on ground when vibrating that vibroll is got off (vibrating wheels), 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 realize vibroll and get off when (vibrating wheels) is vibrated to the acting force on ground be passed to the cooperation control of the effect of vibration power of getting on the bus for 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 (i.e. the stiffness variation of manipulating object).

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

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

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

Such as: abundant and more accurately in situation in the empirical data of the rigidity of physical parameter and manipulating object, the empirical data relation between physical parameter and the rigidity of manipulating object can be set up, 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, when can not set up linear or deterministic relation, also can be carried out the rigidity k of the physical parameter determination vibroll manipulating object by Real-Time Monitoring by some algorithms such as FUZZY ALGORITHMS FOR CONTROL ₂.

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

Fuzzy control is the complication system to being difficult to describe by existing rule, adopts natural language (as large, medium and small) to be described, and by qualitatively, the control expressed of coarse and fuzzy conditional statement, is a kind of Based Intelligent Control based on language.In embodiments of the present invention, fuzzy controller carries out analyzing and processing to the variable such as vibration acceleration signal or vibration acceleration rate of change that the vibroll collected is got off, 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; By the fuzzy control rule that the learning method of vibroll operation Experiential Knowledge Database and measurement data is set up, obtain the rigidity k of the vibroll manipulating object of the sharpening corresponding to each variable fuzzy interval ₂.

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

Wherein, the first ratio $\left|\frac{F_s}{F_s^{\′}}\right|=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2}),$ ${\mathrm{\ω}}_n=\sqrt{k_2/m_2}$ 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 time not in the ideal range preset, regulate the frequency of operation ω of vibroll, to make vibroll vibration force first ratio calculated in the ideal range preset, wherein, the ideal range preset 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, it is larger to the acting force on ground when vibrating that vibroll is got off (vibrating wheels), 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.F is wished in the course of work of vibroll _sbe the bigger the better, F _s' the smaller the better, therefore F _swith F _s' the larger high-quality to street roller of ratio, high efficiency work is more favourable.

Although the first ratio in theory be the bigger the better, but in a practical situation, for concrete system, within certain scope, the efficiency of manipulating object consolidation effect and Energy harvesting just all can reach good result.The ideal range preset refers to for certain concrete system, when meeting manipulating object consolidation effect and capacity usage ratio is high, the desirable scope had.This ideal range can rule of thumb data acquisition, and the ideal range namely preset 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 minimum edge dividing value and the maximum boundary value of default ideal range respectively.

Judge the first ratio whether in the ideal range preset, if the first ratio is not in the ideal range preset, namely the first ratio is less than first threshold or the first ratio when being greater than Second Threshold, due to the displacement x of vibroll shock mitigation system ₁with the displacement x of vibroll main system ₂all relevant with the frequency of operation ω of vibroll, therefore can by regulating the frequency of operation ω of vibroll, reach the object of the first ratio in the ideal range preset, thus realize the consolidation effect being both conducive to manipulating object, be conducive to again putting 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 by the rigidity of the physical parameter determination vibroll manipulating object of Real-Time Monitoring; Calculate vibroll vibration force first ratio, if the first ratio is not in the ideal range preset, then regulate the frequency of operation of vibroll, to make the first ratio in the ideal range preset.Situation of change due to the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thus realizes the consolidation effect being both conducive to manipulating object, is conducive to again putting forward high-octane utilization factor.In addition, Based Intelligent Control can be realized by FUZZY ALGORITHMS FOR CONTROL; By ignoring the impact of damping, computation process can be simplified.

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, for the vibration acceleration that Real-Time Monitoring vibroll is got off, vibration acceleration is relevant to the stiffness variation of vibroll manipulating object, and the vibration acceleration real-time monitored 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 monitored is transferred to controller 202.

Controller 202 is arranged on vibroll, and the frequency of operation ω of the vibroll that vibration acceleration and frequency of operation sensor 203 for receiving acceleration transducer 201 transmission send, by the rigidity k of vibration acceleration determination vibroll manipulating object ₂; Utilize the rigidity k of vibroll manipulating object ₂, calculate vibroll vibration force first ratio wherein F _swhen being vibroll vibration, vibrating wheels is to the acting force of manipulating object, F _s' be vibroll vibration time vibrating wheels be passed to the effect of vibration power of getting on the bus; If vibroll vibration force first ratio calculated not in the ideal range preset, then sending controling instruction, requires the frequency of operation ω regulating vibroll, to make vibroll vibration force first ratio calculated in the ideal range preset, wherein, the ideal range preset 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 also for by FUZZY ALGORITHMS FOR CONTROL, utilizes the rigidity k of the vibration acceleration determination vibroll manipulating object of Real-Time Monitoring ₂.

Wherein, the first ratio $\left|\frac{F_s}{F_s^{\′}}\right|=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2}),$ Wherein, ${\mathrm{\ω}}_n=\sqrt{k_2/m_2}$ 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 the frequency of operation ω increasing vibroll, and when the first ratio is less than Second Threshold, sending controling instruction, requires the frequency of operation ω reducing vibroll.

Embodiment of the present invention is by the rigidity of the physical parameter determination vibroll manipulating object of Real-Time Monitoring; Calculate vibroll vibration force first ratio, if the first ratio is not in the ideal range preset, then regulate the frequency of operation of vibroll, to make the first ratio in the ideal range preset.Situation of change due to the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thus realizes the consolidation effect being both conducive to manipulating object, is conducive to again putting forward high-octane utilization factor.In addition, Based Intelligent Control can be realized by FUZZY ALGORITHMS FOR CONTROL; By ignoring the impact of damping, computation process can be simplified.

Consult Fig. 5, the present invention also provides a kind of vibroll, the cab portion 3 that this vibroll comprises forward frame portion 1, rear frame portion 2 and is arranged on above forward frame portion 1 and rear frame portion 2.

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

Forward frame portion 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.

Cab portion 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 panel, and it is inner that controller 14 is arranged on instrument box 21, and throttle control handle 22 is arranged on instrument box 21 casing, and control crank 23 is arranged on operation panel 24, and vibrate push button 25 is arranged on control crank 23 top.

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 connected with vibrating wheels 11 all respectively with frequency of operation sensor 13.Control system is any one control system in above-mentioned embodiment, goes to live in the household of one's in-laws on getting married no longer one by one chat at this.

Embodiment of the present invention is by the rigidity of the physical parameter determination vibroll manipulating object of Real-Time Monitoring; Calculate vibroll vibration force first ratio, if the first ratio is not in the ideal range preset, then regulate the frequency of operation of vibroll, to make the first ratio in the ideal range preset.Situation of change due to the rigidity by vibroll manipulating object regulates the frequency of operation of vibroll, thus realizes the consolidation effect being both conducive to manipulating object, is conducive to again putting forward high-octane utilization factor.In addition, Based Intelligent Control can be realized by FUZZY ALGORITHMS FOR CONTROL; By ignoring the impact of damping, computation process can be simplified.

The foregoing is only embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every utilize instructions of the present invention and accompanying drawing content to do equivalent structure or equivalent flow process conversion; 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;

The rigidity k of described vibroll manipulating object is determined by the physical parameter of described Real-Time Monitoring ₂;

Utilize the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force first ratio wherein F _swhen being the vibration of described vibroll, vibrating wheels is to the acting force of manipulating object, F _s' be described vibroll vibration time vibrating wheels be passed to the effect of vibration power of getting on the bus;

If described vibroll vibration force first ratio of described calculating not in the ideal range preset, then regulate the frequency of operation ω of described vibroll, to make described vibroll vibration force first ratio of described calculating in the ideal range preset, wherein, described default ideal range is that described 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 rigidity k utilizing the physical parameter of described Real-Time Monitoring to determine described vibroll manipulating object ₂step, comprising:

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

4. method according to claim 1, is characterized in that, described first ratio $\left|\frac{F_s}{{F_s}^{\′}}\right|=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2\left(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2}\right),$ Wherein ${\mathrm{\ω}}_n=\sqrt{k_2/m_2},$ 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.

5. method according to claim 1, is characterized in that, the frequency of operation ω of the described vibroll of described adjustment, to make described vibroll vibration force first ratio of described calculating step in the ideal range preset, comprising:

If described first ratio is greater than first threshold, then increase the frequency of operation ω of described vibroll, if described first ratio is less than Second Threshold, then 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 physical parameter that Real-Time Monitoring is 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 first ratio wherein F _swhen being the vibration of described vibroll, vibrating wheels is to the acting force of manipulating object, F _s' be described vibroll vibration time vibrating wheels be passed to the effect of vibration power of getting on the bus;

Adjustment module (104), for described vibroll vibration force first ratio in described calculating time not in the ideal range preset, regulate the frequency of operation ω of described vibroll, to make described vibroll vibration force first ratio of described calculating in the ideal range preset, wherein, described default ideal range is that described 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), 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 first ratio $\left|\frac{F_s}{{F_s}^{\′}}\right|=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2\left(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2}\right),$ Wherein, ${\mathrm{\ω}}_n=\sqrt{k_2/m_2}$ 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.

10. control system according to claim 6, it is characterized in that, described adjustment module (104) is specifically for when described first ratio is greater than first threshold, increase the frequency of operation ω of described vibroll, when described 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), for the vibration acceleration that Real-Time Monitoring vibroll is got off, described vibration acceleration is relevant to the stiffness variation of vibroll manipulating object, and the described vibration acceleration real-time monitored is transferred to controller (202);

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

Described controller (202) is arranged on vibroll, for receiving the frequency of operation ω of vibration acceleration that described acceleration transducer (201) sends and the vibroll that described frequency of operation sensor (203) sends, determined the rigidity k of described vibroll manipulating object by described vibration acceleration ₂; Utilize the rigidity k of described vibroll manipulating object ₂, calculate described vibroll vibration force first ratio wherein F _swhen being the vibration of described vibroll, vibrating wheels is to the acting force of manipulating object, F _s' be described vibroll vibration time vibrating wheels be passed to the effect of vibration power of getting on the bus; If described vibroll vibration force first ratio of described calculating not in the ideal range preset, then sending controling instruction, requires the frequency of operation ω regulating described vibroll, to make described vibroll vibration force first ratio of described calculating in the ideal range preset, wherein, described default ideal range is that described 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) 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.

13. control system according to claim 11, is characterized in that, described first ratio $\left|\frac{F_s}{{F_s}^{\′}}\right|=\frac{1}{\mathrm{\λ}}{\mathrm{\ω}}_n^2\left(\frac{1}{{\mathrm{\ω}}^2}-\frac{1}{{\mathrm{\ω}}_a^2}\right),$ Wherein, ${\mathrm{\ω}}_n=\sqrt{k_2/m_2}$ 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.

14. control system according to claim 11, it is characterized in that, described controller (202) is also for when described first ratio is greater than first threshold, sending controling instruction, require the frequency of operation ω increasing described vibroll, when described first ratio is less than Second Threshold, sending controling instruction, requires the frequency of operation ω reducing described vibroll.

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