CN104057954B - Road condition self-adaptation system of crane and crane - Google Patents
Road condition self-adaptation system of crane and crane Download PDFInfo
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- CN104057954B CN104057954B CN201410291158.9A CN201410291158A CN104057954B CN 104057954 B CN104057954 B CN 104057954B CN 201410291158 A CN201410291158 A CN 201410291158A CN 104057954 B CN104057954 B CN 104057954B
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- 238000004458 analytical method Methods 0.000 claims abstract description 14
- 239000000725 suspension Substances 0.000 claims description 44
- 238000006073 displacement reaction Methods 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 5
- 230000009194 climbing Effects 0.000 claims description 5
- 230000003746 surface roughness Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 abstract description 6
- 230000008859 change Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 8
- 238000004364 calculation method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
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- 239000000446 fuel Substances 0.000 description 1
- 210000004602 germ cell Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a road condition self-adaptation system of a crane and the crane. The road condition self-adaptation system of the crane comprises a road condition parameter acquisition module, a driving mode analysis module and a driving mode control module, wherein the road condition parameter acquisition module is used for acquiring driving state parameters in real time, and sending the driving state parameters to the driving mode analysis module; the driving mode analysis module is used for judging the road condition in which the crane is located according to the driving state parameters and determining a driving mode, and sending a control parameter which corresponds to the driving mode to the driving mode control module; the driving mode control module is used for adjusting the driving state of the crane according to the control parameter. According to the road condition self-adaptation system of the crane and the crane disclosed by the invention, the road condition can be identified, and the driving mode is automatically determined or is manually determined by a driver; the corresponding driving cycle of a crane is adjusted, and thus, the bad working condition of the crane can be completely met; the safety, the economical efficiency and the comfort of crane driving can be improved; moreover, the cost is low, and installation and debugging are simple.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to the road conditions self adaptation of a kind of crane
System and crane.
Background technology
Along with automotive engineering constantly improves, not only need when vehicle travels on road to pay close attention to its safety
Property, dynamic property, fuel economy and control stability, in addition it is also necessary to pay close attention to driving comfort
Property, ride performance.For crane, the most large-scale full Terrain Cranes, carry out such as mountain
Ground wind-powered electricity generation installation, the installation of grassland wind-powered electricity generation, the installation of on-site equipment, building construction, bridge formation etc. of repairing the roads
Multiple lifting operation operating mode, full Terrain Cranes to be driven for vehicle in the face of Various Complex road conditions
Sail comfortableness, ride performance requires higher.Affect the factor of driver comfort, ride performance
More, as road roughness, travel speed, suspension rate, tire, power train and electromotor drive
Dynamic model formula, seat air spring rigidity etc..Wherein, road roughness is objective reality, can not change
Become；Travel speed, suspension rate, tire, power train and engine drive mode, seat gas
Spring rate can be changed by actively control realization.
The most generally by many germlines such as ultrasonic ranging, vehicle-mounted sonar, image acquisition and identifications
System combination carries out road conditions identification, but for oversize vehicle, particularly goliath, this technology without
Method is applied.1, crane operating mode is severe, and dust, grease, dirt etc. make image acquisition and identification
System cannot work.2, crane running road conditions complex, hole vibration of paddling is big, and
Long-term field operation, above-mentioned road conditions identification system cannot ensure reliability.Accordingly, it would be desirable to it is a kind of
The road conditions Adaptable System of novel crane.
Summary of the invention
In view of this, the technical problem that the invention solves the problems that is to provide the road conditions of a kind of crane
Adaptable System and crane, it is possible to identify road conditions and determine driving mode.
A kind of road conditions Adaptable System of crane, including: road conditions parameter collection module, traveling mould
Formula analyzes module and driving mode control module；Described road conditions parameter collection module Real-time Collection travels
State parameter, and described transport condition parameter is sent to described driving mode analysis module；Described
Driving mode is analyzed module and is judged the road conditions residing for crane according to described transport condition parameter and determine
Driving mode, is sent to the control parameter corresponding with described driving mode described driving mode and controls
Module；Described driving mode control module is according to the traveling shape of described control parameter adjustment crane
State.
According to one embodiment of present invention, further, described road conditions parameter collection module bag
Include: displacement transducer, double-shaft tilt angle sensor, pressure transducer, vehicle speed sensor；Described row
Sail state parameter to include: suspension oil cylinder displacement, suspension system pressure, vehicle tilt, car
Speed.
According to one embodiment of present invention, further, described driving mode analyze module according to
The amplitude of the suspension oil cylinder displacement calculation suspension oil cylinder that institute's displacement sensors gathers and frequency, and
The suspension system that the current vehicle speed gathered in conjunction with described vehicle speed sensor and described pressure transducer gather
System pressure judges the surface roughness on road surface residing for Current vehicle；Described driving mode analyzes module root
The vehicle tilt gathered according to described double-shaft tilt angle sensor judges the traveling attitude of current crane；
It is true according to the traveling attitude of described surface roughness and current crane that described driving mode analyzes module
Determine driving mode.
According to one embodiment of present invention, further, described driving mode control device according to
The running status of multiple subsystems of described control state modulator crane, the plurality of subsystem bag
Include: engine system, transmission system, suspension system, seat system.
According to one embodiment of present invention, further, described control parameter includes: travel mould
Whether formula, power train differential control are opened, engine speed, engine torque, change speed gear box shelves
Position, suspension rate, seat elasticity.
According to one embodiment of present invention, further, described driving mode includes: highway mould
Formula, little place pattern, climbing pattern, descending pattern, cross-country pattern.
According to one embodiment of present invention, further, module is analyzed at described driving mode true
Under the state that the driving mode determining crane is descending pattern and described driving mode control device
Judging when transmitter rotating speed exceedes default threshold value, it is auxiliary that described driving mode controls device starting vehicle
Help brake unit.
According to one embodiment of present invention, further, manual selection modes device；Described hands
Selected driving mode is sent to described driving mode and analyzes module by dynamic selection mode device, described
Driving mode is analyzed module and the control parameter corresponding with selected driving mode is sent to described traveling
Mode control module.
A kind of crane, including the road conditions Adaptable System of crane as above.
The road conditions Adaptable System of the crane of the present invention and crane, it is possible to identify that road conditions are the most automatically
Or driving mode is manually determined by driver, adjust the corresponding driving cycle of vehicle, can fully meet
The bad working environments of crane, it is possible to increase the safety of vehicle drive, economy, comfortableness and
Low cost, installation and debugging are simple.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will
The accompanying drawing used required in embodiment or description of the prior art is briefly described, aobvious and easy
Insight, the accompanying drawing in describing below is only some embodiments of the present invention, common for this area
From the point of view of technical staff, on the premise of not paying creative work, it is also possible to according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 is the signal of an embodiment of the road conditions Adaptable System of the crane according to the present invention
Figure；
Fig. 2 be the road conditions Adaptable System of the crane according to the present invention an embodiment in road conditions
The schematic diagram of parameter collection module；
Fig. 3 be the road conditions Adaptable System of the crane according to the present invention an embodiment in travel
Mode control module controls the block diagram of multiple subsystems of crane；
Fig. 4 is showing of another embodiment of the road conditions Adaptable System of the crane according to the present invention
It is intended to；
Fig. 5 is the control logical schematic of the road conditions Adaptable System of the crane according to the present invention.
Detailed description of the invention
With reference to the accompanying drawings the present invention is described more fully, the example of the present invention is wherein described
Property embodiment.Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the skill in the embodiment of the present invention
Art scheme is clearly and completely described, it is clear that described embodiment is only the present invention one
Section Example rather than whole embodiments.Based on the embodiment in the present invention, this area is general
The every other embodiment that logical technical staff is obtained under not making creative work premise, all
Belong to the scope of protection of the invention.
As it is shown in figure 1, the road conditions Adaptable System of a kind of crane includes: road conditions parameter acquisition
Module 11, driving mode analyze module 12 and driving mode control module 13.Road conditions parameter acquisition
Module 11 Real-time Collection transport condition parameter, and transport condition parameter is sent to driving mode divides
Analysis module 12.Driving mode is analyzed module 12 and is judged residing for crane according to transport condition parameter
Road conditions also determine driving mode, and the control parameter corresponding with driving mode is sent to driving mode control
Molding block 13.Driving mode control module 13 is according to the traveling shape controlling parameter adjustment crane
State.
The road conditions Adaptable System of the crane of the present invention, vehicle can identify traveling road conditions automatically,
Travel road conditions according to difference and automatically or work can be travelled accordingly by driver's hand switch adjustment vehicle
Condition, as turned to pattern, power/economic model switching, type of drive, auxiliary braking to control, hang
Frame system, seat system etc., to improve the safety of vehicle drive, economy, comfortableness.
According to one embodiment of present invention, road conditions parameter collection module 11 includes displacement sensing
Device, double-shaft tilt angle sensor, pressure transducer, vehicle speed sensor etc., be mainly used in Real-time Collection
Vehicle suspension oil cylinder displacement, suspension system pressure, the parameter such as vehicle tilt, speed.Travel
Pattern analysis module 12 can be implemented as single-chip microcomputer, single board computer, PLC, integrated circuit etc..OK
Sail pattern analysis module 12 and store relevant control program, computing, receive, send data.Example
As, with size, the change frequency of suspension oil cylinder displacement, suspension system pressure size, pressure wave
Dynamic value, speed are foundation, are conversed by the programmed algorithm in driving mode analysis module 12 and work as
The surface roughness on road surface residing for vehicle in front；With vehicle tilt as foundation, divided by driving mode
Programmed algorithm in analysis module 12 converses the angle of inclination of Current vehicle.
According to one embodiment of present invention, as in figure 2 it is shown, road conditions parameter collection module 11 wraps
Include: displacement transducer 111, double-shaft tilt angle sensor 114, pressure transducer 112, speed sense
Device 113.Displacement transducer is also known as linear transducer, for the sensing of Measuring Object mechanical displacement
Device.Double-shaft tilt angle sensor is used for the sensor of Measuring Object with respect to the horizontal plane change of pitch angle amount；
Twin shaft be two axially the most i.e.: X axis, Y-axis.Transport condition parameter includes: suspension oil cylinder position
Shifting amount, suspension system pressure, vehicle tilt, speed.
According to one embodiment of present invention, in the process of moving, vehicle is produced by ground injustice
Vibration be transferred to suspension oil cylinder by tire, bridge, suspension oil cylinder by piston rod in cylinder barrel back and forth
Motion absorbs Vehicular vibration.Under equal speed, road surface is the poorest, vibrates the biggest, and piston rod movement is more
Acutely, the pressure oscillation of suspension system is the biggest.
According to one embodiment of present invention, driving mode analyzes module 12 according to displacement transducer
The amplitude of the 111 suspension oil cylinder displacement calculation suspension oil cylinders gathered and frequency, and combine speed biography
Current vehicle speed and the suspension system pressure of pressure transducer 112 collection that sensor 113 gathers judge
The surface roughness on road surface residing for Current vehicle；Driving mode analyzes module 12 according to double-shaft tilt angle
The vehicle tilt that sensor 114 gathers judges the traveling attitude of current crane.
Suspension refers to the general name of all force transmission connections between vehicle frame and vehicle bridge, is usually by elasticity
Element, vibroshock and guiding mechanism three part composition, its effect acts on road surface on wheel
Vertical reaction (supporting force), longitudinal counter-force (pull strength and brake force) and lateral reaction and this
The moment that a little counter-forces are caused is transmitted on vehicle frame by the purpose that people are predetermined, to ensure the normal of automobile
Travel.Suspension oil cylinder is a kind of hydraulic jack, for the connection between vehicle bridge and vehicle frame, and leads to
Cross hydraulic control and realize rigidity and elastic two states.
Displacement transducer 111 can be arranged accordingly according to the facilities of suspension oil cylinder, example
As, displacement transducer 111 can be set in each suspension oil cylinder.Pass through displacement transducer
111 measure oil cylinder displacement in real time, can calculate amplitude and the frequency of suspension oil cylinder, in conjunction with car
The current vehicle speed that speed sensor 113 gathers, it is possible to analyze the road conditions road that crane is presently in
Spectrum.Use double-shaft tilt angle sensor 114 can be arranged on the turntable of chassis, before being used for measuring vehicle
Afterwards, the inclination angle of left and right, the traveling attitude of current crane can be analyzed, as upward slope, descending,
"Left"-deviationist, Right deviation etc..
The road conditions Adaptable System of the crane of the present invention, is passed by displacement transducer, double-shaft tilt angle
Sensor, pressure transducer, velocity sensor etc. gather jib angle, suspension oil cylinder stroke, shake
Frequently, the parameter such as amplitude, rigidity, travel the basis for estimation of road conditions as vehicle, according to driving mode
Analysis module 12 automatically or is manually selected by driver and is pre-stored in phase in driving mode analysis module 12
The driving cycle adapted to, meets drive demand.
According to one embodiment of present invention, driving mode controls device 13 according to controlling parameter control
The running status of multiple subsystems of crane processed, multiple subsystems include: engine system, change
Speed case system, suspension system, seat system.As it is shown on figure 3, driving mode control module 13
The steering controller 23 of crane, Suspension control valve group 24, transmission control module can be controlled
25, the car body component such as Engine ECU 21, change speed gear box ECU22, seat controller 26, for
Different driving modes is controlled, make crane have different driving traveling, suspension rate,
Control of engine speed, gearbox shifting form etc., and it is obtained in that crane car body component runs
Data.
According to one embodiment of present invention, control parameter to include: driving mode, power train differential
Control whether unlatching, engine speed, engine torque, gearbox-gear, suspension rate, seat
Chair is elastic.Driving mode control module 13 performs driving mode and analyzes module 12 to electromotor, change
The Comprehensive Control of the systems such as speed case, suspension system, seat system, makes vehicle reach ride performance
And the optimal balance point of comfortableness.
Driving mode control module 13 controls transmitter brake module by Engine ECU 21
211, gas pedal 212, rotating speed input module 213, Control for Speed Limitation modules 214 etc., control to send out
The rotating speed of motivation.Driving mode control module 13 controls gearbox-gear by change speed gear box ECU22
221, handover module 222, retarder brake 223 control gearbox gear-shift form.Driving mode controls
Module 13 is by steering controller 23 controls steering angle sensor 231, control valve group 232 is controlled
The steering rate etc. of form processed.Driving mode control module 13 is controlled by Suspension control valve group 24
Suspension rate control valve 241 controls the rigidity of suspension.Driving mode control module 13 passes through transmission
Control module 25 controls differential control valve 251, high and low shift control valve 252 and shelling control valve 253
Control whether to use differential control pattern.Driving mode control module 13 is by seat controller 26
Control inflation/deflation control valve 261 and baroceptor 262 control the elasticity of seat.
According to one embodiment of present invention, as shown in Figure 4, pattern analysis module 12 is being travelled
Determine under the state that the driving mode of crane is descending pattern and driving mode controls device 13
Judging when transmitter rotating speed exceedes default threshold value, it is auxiliary that driving mode control device 13 starts vehicle
Help brake unit 15.Complemental brake system refers to make the vehicle in traveling (special directly or indirectly
It is the vehicle of lower long slope) slow down or keep the device of braking of constant speed.
Selected driving mode is sent to driving mode and analyzes module by manual selection modes device 14
12, driving mode is analyzed module 12 and the control parameter corresponding with selected driving mode is sent to
Driving mode control module 13.
According to one embodiment of present invention, driving mode analysis module 12 comprises automatically and manually
Both of which.Driving mode is analyzed module 12 and can be selected according to crane current road conditions parameter optimal
Control model；Driver can manually select mode device 14 to select required traveling mould voluntarily
Formula.Driving mode is analyzed module 12 and is received the suspension oil cylinder displacement change that road conditions identification module collects
Change amount and vehicle dip angle parameter etc., draw road conditions residing for crane through programmed algorithm, according to difference
Road conditions automatically or are pre-stored in driving mode by driver's manual actuation and analyze corresponding row in module 12
Sail pattern, improve ride performance and comfortableness.Driving mode includes: highway pattern, little place
Pattern, climbing pattern, descending pattern, cross-country pattern etc..
According to one embodiment of present invention, the control logic of the road conditions Adaptable System of crane is shown
It is intended to as shown in Figure 5:
Step 301, receives the transport condition parameter collected.
Step 302, it may be judged whether for automatic mode, enter step 312 if manual mode,
If automatic mode, enter step 303, it is judged that whether speed is 0, if 0 entrance
Step 312, if not being 0, enters step 304.
Step 304-307, determines whether highway pattern, little place pattern, climbing pattern successively
Cross-country pattern, if it is judged that driving mode then enters step 308 to 311, performs corresponding behaviour
Making, such as, differential is closed, speed limit is reported to the police, hung cross-country rigidity etc..
Step 312, driver can manually select mode device 14 to select required traveling mould voluntarily
Formula.
Step 313-3316, determines whether highway pattern, little place pattern, climbing mould successively
The cross-country pattern of formula, if it is judged that driving mode then enters step 317 to 321, performs corresponding
Operation, such as, differential is closed, speed limit is reported to the police, hung cross-country rigidity etc..
According to one embodiment of present invention, a kind of crane, including the road conditions of crane as above
Adaptable System.Crane can be full Terrain Cranes, and full Terrain Cranes is a kind of high-performance
Hoisting machinery, can quickly move, distance travel, can meet again narrow and small and rugged and rough
Or the requirement of muddy place operation.
The road conditions Adaptable System of the crane of the present invention and crane have a following advantage:
1, passed by suspension oil cylinder displacement transducer, obliquity sensor, vehicle speed sensor, pressure
The element Real-time Collection crane running data such as sensor, and calculated residing for crane by programmed algorithm
Road conditions.
2, the sensor that this case relates to ripe application in engineering machinery, can fully meet
The bad working environments of heavy-duty machine；
3, the sensor that this case relates to is standard component, low cost, and installation and debugging are simple；
4, the present invention is focused on by central controller, travels road conditions and is controlling with driving mode
One_to_one corresponding in program, possesses manually and automatically both of which, makes crane realize road conditions adaptive
Should, it is effectively improved driving ride comfort, comfortableness.
5, driving mode kind can realize by controlling modification of program, and system design is convenient fast
Prompt.
6, can be finely divided according to different limiting conditions, it is ensured that travel safety, effectively refer to
Lead use.
The method and system of the present invention may be achieved in many ways.Such as, can be by soft
Part, hardware, firmware or software, hardware, any combination of firmware realize the side of the present invention
Method and system.For the said sequence of step of method merely to illustrate, the present invention's
The step of method is not limited to order described in detail above, unless specifically stated otherwise.
Additionally, in certain embodiments, the present invention also can be embodied as the journey recorded in the recording medium
Sequence, these programs include the machine readable instructions for realizing the method according to the invention.Cause
And, the present invention also covers the record of the program for performing the method according to the invention that stores and is situated between
Matter.
Description of the invention is given for the sake of example and description, and is not exhaustively
Or it limit the invention to disclosed form.Many modifications and variations are for the common skill of this area
It is obvious for art personnel.Selecting and describing embodiment is the principle in order to the present invention is more preferably described
Apply with reality, and make those of ordinary skill in the art it will be appreciated that the present invention thus design is suitable
The various embodiments with various amendments in special-purpose.
Claims (8)
1. the road conditions Adaptable System of a crane, it is characterised in that including:
Road conditions parameter collection module, driving mode analyze module and driving mode control module；
Described road conditions parameter collection module Real-time Collection transport condition parameter, and by described transport condition
Parameter is sent to described driving mode and analyzes module；Described driving mode analyzes module according to described row
Sail state parameter judge the road conditions residing for crane and determine driving mode, will be with described driving mode
Corresponding control parameter is sent to described driving mode control module；Described driving mode control module
Transport condition according to described control parameter adjustment crane；Wherein, described road conditions parameter acquisition mould
Block includes: displacement transducer, double-shaft tilt angle sensor, pressure transducer, vehicle speed sensor；Institute
State transport condition parameter to include: suspension oil cylinder displacement, suspension system pressure, vehicle tilt,
Speed.
2. the system as claimed in claim 1, it is characterised in that:
Described driving mode analyzes the suspension oil cylinder displacement that module gathers according to institute's displacement sensors
Calculate the amplitude of suspension oil cylinder and frequency, and combine current vehicle speed that described vehicle speed sensor gathers with
And the suspension system pressure that described pressure transducer gathers judges that the road surface on road surface residing for Current vehicle is thick
Rugosity；
Described driving mode analyzes the vehicle tilt that module gathers according to described double-shaft tilt angle sensor
Judge the traveling attitude of current crane；
Described driving mode analyzes the module traveling appearance according to described surface roughness and current crane
State determines driving mode.
3. the system as claimed in claim 1, it is characterised in that:
Described driving mode controls the device multiple subsystems according to described control state modulator crane
Running status, the plurality of subsystem includes: engine system, transmission system, suspension system
System, seat system.
4. system as claimed in claim 3, it is characterised in that:
Described control parameter includes: whether driving mode, power train differential control are opened, electromotor
Rotating speed, engine torque, gearbox-gear, suspension rate, seat are elastic.
5. the system as claimed in claim 1, it is characterised in that:
Described driving mode includes: highway pattern, little place pattern, climbing pattern, descending mould
Formula, cross-country pattern.
6. system as claimed in claim 5, it is characterised in that:
Analyze module at described driving mode and determine the state that driving mode is descending pattern of crane
Under and described driving mode control device judge when transmitter rotating speed exceedes default threshold value, institute
State driving mode and control device starting auxiliary brake of vehicle.
7. the system as claimed in claim 1, it is characterised in that also include:
Manual selection modes device；
Selected driving mode is sent to described driving mode analysis by described manual selection modes device
Module, described driving mode is analyzed module and the control parameter corresponding with selected driving mode is sent
To described driving mode control module.
8. a crane, it is characterised in that:
Road conditions Adaptable System including the crane as described in claim 1 to 7 any one.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410291158.9A CN104057954B (en) | 2014-06-25 | 2014-06-25 | Road condition self-adaptation system of crane and crane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410291158.9A CN104057954B (en) | 2014-06-25 | 2014-06-25 | Road condition self-adaptation system of crane and crane |
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| CN104057954A CN104057954A (en) | 2014-09-24 |
| CN104057954B true CN104057954B (en) | 2017-01-11 |
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| CN105015446A (en) * | 2015-07-28 | 2015-11-04 | 江西好帮手电子科技有限公司 | Control method and system for entering into automobile driving mode |
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| CN105922995A (en) * | 2016-05-13 | 2016-09-07 | 乐视控股（北京）有限公司 | Switching method and device for vehicle driving patterns and vehicle |
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