CN104120745A - Automatic ground flattening control method for excavator - Google Patents
Automatic ground flattening control method for excavator Download PDFInfo
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- CN104120745A CN104120745A CN201410362825.8A CN201410362825A CN104120745A CN 104120745 A CN104120745 A CN 104120745A CN 201410362825 A CN201410362825 A CN 201410362825A CN 104120745 A CN104120745 A CN 104120745A
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- swing arm
- dipper
- height
- output quantity
- bucket
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Abstract
The invention discloses an automatic ground flattening control method for an excavator, and belongs to the field of mechanical control. The automatic ground flattening control method is applied to the excavator. The automatic ground flattening control method comprises the steps of setting the horizontal height of a bucket tip 5 during automatic ground flattening working, and collecting pose signals of an excavator body 1, a movable arm 2, a bucket rod 2 and a bucket 4; according to the pose signals, calculating the angular speed, needed when the bucket tip 5 horizontally moves at a certain speed, of the movable arm 2 and the bucket rod 3; according to the angular speed, working out the speed control output quantity of an oil cylinder of the bucket rod 3 and the movable arm 2; according to the pose signals, working out the height difference between the actual height and the set height of the bucket tip 5, and working out the height control output quantity of the oil cylinder of the movable arm 2 and/or the bucket rod 3 according to the height difference; combining the speed control output quantity with the height control output quantity, and outputting the combined result. According to the technical scheme, the method with speed control as the main part and position feedback adjustment as the auxiliary part is adopted, motion stability can be ensured, and precision of height control over the bucket tip can be ensured.
Description
Technical field
The invention belongs to plant equipment control field, relate to a kind of automation control method, relate in particular to a kind of automatic land smoothing control method that is applicable to excavator.
Background technology
Excavator, particularly backacter usually need operation ground to carry out smooth operation in actual applications, and now operator need to control swing arm, dipper and scraper bowl simultaneously, and the point that makes to struggle against is being parallel to ground motion all the time, thereby levels land.
The variable that need to control due to grading operation is many, control complicated, need operator to have good work coordination and operation skill, therefore the actual effect of grading operation often changes along with driver's operation technical ability height, the complexity of grading operation also makes operator easily tired simultaneously, can not work long hours.
The system of more existing excavator automated jobs mainly concentrates on hardware realization at present, and pose signal transducer is installed on excavator, adjusts equipment output by controller result of calculation.
For the control method that realizes automatic land smoothing, prior art, all based on pose FEEDBACK CONTROL, by dipper and scraper bowl are considered as to one (being considered as a bit by scraper bowl), is calculated dipper current location, thereby adjust swing arm output, scraper bowl is horizontal.
Existing control method is actually position servo method.Because the machinery hydraulic system of hydraulic crawler excavator has larger inertia mass, comprise many non-linear factors, in the time that system detects the default height of the sharp position deviation of bucket, mechanism just can make a response, and now mechanism to have exceeded predetermined altitude distant, make the sharp upper and lower fluctuating range of bucket that in practical application, this control method causes large, smooth weak effect.
In addition, due to bucket point, operating mechanism's (normally swing arm) after exceeding predeterminated position scope just can adjust so that the point that makes to struggle against is got back to predeterminated position, therefore under this mode of operation, operating mechanism always in static-adjust-static-adjust state in, cause the impact of mechanism large, shake is violent, move the defect such as discontinuous.
Summary of the invention
In view of this, the present invention has adopted taking speed control as main, and position feedback is adjusted into auxiliary method, stationarity that can safety action, the accuracy of the cusp height control that can ensure again to struggle against.
For achieving the above object, concrete technical scheme is as follows:
A kind of excavator automatic land smoothing control method is provided, has been applied to the operation of excavator automatic land smoothing, described excavator comprises connected successively vehicle body, swing arm, dipper and scraper bowl, and described scraper bowl is provided with bucket point, comprises the following steps:
Step 1, the sharp level height that struggles against described in while setting automatic land smoothing operation, and gather the pose signal of described vehicle body, swing arm, dipper and scraper bowl;
Step 2, the angular velocity of required swing arm and dipper while keeping certain speed horizontal movement according to bucket described in the pose calculated signals of step 1 is sharp;
Step 3, calculates the speed control output quantity of the oil cylinder of described swing arm and dipper according to the turn meter of required swing arm and dipper;
Step 4, goes out the difference in height between the sharp actual height of described bucket and setting height according to the pose calculated signals of step 1, and calculates the height control output quantity of the oil cylinder of described swing arm and/or dipper according to described difference in height;
Step 5, the oil cylinder of described swing arm and dipper is exported by described speed control output quantity with after highly controlling output quantity merging.
Preferably, in described step 2 when setting up described bucket point and keep horizontal movement the angular velocity factor of proportionality of swing arm and dipper, calculate the angular velocity of required swing arm and dipper.
Preferably, angular velocity factor of proportionality and described pose signal correction in described step 2, and change with the sharp motion of bucket.
Preferably, in described step 3, by setting up respectively the function of the angular velocity of swing arm and dipper and the speed control output quantity of oil cylinder, calculate the speed control output quantity of the oil cylinder of swing arm and dipper.
Preferably, the height control output quantity in described step 4 comprises: when the sharp actual height of described bucket is during higher than predetermined altitude, will make slow down lifting speed or accelerate decrease speed of swing arm motion deflection; When the sharp actual height of described bucket is during lower than setting height, will make swing arm motion deflection accelerate lifting speed or the decrease speed that slows down.
Preferably, pose signal in described step 1 comprises: described vehicle body, swing arm, dipper, scraper bowl inclination angle with respect to the horizontal plane, or the angle between vehicle body, swing arm, dipper, scraper bowl and vehicle body inclination angle with respect to the horizontal plane, or overhang and the vehicle body inclination angle with respect to the horizontal plane of boom cylinder, bucket arm cylinder, bucket cylinder.
With respect to prior art, the advantage of technical scheme of the present invention has:
1, control accuracy meets or exceeds manual leveling effect, and efficiency is higher;
2, adopt the control method of speed control and displacement control combination, ensure the ride comfort of bucket point motion with speed control, improve position control accuracy with displacement control, have more excellent practical function.
Brief description of the drawings
The accompanying drawing that forms a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention is used for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the structural representation of the excavator of the embodiment of the present invention;
Fig. 2 is the schematic flow sheet of the embodiment of the present invention;
Fig. 3 is the function structure schematic diagram of the excavator of the embodiment of the present invention.
Wherein, 1 be vehicle body, 2 for swing arm, 3 for dipper, 4 for scraper bowl, 5 for bucket point, 6 for boom cylinder, 7 for bucket arm cylinder, 8 be bucket cylinder.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiment.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtaining under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, in the situation that not conflicting, the feature in embodiment and embodiment in the present invention can combine mutually.
Below with reference to accompanying drawing, embodiments of the invention are done to concrete explaination.
A kind of excavator of embodiments of the invention as shown in Figure 1, at the upper each mounted angle sensor of vehicle body 1 and equipment (swing arm 2, dipper 3, scraper bowl 4) or between vehicle body 1 and each equipment, relative angle sensor is installed, oil cylinder displacement transducer also can be installed on boom cylinder 6, bucket arm cylinder 7 and bucket cylinder 8 and at vehicle body 1 mounted angle sensor.
As shown in Figure 2, in an embodiment of the present invention, excavator automatic land smoothing control method comprises:
Step 1, the level height H of bucket point 5 while setting automatic land smoothing operation, and gathered the pose signal of vehicle body 1, swing arm 2, dipper 3 and scraper bowl 4 by the sensor feedback information any time;
Step 2, according to the pose signal of step 1, the angular velocity factor of proportionality of swing arm 2 and dipper 3 while struggling against point 5 maintenance horizontal movement by foundation, the angular velocity of required swing arm 2 and dipper 3 when calculating bucket point 5 keeps certain speed horizontal movement.
As shown in Figure 3, in an embodiment of the present invention, calculate the factor of proportionality between swing arm angular velocity WA and dipper angular velocity WB according to the data that collect
, make when meeting
time, bucket point 5 is in horizontal movement state.Proportion function is now the function relevant with each equipment angle, and along with its value of variation of attitude of working device also changes continuously.While supposing automatic land smoothing now, the angular velocity of dipper is WB1, according to factor of proportionality
can calculate swing arm corresponding angular velocity WA1.
Step 3, according to the angular velocity of required swing arm 2 and dipper 3, by setting up respectively the function of the angular velocity of swing arm 2 and dipper 3 and the speed control output quantity of oil cylinder, calculates the speed control output quantity of the oil cylinder of swing arm 2 and dipper 3;
Step 4, the difference in height Δ h that goes out to struggle against between sharp 5 actual height h and setting height H according to the pose calculated signals of step 1, and calculate the height control output quantity of the oil cylinder of swing arm 2 or dipper 3 according to difference in height.When bucket point 5 is during higher than predetermined horizontal movement height, adjustment amount will make swing arm 2 the slow down lifting speed or accelerate decrease speed of deflection of moving; When bucket point 5 is during lower than predetermined horizontal movement height, adjustment amount will make swing arm 2 deflection of moving accelerate lifting speed or the decrease speed that slows down;
Step 5, the oil cylinder of swing arm 2 and dipper 3 is exported by speed control output quantity with after highly controlling output quantity merging, exports above-mentioned result of calculation to dipper 3 and swing arm 2 oil cylinders simultaneously, can make bucket sharp 5 at predetermined level height easy motion.
Embodiments of the invention use different from the past is only controlled the sharp height of bucket by position feedback, and adopted taking speed control as main, position feedback is adjusted into auxiliary method, control equipment by the merging amount of speed controlled quentity controlled variable and position feedback control amount, stationarity that can safety action, the accuracy of the cusp height control that can ensure again to struggle against.
Above specific embodiments of the invention be have been described in detail, but it is just as example, the present invention is not restricted to specific embodiment described above.To those skilled in the art, any equivalent modifications that the present invention is carried out and alternative also all among category of the present invention.Therefore, equalization conversion and the amendment done without departing from the spirit and scope of the invention, all should contain within the scope of the invention.
Claims (6)
1. an excavator automatic land smoothing control method, be applied to the operation of excavator automatic land smoothing, described excavator comprises connected successively vehicle body (1), swing arm (2), dipper (3) and scraper bowl (4), described scraper bowl (4) is provided with bucket point (5), it is characterized in that, comprise the following steps:
Step 1, while setting automatic land smoothing operation described in the level height of bucket point (5), and gather the pose signal of described vehicle body (1), swing arm (2), dipper (3) and scraper bowl (4);
Step 2, the angular velocity of required swing arm (2) and dipper (3) while keeping certain speed horizontal movement according to the point (5) that struggles against described in the pose calculated signals of step 1;
Step 3, calculates the speed control output quantity of the oil cylinder of described swing arm (2) and dipper (3) according to the turn meter of required swing arm (2) and dipper (3);
Step 4, go out the difference in height between described bucket point (5) actual height and setting height according to the pose calculated signals of step 1, and calculate the height control output quantity of the oil cylinder of described swing arm (2) and/or dipper (3) according to described difference in height;
Step 5, the oil cylinder of described swing arm (2) and dipper (3) is exported by described speed control output quantity with after highly controlling output quantity merging.
2. excavator automatic land smoothing control method as claimed in claim 1, it is characterized in that, in described step 2 when setting up described bucket point (5) and keep horizontal movement the angular velocity factor of proportionality of swing arm (2) and dipper (3), calculate the angular velocity of required swing arm (2) and dipper (3).
3. excavator automatic land smoothing control method as claimed in claim 2, is characterized in that, angular velocity factor of proportionality and described pose signal correction in described step 2, and change with the motion of bucket point (5).
4. excavator automatic land smoothing control method as claimed in claim 3, it is characterized in that, in described step 3, by setting up respectively the function of the angular velocity of swing arm (2) and dipper (3) and the speed control output quantity of oil cylinder, calculate the speed control output quantity of the oil cylinder of swing arm (2) and dipper (3).
5. excavator automatic land smoothing control method as claimed in claim 3, it is characterized in that, height control output quantity in described step 4 comprises: when the actual height of described bucket point (5) is during higher than predetermined altitude, will make slow down lifting speed or accelerate decrease speed of swing arm (2) motion deflection; When the actual height of described bucket point (5) is during lower than setting height, will make swing arm (2) motion deflection accelerate lifting speed or the decrease speed that slows down.
6. excavator automatic land smoothing control method as claimed in claim 5, it is characterized in that, pose signal in described step 1 comprises: described vehicle body (1), swing arm (2), dipper (3), scraper bowl (4) inclination angle with respect to the horizontal plane, or the angle between vehicle body (1), swing arm (2), dipper (3), scraper bowl (4) and vehicle body (1) inclination angle with respect to the horizontal plane, or overhang and vehicle body (1) inclination angle with respect to the horizontal plane of swing arm (2) oil cylinder, dipper (3) oil cylinder, scraper bowl (4) oil cylinder.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410362825.8A CN104120745B (en) | 2014-07-28 | 2014-07-28 | A kind of excavator automatic land smoothing control method |
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| CN201410362825.8A CN104120745B (en) | 2014-07-28 | 2014-07-28 | A kind of excavator automatic land smoothing control method |
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| CN104120745A true CN104120745A (en) | 2014-10-29 |
| CN104120745B CN104120745B (en) | 2016-08-24 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109469137A (en) * | 2018-12-28 | 2019-03-15 | 上海三重机股份有限公司 | Swing arm reduction of speed control device, method and the excavator of excavator |
| CN110209062A (en) * | 2019-06-04 | 2019-09-06 | 三一重机有限公司 | Excavator loads and unloads control method and device |
| JP2021050494A (en) * | 2019-09-24 | 2021-04-01 | 日立建機株式会社 | Work machine |
| CN113338371A (en) * | 2021-06-18 | 2021-09-03 | 三一重机有限公司 | Excavator flat ground control method and system |
| CN113944197A (en) * | 2021-09-28 | 2022-01-18 | 上海三一重机股份有限公司 | Land leveling auxiliary system, method and working machine |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106836335B (en) * | 2017-02-07 | 2019-04-05 | 柳州柳工挖掘机有限公司 | Excavator with level land auxiliary system |
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| CN109469137A (en) * | 2018-12-28 | 2019-03-15 | 上海三重机股份有限公司 | Swing arm reduction of speed control device, method and the excavator of excavator |
| CN109469137B (en) * | 2018-12-28 | 2024-05-24 | 上海三一重机股份有限公司 | Swing arm deceleration control device and method of excavator and excavator |
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| CN113338371A (en) * | 2021-06-18 | 2021-09-03 | 三一重机有限公司 | Excavator flat ground control method and system |
| CN113338371B (en) * | 2021-06-18 | 2023-02-03 | 三一重机有限公司 | Excavator flat ground control method and system |
| CN113944197A (en) * | 2021-09-28 | 2022-01-18 | 上海三一重机股份有限公司 | Land leveling auxiliary system, method and working machine |
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| CN104120745B (en) | 2016-08-24 |
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