CN104742991B - A kind of automatic control system for left and right crawler belt synchronous walking - Google Patents
A kind of automatic control system for left and right crawler belt synchronous walking Download PDFInfo
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- CN104742991B CN104742991B CN201510171985.9A CN201510171985A CN104742991B CN 104742991 B CN104742991 B CN 104742991B CN 201510171985 A CN201510171985 A CN 201510171985A CN 104742991 B CN104742991 B CN 104742991B
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- programmable controller
- hydraulic motor
- controller plc
- proportioning valve
- electrically connected
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 28
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 241000219098 Parthenocissus Species 0.000 claims abstract description 13
- 239000012530 fluid Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 241000736199 Paeonia Species 0.000 description 1
- 235000006484 Paeonia officinalis Nutrition 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000011089 mechanical engineering Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/003—Electric or electronic control systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D11/00—Steering non-deflectable wheels; Steering endless tracks or the like
- B62D11/001—Steering non-deflectable wheels; Steering endless tracks or the like control systems
- B62D11/005—Hydraulic control systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Programmable Controllers (AREA)
Abstract
The invention discloses a kind of automatic control system for left and right crawler belt synchronous walking that can be preferably applied to when walking require linearity higher equipment.It includes joystick, programmable controller PLC, proportioning valve, left hydraulic motor, left creeper undercarriage, left incremental encoder, right hydraulic motor, right-hand track chiain walking mechanism and right incremental encoder；Joystick is electrically connected with programmable controller PLC；Programmable controller PLC is electrically connected with proportioning valve；The output end of proportioning valve point two-way, is connected, another road is connected with right hydraulic motor and right-hand track chiain walking mechanism successively with left hydraulic motor and left creeper undercarriage successively all the way；The signal output part of left hydraulic motor is electrically connected by left incremental encoder with programmable controller PLC；Right hydraulic motor signal output part is electrically connected by right incremental encoder with programmable controller PLC；Proportioning valve is electrically connected by two-way current feedback with programmable controller PLC simultaneously.
Description
Technical field
The present invention relates to a kind of Machinery Control System, one kind is specifically referred to same for left and right crawler belt in creeper undercarriage
The automatic control system that walking is walked.
Background technology
At present, creeper undercarriage is widely used on heavy mechanical equipment, particularly the heavy machine in building railway
Tool equipment, such as anchor driving machine, these equipment are that walking is realized using right two crawler belts of a first from left mostly, general equipment for
The synchronous walking of left and right crawler belt does not have particular/special requirement, and operator keeps left and right crawler belt by way of joystick is adjusted manually
Straight-line travelling.Further combined with accompanying drawing 1, the control system of the prior art for left and right crawler belt synchronous walking includes left control
Handle 01, left hydraulic motor 02, left creeper undercarriage 03, right joystick 04, right hydraulic motor 05 and right-hand track chiain vehicle with walking machine
Structure 06；According to those skilled in the art's general knowledge, this kind of control system also includes hydraulic station and fluid pressure line naturally；Described left control
Handle 01, left hydraulic motor 02 and left creeper undercarriage 03 connect and constitute hydraulic control circuit with hydraulic station successively；It is described
Right joystick 04, right hydraulic motor 05 and right-hand track chiain walking mechanism 06 connect successively and with hydraulic station constitute hydraulic control return
Road.If the control system of the left and right crawler belt synchronous walking of this structure wants straight-line travelling, it is necessary to which operator is while control left and right
Two handles, manually regulation hydraulic motor power output, in conjunction with operator subjective observation try one's best make left and right two handles
The control hydraulic pressure of output keeps synchronous, to ensure machine straight-line travelling.It is of the prior art but applicant of the present invention has found
There is following weak point in this control system：Because manual control is firmly differed in size, it is impossible to reach synchronous purpose, although existing
There is the deflection angle that left and right beam is measured using angular encoder in technology, then carried out by the gap for calculating left and right walking
Adjustment makes up the deficiency manually adjusted, still, final or realized by the manually operated of operator, it is clear that manually operated
Pattern requires higher equipment for linearity, and such control mode obviously can not meet use requirement.
The content of the invention
The technical problem to be solved in the present invention, which is to provide one kind, to be preferably applied to when walking to linearity requirement
The automatic control system for left and right crawler belt synchronous walking of higher equipment.
In order to solve the above technical problems, the technical scheme that the present invention is provided is：It is a kind of for left and right crawler belt synchronous walking
Automatic control system, it include joystick, programmable controller PLC, proportioning valve, left hydraulic motor, left creeper undercarriage,
Left incremental encoder, right hydraulic motor, right-hand track chiain walking mechanism, right incremental encoder, right current feedback module and left electricity
Flow feedback module；Joystick is electrically connected with programmable controller PLC；The control signal output of programmable controller PLC with
The signal input part electrical connection of proportioning valve；The hydraulic pressure output end point two-way of proportioning valve, all the way successively with left hydraulic motor and left shoe
Band walking mechanism is connected, and another road is connected with right hydraulic motor and right-hand track chiain walking mechanism successively；The signal of left hydraulic motor is defeated
Go out end to electrically connect with programmable controller PLC by left incremental encoder；Right hydraulic motor signal output part passes through right increment
Formula encoder is electrically connected with programmable controller PLC；Also pass through left current feedback between described proportioning valve and left hydraulic motor
Module is electrically connected with programmable controller PLC；Described proportioning valve and right hydraulic motor also by right current feedback module with can
Programmable controller PLC is electrically connected.
As an improvement, being additionally provided with multimachine interconnection port on described programmable controller PLC.
Preferably, described programmable controller PLC is CAN type programmable controller PLC.
After said structure, the present invention has the advantages that：The present invention is using PLC as controller, and PLC can be with
Electro-hydraulic proportional valve is directly driven by digital P WM output ports, the adjustment to hydraulic motor rotary speed is realized.Proportioning valve is simultaneously
There is current feedback signal to feed back to PLC as control modifying factor.Adjustment can be directly detected additionally by incremental encoder
Velocity amplitude afterwards, then velocity amplitude is fed back into the closed-loop control of PLC formation closely, accuracy of detection is higher；Realize synchronous in left and right
Afterwards just can fast and easy realize the advance of equipment under the straight line moving of vehicle, the operating mode of road relative narrowness that is particularly suitable for use in,
Back operation；Described control system is closed-loop control, and closed-loop control system precision is high, is quick on the draw, and automaticity is high, subtracts
Multimachine interconnection port is additionally provided with the programmable controller PLC of control system in few artificial manipulation strength, the present invention not only
Suitable for bicycle or so synchronous walking, while being controlled suitable for the synchronous walking of many cars.
In summary, it can preferably be applied to require higher set to linearity when walking the invention provides a kind of
The standby automatic control system for left and right crawler belt synchronous walking.
Brief description of the drawings
Fig. 1 is the structure block diagram for the control system for being used for left and right crawler belt synchronous walking in the prior art.
Fig. 2 is the structure block diagram for the automatic control system for being used for left and right crawler belt synchronous walking in the present invention.
Fig. 3 is to be used for the signal letter that the automatic control system of left and right crawler belt synchronous walking is applied on anchor driving machine in the present invention
Figure.
Fig. 4 is sketch when being used for the automatic control system multimachine joint control of left and right crawler belt synchronous walking in the present invention.
As shown in the figure：In the prior art：01st, left joystick, 02, left hydraulic motor, 03, left creeper undercarriage, 04,
Right joystick, 05, right hydraulic motor, 06, right-hand track chiain walking mechanism.
In the present invention：1st, joystick, 2, programmable controller PLC, 3, proportioning valve, 4, left hydraulic motor, 5, left crawler belt
Walking mechanism, 6, left incremental encoder, 7, right hydraulic motor, 8, right-hand track chiain walking mechanism, 9, right incremental encoder, 10,
Right current feedback module, 11, left current feedback module, 12, first car, 13, second car, 14, the 3rd car.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment one
With reference to accompanying drawing 2 and accompanying drawing 3, a kind of automatic control system for left and right crawler belt synchronous walking, it includes control hand
Handle 1, programmable controller PLC 2, proportioning valve 3, left hydraulic motor 4, left creeper undercarriage 5, left incremental encoder 6, right liquid
Pressure motor 7, right-hand track chiain walking mechanism 8, right incremental encoder 9, right current feedback module 10 and left current feedback module 11；Control
Handle 1 processed is electrically connected with programmable controller PLC 2；The control signal output of programmable controller PLC 2 and the letter of proportioning valve 3
The electrical connection of number input；The hydraulic pressure output end point two-way of proportioning valve 3, all the way successively with left hydraulic motor 4 and left crawler travel machine
Structure 5 is connected, and another road is connected with right hydraulic motor 7 and right-hand track chiain walking mechanism 8 successively；The signal output part of left hydraulic motor 4
Electrically connected by left incremental encoder 6 with programmable controller PLC 2；The right signal output part of hydraulic motor 7 passes through right increment type
Encoder 9 is electrically connected with programmable controller PLC 2；It is also anti-by left electric current between described proportioning valve 3 and left hydraulic motor 4
Feedback module 11 is electrically connected with programmable controller PLC 2；Described proportioning valve 3 also passes through right current feedback mould with right hydraulic motor 7
Block 10 is electrically connected with programmable controller PLC 2.Described programmable controller PLC 2 is CAN type programmable controller
PLC.Described automatic control system, is that hydraulic system matching used with hydraulic system, described includes in the specific implementation
High-voltage power supply in hydraulic station and fluid pressure line, described hydraulic station is inputted by proportioning valve input port, is then adjusted again through proportioning valve
Exported after whole and give the hydraulic motor of left and right two.Due to hydraulic system can also coordinate simultaneously with the various mechanism such as arrestment mechanism thus this
Without application protection hydraulic station and fluid pressure line in invention, illustrate hereby.In the present invention for left and right crawler belt synchronous walking from
When autocontrol system is applied to anchor driving machine, it is referred to accompanying drawing 3 and is designed.
Specific embodiment two
Further combined with accompanying drawing 4, a kind of automatic control system for left and right crawler belt synchronous walking, it includes joystick
1st, programmable controller PLC 2, proportioning valve 3, left hydraulic motor 4, left creeper undercarriage 5, left incremental encoder 6, right hydraulic pressure
Motor 7, right-hand track chiain walking mechanism 8, right incremental encoder 9, right current feedback module 10 and left current feedback module 11；Control
Handle 1 is electrically connected with programmable controller PLC 2；The control signal output of programmable controller PLC 2 and the signal of proportioning valve 3
Input is electrically connected；The hydraulic pressure output end point two-way of proportioning valve 3, all the way successively with left hydraulic motor 4 and left creeper undercarriage 5
It is connected, another road is connected with right hydraulic motor 7 and right-hand track chiain walking mechanism 8 successively；The signal output part of left hydraulic motor 4 passes through
Left incremental encoder 6 is electrically connected with programmable controller PLC 2；The right signal output part of hydraulic motor 7 is encoded by right increment type
Device 9 is electrically connected with programmable controller PLC 2；Also pass through left current feedback mould between described proportioning valve 3 and left hydraulic motor 4
Block 11 is electrically connected with programmable controller PLC 2；Described proportioning valve 3 also passes through right current feedback module 10 with right hydraulic motor 7
Electrically connected with programmable controller PLC 2.Described programmable controller PLC 2 is CAN type programmable controller PLC.Institute
Multimachine interconnection port is additionally provided with the programmable controller PLC 2 stated.In the specific implementation, it is to be supported the use with hydraulic system
, described hydraulic system includes high-voltage power supply in hydraulic station and fluid pressure line, described hydraulic station by proportioning valve input port
Input, exports after then being adjusted again through proportioning valve and gives the hydraulic motor of left and right two.Because hydraulic system simultaneously can also be with brake
The various mechanisms such as structure coordinate so without application protection hydraulic station and fluid pressure line in the present invention, illustrating hereby.The present embodiment is related to
And be implementation when carrying out straight-line travelling after many Chinese herbaceous peonies or in the form of an array, user will need synchronous traveling in advance
Mechanical engineering car, is sequenced by queue, then by the automatic control system for left and right crawler belt synchronous walking on each engineering truck
The multimachine interconnection port of programmable controller PLC be connected by cables to together.Then setting is synchronized, you can realize many cars
It is synchronous.By taking three cars in accompanying drawing 4 as an example, first first car 12, second car 13 and the 3rd car 14 are sequenced by queue, it is front and rear
Spacing is kept, is then again connected the multimachine interconnection port of the programmable controller PLC of each car from front to back with cable.
Above to the present invention and embodiments thereof be described, the description does not have restricted, shown in accompanying drawing also only
It is one of embodiments of the present invention, actual structure is not limited thereto.If all in all ordinary skill people of this area
Member is enlightened by it, without departing from the spirit of the invention, similar to the technical scheme without designing for creativeness
Frame mode and embodiment, protection scope of the present invention all should be belonged to.
Claims (3)
1. a kind of automatic control system for left and right crawler belt synchronous walking, it is characterised in that：It include joystick (1), can
Programmable controller PLC (2), proportioning valve (3), left hydraulic motor (4), left creeper undercarriage (5), left incremental encoder (6),
Right hydraulic motor (7), right-hand track chiain walking mechanism (8), right incremental encoder (9), right current feedback module (10) and left electric current
Feedback module (11)；Joystick (1) is electrically connected with programmable controller PLC (2)；The control letter of programmable controller PLC (2)
Number output end is electrically connected with the signal input part of proportioning valve (3)；The hydraulic pressure output end point two-way of proportioning valve (3), all the way successively with
Left hydraulic motor (4) is connected with left creeper undercarriage (5), another road successively with right hydraulic motor (7) and right-hand track chiain vehicle with walking machine
Structure (8) is connected；The signal output part of left hydraulic motor (4) passes through left incremental encoder (6) and programmable controller PLC (2)
Electrical connection；Right hydraulic motor (7) signal output part is electrically connected by right incremental encoder (9) with programmable controller PLC (2)
Connect；Also pass through left current feedback module (11) and programmable controller between described proportioning valve (3) and left hydraulic motor (4)
PLC (2) is electrically connected；Described proportioning valve (3) also passes through right current feedback module (10) and programmable control with right hydraulic motor (7)
Device PLC (2) electrical connection processed.
2. the automatic control system according to claim 1 for left and right crawler belt synchronous walking, it is characterised in that：Described
Programmable controller PLC is additionally provided with multimachine interconnection port on (2).
3. the automatic control system according to claim 1 for left and right crawler belt synchronous walking, it is characterised in that：Described
Programmable controller PLC (2) is CAN type programmable controller PLC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510171985.9A CN104742991B (en) | 2015-04-13 | 2015-04-13 | A kind of automatic control system for left and right crawler belt synchronous walking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510171985.9A CN104742991B (en) | 2015-04-13 | 2015-04-13 | A kind of automatic control system for left and right crawler belt synchronous walking |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104742991A CN104742991A (en) | 2015-07-01 |
| CN104742991B true CN104742991B (en) | 2017-09-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510171985.9A Active CN104742991B (en) | 2015-04-13 | 2015-04-13 | A kind of automatic control system for left and right crawler belt synchronous walking |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104930011B (en) * | 2015-07-02 | 2017-04-19 | 太原重工股份有限公司 | Crawler belt walking synchronous control method |
| CN107117216B (en) * | 2017-06-22 | 2023-05-23 | 辽宁抚挖重工机械股份有限公司 | Double-system four-crawler synchronous walking device and control method |
| CN107458459A (en) * | 2017-07-20 | 2017-12-12 | 郭向阳 | Walking steer-drive and its control method |
| CN108732949A (en) * | 2018-04-03 | 2018-11-02 | 天津中科先进技术研究院有限公司 | Synchronous control device for crawler belt |
| CN113958543B (en) * | 2021-09-27 | 2023-07-21 | 太原重工股份有限公司 | Running mechanism control system and control method thereof |
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| CN101021054A (en) * | 2007-01-31 | 2007-08-22 | 三一重工股份有限公司 | Control method and controller for walking system of spreader |
| CN101672311A (en) * | 2009-09-24 | 2010-03-17 | 中冶赛迪工程技术股份有限公司 | Multi-hydraulic cylinder synchronization control method |
| CN102071711A (en) * | 2010-12-06 | 2011-05-25 | 中冶宝钢技术服务有限公司 | Entire-vehicle control system for special metallurgical crawler loader and control method thereof |
| CN203212992U (en) * | 2013-02-06 | 2013-09-25 | 成都市新筑路桥机械股份有限公司 | Electro-hydraulic control system for controlling rectilinear traveling of milling machine |
| CN204548261U (en) * | 2015-04-13 | 2015-08-12 | 中国铁建重工集团有限公司 | A kind of autonomous cruise speed system for left and right crawler belt synchronous walking |
-
2015
- 2015-04-13 CN CN201510171985.9A patent/CN104742991B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101021054A (en) * | 2007-01-31 | 2007-08-22 | 三一重工股份有限公司 | Control method and controller for walking system of spreader |
| CN101672311A (en) * | 2009-09-24 | 2010-03-17 | 中冶赛迪工程技术股份有限公司 | Multi-hydraulic cylinder synchronization control method |
| CN102071711A (en) * | 2010-12-06 | 2011-05-25 | 中冶宝钢技术服务有限公司 | Entire-vehicle control system for special metallurgical crawler loader and control method thereof |
| CN203212992U (en) * | 2013-02-06 | 2013-09-25 | 成都市新筑路桥机械股份有限公司 | Electro-hydraulic control system for controlling rectilinear traveling of milling machine |
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| CN104742991A (en) | 2015-07-01 |
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Address after: 410100 No. 88 East 7 Line, Changsha Economic and Technological Development Zone, Hunan Province Patentee after: China Railway Construction Heavy Industry Co.,Ltd. Address before: 410100 No. 88 Dongqi Road, Jingkai District, Changsha City, Hunan Province Patentee before: China Railway Construction Heavy Industry Co.,Ltd. |