CN104930011B - Crawler belt walking synchronous control method - Google Patents
Crawler belt walking synchronous control method Download PDFInfo
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- CN104930011B CN104930011B CN201510385893.0A CN201510385893A CN104930011B CN 104930011 B CN104930011 B CN 104930011B CN 201510385893 A CN201510385893 A CN 201510385893A CN 104930011 B CN104930011 B CN 104930011B
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- Prior art keywords
- running motor
- rotating speed
- controller
- velocity deviation
- motor
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/22—Synchronisation of the movement of two or more servomotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0015—Disposition of motor in, or adjacent to, traction wheel the motor being hydraulic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
- F15B11/165—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load for adjusting the pump output or bypass in response to demand
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Fluid-Pressure Circuits (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a crawler belt walking synchronous control method. The method comprises the steps that a handle outputs same input signals to a controller, the rotating speed n1 of a first walking motor and the rotating speed n2 of a second walking motor are measured, the rotating speed n1 and the rotating speed n2 are transmitted to the controller, and the controller compares the rotating speed n1 with the rotating speed n2 to obtain a speed deviation delta n; the controller compares a speed deviation absolute value |delta n| with a set deviation X, and if the speed deviation absolute value |delta n| is smaller than or equal to X, the controller is in an output mode; if the speed deviation absolute value |delta n| is larger than X and the speed deviation delta n is larger than zero, the rotating speed of the first walking motor is made to be decreased till the speed deviation absolute value |delta n| is smaller than or equal to X, and if the speed deviation delta n is small than zero, the rotating speed of the second walking motor is made to be decreased till the speed deviation absolute value |delta n| is smaller than or equal to X. By means of the crawler belt walking synchronous control method, it can be guaranteed that crawler belts at the two sides of a crawler belt walking mechanism keep synchronous during walking in a straight line.
Description
Technical field
The present invention relates to a kind of control method, more particularly to a kind of crawler travel synchronisation control means.
Background technology
The walking mechanism hydraulic principle of existing crawler crane is general as shown in figure 1, the hydraulic pressure system of its creeper undercarriage
System is by hydraulic oil container 1, electric ratio main pump 2, LUDV main valves 3, speed of travel switching valve 4, left running motor 5, right running motor 6 etc.
Composition.
The hydraulic work system principle is：Driven by engine electricity ratio main pump 2 operates, by hydraulic oil from hydraulic oil container 1
Extract out, electric ratio main pump 2 exports pressure oil to LUDV main valves 3, and LUDV main valves 3 first (left side in Fig. 1) control left lateral is walked
Motor 5, LUDV main valves 3 second (right side in Fig. 1) the right running motor 6 of control.Supply running motor hydraulic fluid flow rate by
LUDV main valves opening is determined, unrelated with load pressure.The control mode of two running motors is 2 points of controls of fluid pressure type, i.e. motor
The discharge capacity switching of there was only two kinds of huge discharge and small displacement, big small displacement controlled by speed of travel switching valve 4, when switching valve 4
During electromagnet Y2 dead electricity, left and right running motor is in huge discharge, and walking mechanism is in low or first gear；When Y2 is obtained it is electric when, left and right walking
Motor is switched to small displacement, and walking mechanism is in top gear.
Accuracy guarantee of the synchronism of walking mechanism mainly by element.The system is primarily present following problem：
First, the two of the LUDV main valves of two running motors of control can not possibly be just the same.Valve element, spring, electromagnet, post
Be present various errors in the manufacture of the Hydraulic Elements such as plug, can only reduce as far as possible, it is impossible to be completely eliminated.
Second, difference is let out in Hydraulic Elements.Here LUDV main valves and running motor are primarily referred to as, foozle, sealing are poor
Not, cause to be let out in difference, accordingly even when LUDV main valves supply identical flow, also results in the difference of running motor rotating speed.
3rd, the difference of two live hydraulic systems.The control strategy of walking mechanism is two single load-sensitive systems
System, the converging valve Y1 in LUDV main valves 3 does not collaborate, and so, the difference of main pump can also cause the difference of the speed of travel；So as to
Cause crawler travel sideslip, it is impossible to meet real work needs.
Consider interflow situation, according to original hydraulic system control strategy, corresponding walking mechanism hydraulic system control can be obtained
Block diagram processed, as shown in Fig. 2 controller has the first input and the second input, handle gives identical input electrical signal to controller
First input and second input, make controller output the output signal of identical first and the second output signal respectively to LUDV master
Valve first and LUDV main valves second, so that LUDV main valves first and second export the hydraulic oil of same traffic to a left side
The right running motor of running motor, so as to control the rotating speed of left and right running motor, the system can regard two independent open type systems as
System.Accuracy guarantee of the synchronism of walking by element.
The content of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, there is provided a kind of synchronous crawler belt of guarantee both sides crawler belt
Walking synchronisation control means.
According to an aspect of the present invention, a kind of crawler travel synchronisation control means, comprises the following steps：
The input signal of identical first and second defeated is exported respectively to first input and the second input of controller with handle
Enter signal, so that controller distinguishes output size identical according to first input signal and the second input signal to LUDV main valves
First output signal and the second output signal, so that LUDV main valves first are walked according to first output signal to first
Motor output hydraulic pressure oil, LUDV main valves second are according to second output signal to the second running motor output hydraulic pressure oil；
The rotating speed n1 of the first running motor and rotating speed n2 of the second running motor is measured, and rotating speed n1 and n2 are passed to into control
Device processed, controller compares rotating speed n1 and n2 to obtain velocity deviation △ n=n1-n2；
Velocity deviation absolute value | △ n | are compared to adjust the first running motor and the by controller with setting deviation X
The rotating speed of two running motors, if the velocity deviation absolute value | △ n |≤X, keeps controller output；If the velocity deviation is exhausted
To being worth | △ n |>X,
If velocity deviation △ n>0, then velocity deviation △ n is fed back to the first input of controller, it is defeated to reduce first
Go out signal, reduce the opening of LUDV main valves first, the hydraulic fluid flow rate for supplying the first running motor reduces, the first running motor
Rotating speed reduce, | △ the n |≤X until velocity deviation absolute value,
If velocity deviation △ n<0, then velocity deviation △ n is fed back to the second input of controller, it is defeated to reduce second
Go out signal, reduce the opening of LUDV main valves second, the hydraulic fluid flow rate for supplying the second running motor reduces, the second running motor
Rotating speed reduce, | △ the n |≤X until velocity deviation absolute value.
According to an embodiment of the present invention, first running motor be left running motor, second running motor
For right running motor.
According to an embodiment of the present invention, first running motor be right running motor, second running motor
For left running motor.
According to an embodiment of the present invention, the rotating speed n1 of the first running motor and the rotating speed of the second running motor are measured
During n2, the rotating speed of first running motor and the second running motor is measured by motor speed sensor.
According to an embodiment of the present invention, the scope for setting deviation X as：
Wherein, H is the gauge of two crawler belts, and n4 is the rotating speed of the slower running motor of rotating speed.
As shown from the above technical solution, advantages of the present invention and good effect are：
Crawler travel synchronisation control means of the present invention, is capable of turning for the running motor of adjust automatically first and the second running motor
Speed, so as to ensure that creeper undercarriage both sides crawler belt in straight line moving keeps synchronous, effectively overcome Hydraulic Elements foozle,
Inside let out, the sideslip that pipe resistance difference etc. is caused.
Description of the drawings
Its example embodiment is described in detail by referring to accompanying drawing, above and other feature and advantage of the present invention will become
Become apparent from.
Fig. 1 is existing crawler crane walking mechanism hydraulic schematic diagram；
Fig. 2 is the walking mechanism HYDRAULIC CONTROL SYSTEM block diagram of Fig. 1；
Fig. 3 is the HYDRAULIC CONTROL SYSTEM block diagram of the present invention.
Specific embodiment
Example embodiment is described more fully with referring now to accompanying drawing.However, example embodiment can be with various shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；Conversely, thesing embodiments are provided so that the present invention will
Fully and completely, and by the design of example embodiment those skilled in the art is comprehensively conveyed to.Identical accompanying drawing in figure
Mark represents same or similar structure, thus will omit their detailed description.
Referring to Fig. 3, the invention discloses a kind of crawler travel synchronisation control means, can be used for control crawler unit straight
Line is walked.This crawler travel synchronisation control means is comprised the following steps.
The input signal of identical first and second defeated is exported respectively to first input and the second input of controller with handle
Enter signal, so that controller distinguishes output size identical according to first input signal and the second input signal to LUDV main valves
First output signal and the second output signal, so that LUDV main valves first are walked according to first output signal to first
Motor output hydraulic pressure oil, LUDV main valves second are according to second output signal to the second running motor output hydraulic pressure oil.Due to
First output signal is identical with the second output signal size, thus LUDV main valves first and LUDV main valves second are respectively to
One running motor and the second running motor output hydraulic oil it is also identical, in this case, in theory the first running motor and
The speed of the second running motor should be identical.In the present embodiment, the first running motor is galloped along on horseback for the left lateral of crawler unit
Reach, the second running motor is right running motor, in other embodiments, the first running motor is alternatively right running motor, second
Running motor is left running motor.
Connect a motor rotational speed sensor respectively on the first running motor and the second running motor, then use motor rotary speed
Sensor measures the rotating speed n1 of the first running motor and rotating speed n2 of the second running motor, and rotating speed n1 and n2 are passed to into control
Device, controller compares rotating speed n1 and n2 to obtain velocity deviation △ n=n1-n2.In the rotating speed for measuring the two running motors
When, except with motor rotational speed sensor,
Velocity deviation absolute value | △ n | are compared to adjust the first running motor and the by controller with setting deviation X
The rotating speed of two running motors.If the velocity deviation absolute value | △ n |≤X, this illustrates first running motor and the second walking horse
Velocity deviation between reaching is unlikely to make crawler unit deviate in straight line moving excessively, it is believed that the first running motor
Keep synchronous regime, therefore adjustment to terminate with the second running motor, keep controller output.
If the velocity deviation absolute value | △ n |>X, then the first running motor or the second running motor should be turned
Speed is adjusted.Now specifically determining bottom again should be adjusted or should be to the second row to the rotating speed of the first running motor
The rotating speed for walking motor is adjusted.If velocity deviation △ n>0, then velocity deviation △ n is fed back to the first input of controller,
To reduce first input signal, reduce the opening of LUDV main valves first, the hydraulic fluid flow rate for supplying the first running motor subtracts
Little, the rotating speed of the first running motor is reduced, until velocity deviation absolute value ,≤X, adjustment terminates | △ n |；If velocity deviation △ n
<0, then velocity deviation △ n is fed back to the second input of controller, to reduce second input signal, make LUDV main valves second
Connection opening reduces, and the hydraulic fluid flow rate for supplying the second running motor reduces, and the rotating speed of the second running motor is reduced, until speed is inclined
≤ X, adjustment terminates difference absolute value | △ n |.
Set the scope of deviation X as：Wherein, H is the gauge of two crawler belts, and n4 is not to first
Running motor and the second running motor are carried out before speed do not adjust, the rotating speed of the slower running motor of rotating speed.Set by more than
Put, crawler unit can be made in straight line moving, its side-play amount on 20m travel distances is less than 250mm.
From the foregoing, it will be observed that crawler travel synchronisation control means disclosed by the invention can effectively overcome Hydraulic Elements foozle,
Inside let out, the sideslip that pipe resistance difference etc. is caused, make to keep both sides crawler belt synchronization during crawler unit straight line moving, energy of rectifying a deviation
Power is strong, also, is improved by the control program to controller, it is possible to effectively solving crawler travel sideslip problem, method
Simply, it is applied widely, as long as the similar system of tape speed sensor can to disclose crawler travel same using the present invention
Step control method is rectified a deviation.Due to not increasing original system hardware, so as to cost-effective, overall performance is improved.
More than it is particularly shown and described the illustrative embodiments of the present invention.It should be understood that the invention is not restricted to institute
Disclosed embodiment, on the contrary, it is intended to cover comprising various modifications in the spirit and scope of the appended claims
And equivalent arrangements.
Claims (4)
1. a kind of crawler travel synchronisation control means, it is characterised in that comprise the following steps：
The input signal of identical first and the second input letter are exported respectively to first input and the second input of controller with handle
Number, so as to controller exports respectively identical first according to first input signal and the second input signal to LUDV main valves export
Signal and the second output signal, so that LUDV main valves first are exported according to first output signal to the first running motor
Hydraulic oil, LUDV main valves second are according to second output signal to the second running motor output hydraulic pressure oil；
The rotating speed n1 of the first running motor and rotating speed n2 of the second running motor is measured, and rotating speed n1 and n2 are passed to into control
Device, controller compares rotating speed n1 and n2 to obtain velocity deviation △ n=n1-n2；
Velocity deviation absolute value | △ n | are compared to adjust the first running motor and the second row by controller with setting deviation X
The rotating speed of motor is walked, if the velocity deviation absolute value | △ n |≤X, controller output is kept；If the velocity deviation is absolute
Value | △ n |>X,
If velocity deviation △ n>0, then velocity deviation △ n is fed back to the first input of controller, to reduce the first output letter
Number, make the opening of LUDV main valves first reduce, supply the first running motor hydraulic fluid flow rate reduce, the first running motor turn
Prompt drop is low, | △ the n |≤X until velocity deviation absolute value,
If velocity deviation △ n<0, then velocity deviation △ n is fed back to the second input of controller, to reduce the second output letter
Number, make the opening of LUDV main valves second reduce, supply the second running motor hydraulic fluid flow rate reduce, the second running motor turn
Prompt drop is low, | △ the n |≤X until velocity deviation absolute value；
Set the scope of deviation X as：
Wherein, H is the gauge of two crawler belts, and n4 is the rotating speed of the slower running motor of rotating speed.
2. crawler travel synchronisation control means according to claim 1, it is characterised in that first running motor is a left side
Running motor, second running motor is right running motor.
3. crawler travel synchronisation control means according to claim 1, it is characterised in that first running motor is the right side
Running motor, second running motor is left running motor.
4. crawler travel synchronisation control means according to claim 1, it is characterised in that measurement the first running motor turns
During the rotating speed n2 of fast n1 and the second running motor, by motor speed sensor to first running motor and the second walking horse
The rotating speed for reaching is measured.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510385893.0A CN104930011B (en) | 2015-07-02 | 2015-07-02 | Crawler belt walking synchronous control method |
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| CN201510385893.0A CN104930011B (en) | 2015-07-02 | 2015-07-02 | Crawler belt walking synchronous control method |
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| CN104930011B true CN104930011B (en) | 2017-04-19 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106114205B (en) * | 2016-07-20 | 2018-08-28 | 北京新能正源智能装备有限公司 | The synchronous walking mechanism and coal mine drilling machine of double creeper trucks |
| CN106274922B (en) * | 2016-09-19 | 2018-10-23 | 南通铁军机械有限公司 | A kind of hydraulic traveling mechanism and control method for working jumbo for tunnel lining |
| 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 |
| CN110406537B (en) * | 2019-06-27 | 2021-04-02 | 中国一冶集团有限公司 | Automatic synchronous control device for walking of crawler-type machinery |
| CN111853317A (en) * | 2020-07-28 | 2020-10-30 | 青岛双瑞海洋环境工程股份有限公司 | Double-branch intelligent valve group control system, control method and flow transmission device |
| CN112896145B (en) * | 2021-03-10 | 2022-07-05 | 浙江三一装备有限公司 | Crawler type working machine control method and device and crawler type working machine |
| CN113357212A (en) | 2021-06-07 | 2021-09-07 | 上海三一重机股份有限公司 | Walking deviation rectifying method and device for operation machinery |
| CN113759925B (en) * | 2021-09-16 | 2023-11-24 | 中国煤炭科工集团太原研究院有限公司 | Control system and method for mining equipment |
| 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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