CN106325109B

CN106325109B - Deicing equipment autocontrol method, device and system

Info

Publication number: CN106325109B
Application number: CN201510344290.6A
Authority: CN
Inventors: 安卡; 魏彬; 张涛
Original assignee: Construction Machinery Branch of XCMG
Current assignee: Construction Machinery Branch of XCMG
Priority date: 2015-06-19
Filing date: 2015-06-19
Publication date: 2019-02-26
Anticipated expiration: 2035-06-19
Also published as: CN106325109A

Abstract

The present invention discloses a kind of deicing equipment autocontrol method, device and system.This method comprises: obtaining current system conditions parameter；Current feedback current value is obtained in control signal from output to executing agency；According to current system conditions parameter and current feedback current value, current control signal is determined；Current control signal is exported to executing agency, so that executing agency carries out corresponding deicing movement.The present invention controls various deicing equipment by current system conditions parameter and current feedback current value and carries out corresponding actions, dynamic adjustment can be carried out by current control signal of the current feedback current value to output, to improve the control precision and job stability of deicing equipment；And then deicing working efficiency is improved, reduce labor intensity.

Description

Deicing equipment autocontrol method, device and system

Technical field

The present invention relates to deicing apparatus field, in particular to a kind of deicing equipment autocontrol method, device and it is System.

Background technique

Deicing equipment includes the plurality of devices such as snow sweeper, distributor, deicing vehicle, and electric-control system decides the elder generation of equipment Process degree.

The control programs such as the relay that current deicing equipment uses, can be only done simple control function, can not be formed System, and high failure rate, poor reliability, often lead to deicing equipment control precision, in terms of exist not Few drawback, thus cause that environmental sanitation deicing working efficiency is poor, the biggish situation of labor intensity.

Summary of the invention

In view of the above technical problem, the present invention provides a kind of deicing equipment autocontrol method, device and system, roots Control signal is determined according to current system conditions parameter and current feedback current value, improves the control precision and work of deicing equipment Make stability.

According to an aspect of the present invention, a kind of deicing equipment autocontrol method is provided, comprising:

Obtain current system conditions parameter；

Current feedback current value is obtained in control signal from output to executing agency；

According to current system conditions parameter and current feedback current value, current control signal is determined；

Current control signal is exported to executing agency, so that executing agency carries out corresponding deicing movement.

In one embodiment of the invention, current feedback electric current is obtained in the control signal from output to executing agency After the step of value, the method also includes:

Receive the first temperature sensor acquisition the first temperature signal, wherein the first temperature signal be deicing equipment from The current temperature value of dynamic control device；

The first temperature-compensating list is inquired according to the first temperature signal, determines current offset values；

Current feedback current value is compensated according to current offset values, execute later according to current system conditions parameter and Current feedback current value, the step of determining current control signal.

In one embodiment of the invention, receive the first temperature sensor acquisition the first temperature signal the step of it Afterwards, the method also includes:

Second temperature is inquired according to the first temperature signal and compensates list, determines state parameter offset；

Current system conditions parameter is compensated according to state parameter offset, is executed later according to current system conditions Parameter and current feedback current value, the step of determining current control signal.

In one embodiment of the invention, according to current system conditions parameter and current feedback current value, determination is worked as After the step of preceding control signal, the method also includes:

Receive the second temperature signal of second temperature sensor acquisition, wherein second temperature signal is working as executing agency Preceding temperature value；

Current control signal is modified according to second temperature signal, executes export current control signal to holding later The step of row mechanism.

In one embodiment of the invention, the step of obtaining current system conditions parameter includes: to be inputted according to pulsed quantity The interruption times triggered in the given time switch over current timer state, to obtain pulsed quantity input.

In one embodiment of the invention, the interruption times triggered in the given time according to pulsed quantity input are to current The step of timer state switches over include:

When the frequency of pulsed quantity input changes from high to low, if interruption times are predetermined less than or equal to first in the predetermined time Value, then current timer state is by using low speed timer to be switched to halted state；When pulsed quantity input frequency from low to high When variation, if interruption times are more than or equal to third predetermined value in the predetermined time, current timer state is cut by halted state It is changed to using low speed timer, wherein third predetermined value is greater than first predetermined value；

When the frequency for measuring pulse changes from high to low, if interruption times are less than four predetermined values in the predetermined time, Then current timer state is switched to low speed timer by high speed timer；When the frequency for measuring pulse changes from low to high, If interruption times are greater than second predetermined value in the predetermined time, current timer state is switched to high speed timing by low speed timer Device, wherein second predetermined value is greater than the 4th predetermined value.

Obtain current timer state；

If current timer state is to judge that pulsed quantity input triggers in the given time using low speed timer Whether disconnected number is greater than first predetermined value；If the interruption times are not more than first predetermined value, current timer state is cut It is changed to halted state；If the interruption times are greater than first predetermined value, further judge whether the interruption times are greater than the Two predetermined values, wherein second predetermined value is greater than first predetermined value, will be current if the interruption times are greater than second predetermined value Timer is labeled as high speed timer, and enters switching state, if the interruption times are not more than second predetermined value, maintenance makes With low speed timer；

If current timer state is halted state, judge whether the interruption times are less than third predetermined value, wherein Third predetermined value is greater than first predetermined value and is less than second predetermined value；If the interruption times are less than third predetermined value, maintain Halted state；If the interruption times are not less than third predetermined value, further judge whether the interruption times are greater than second Current timer is labeled as high speed timer, and enter switching if the interruption times are greater than second predetermined value by predetermined value Current timer is labeled as low speed timer, and enter switching if the interruption times are not more than second predetermined value by state State；

If current timer state is to judge whether the interruption times are predetermined less than the 4th using high speed timer Value, wherein the 4th predetermined value is greater than third predetermined value and is less than second predetermined value；If the interruption times are pre- not less than the 4th Definite value is then maintained using high speed timer；If the interruption times less than the 4th predetermined value, further judge the interruption time Whether number is greater than first predetermined value, if the interruption times are greater than first predetermined value, current timer is determined labeled as low speed When device, and enter switching state, if the interruption times be not more than first predetermined value, current timer state is switched to and is stopped Only state；

If current timer state is switching state, judge that current timer marks whether as low speed timer；If working as Preceding timer is labeled as low speed timer, then current timer state is switched to using low speed timer；If current timer Labeled as high speed timer, then current timer state is switched to using high speed timer.

In one embodiment of the invention, it according to current system conditions parameter and current feedback current value, determines current Control signal the step of include:

According to current system conditions parameter, by the predetermined correspondence for inquiring current system conditions parameter and control signal value Table determines corresponding predetermined control signal value；

Predetermined control signal value is modified according to current feedback current value, to determine current control signal.

According to another aspect of the present invention, a kind of deicing equipment autocontrol method is provided, comprising:

Obtain current system conditions parameter；

Current control signal is determined according to current system conditions parameter；

Current control signal is exported to executing agency, so that executing agency carries out corresponding deicing movement；

Wherein, if current system conditions parameter include pulsed quantity input, obtain current system conditions parameter the step of wrap It includes:

Current timer state is switched over according to the interruption times that pulsed quantity input triggers in the given time, to obtain Pulsed quantity is taken to input.

Obtain current timer state；

According to another aspect of the present invention, a kind of deicing equipment automatic control device is provided, including parameter acquiring unit, Value of feedback acquiring unit, control signal determination unit and output unit, in which:

Parameter acquiring unit, for obtaining current system conditions parameter；

Value of feedback acquiring unit obtains current feedback electricity for exporting from output unit in the control signal to executing agency Flow valuve；

Signal determination unit is controlled, for determining current control according to current system conditions parameter and current feedback current value Signal processed；

Output unit, for exporting current control signal to executing agency, so that executing agency carries out corresponding deicing Snow movement.

In one embodiment of the invention, described device further include the first temperature reception unit, the first query unit and First temperature compensation unit, in which:

First temperature reception unit, for receiving the first temperature signal of the first temperature sensor acquisition, wherein the first temperature Spend the current temperature value that signal is deicing equipment automatic control device；

First query unit is mended for inquiring the first temperature according to received first temperature signal of the first temperature reception unit List is repaid, determines current offset values；

First temperature compensation unit, the current offset values for being determined according to the first query unit obtain value of feedback single The current feedback current value that member obtains compensates, and the signal determination unit execution of instruction control later is joined according to current system conditions Several and current feedback current value, determines the operation of current control signal.

In one embodiment of the invention, described device further include the first temperature reception unit, the second query unit and Second temperature compensating unit, in which:

Second query unit, for being mended according to the received first temperature signal inquiry second temperature of the first temperature reception unit List is repaid, determines state parameter offset；

Second temperature compensating unit, according to the state parameter offset that the second query unit determines, to parameter acquiring unit The current system conditions parameter of acquisition compensates, and the signal determination unit execution of instruction control later is joined according to current system conditions Several and current feedback current value, determines the operation of current control signal.

In one embodiment of the invention, described device further includes second temperature receiving unit and control signal correction list Member, in which:

Second temperature receiving unit, for receiving the second temperature signal of second temperature sensor acquisition, wherein the second temperature Spend the current temperature value that signal is executing agency；

Signal correction unit is controlled, for believing control according to the received second temperature signal of second temperature receiving unit The current control signal that number determination unit determines is modified, indicate later output unit execute by current control signal export to The operation of executing agency.

In one embodiment of the invention, parameter acquiring unit includes pulsed quantity input in current system conditions parameter When, the interruption times for being triggered in the given time according to pulsed quantity input switch over current timer state, to obtain Pulsed quantity is taken to input.

In one embodiment of the invention, parameter acquiring unit is in the given time triggered according to pulsed quantity input When interruption times switch over current timer state, when the frequency for inputting when pulsed quantity changes from high to low, if in advance Interior interruption times of fixing time are less than or equal to first predetermined value, then current timer state is by using low speed timer to be switched to stopping State；When the frequency of pulsed quantity input changes from low to high, if interruption times are more than or equal to third predetermined value in the predetermined time When, then current timer state is switched to by halted state using low speed timer, and wherein it is predetermined to be greater than first for third predetermined value Value；When the frequency for measuring pulse changes from high to low, if interruption times are less than four predetermined values in the predetermined time, currently Timer state is switched to low speed timer by high speed timer；When the frequency for measuring pulse changes from low to high, if predetermined Interruption times are greater than second predetermined value in time, then current timer state is switched to high speed timer by low speed timer, Middle second predetermined value is greater than the 4th predetermined value.

In one embodiment of the invention, parameter acquiring unit includes state acquisition module, the first switching module, second Switching module, third switching module and the 4th switching module, in which:

State acquisition module, for obtaining current timer shape when current system conditions parameter includes pulsed quantity input State；

First switching module, the current timer state for obtaining in state acquisition module are to use low speed timer When, whether the interruption times for judging that pulsed quantity input triggers in the given time are greater than first predetermined value；If the interruption times No more than first predetermined value, then current timer state is switched to halted state；If it is predetermined that the interruption times are greater than first Value, then further judge whether the interruption times are greater than second predetermined value, wherein second predetermined value is greater than first predetermined value, If the interruption times are greater than second predetermined value, current timer is labeled as high speed timer, and enter switching state, if The interruption times are not more than second predetermined value, then maintain using low speed timer；

Second switching module, when the current timer state for obtaining in state acquisition module is halted state, judgement Whether the interruption times are less than third predetermined value, wherein third predetermined value is greater than first predetermined value and makes a reservation for less than second Value；If the interruption times are less than third predetermined value, halted state is maintained；If the interruption times are predetermined not less than third Value, then further judge whether the interruption times are greater than second predetermined value, if the interruption times are greater than second predetermined value, Current timer is labeled as high speed timer, and enters switching state, if the interruption times are not more than second predetermined value, Current timer is labeled as low speed timer, and enters switching state；

Third switching module, the current timer state for obtaining in state acquisition module are using high speed timer When, judge the interruption times whether less than the 4th predetermined value, wherein the 4th predetermined value is greater than third predetermined value and less than the Two predetermined values；If the interruption times are not less than the 4th predetermined value, maintain using high speed timer；If the interruption times are small In the 4th predetermined value, then further judge whether the interruption times are greater than first predetermined value, if the interruption times are greater than the Current timer is then labeled as low speed timer, and enters switching state by one predetermined value, if the interruption times are no more than the Current timer state is then switched to halted state by one predetermined value；

4th switching module, when the current timer state for obtaining in state acquisition module is switching state, judgement Current timer marks whether as low speed timer；If current timer is labeled as low speed timer, by current timer shape State is switched to using low speed timer；If current timer is labeled as high speed timer, current timer state is switched to Use high speed timer.

In one embodiment of the invention, control signal determination unit is used to be passed through according to current system conditions parameter The predetermined corresponding table for inquiring current system conditions parameter and control signal value, determines corresponding predetermined control signal value；According to working as Preceding feedback current is modified predetermined control signal value, to determine current control signal.

According to another aspect of the present invention, a kind of deicing equipment automatic control device is provided, including parameter acquiring unit, Control signal determination unit and output unit, in which:

Parameter acquiring unit, for obtaining current system conditions parameter；

Signal determination unit is controlled, for determining current control signal according to current system conditions parameter；

Output unit, for exporting current control signal to executing agency, so that executing agency carries out corresponding deicing Snow movement；

Wherein, parameter acquiring unit is when current system conditions parameter includes pulsed quantity input, for defeated according to pulsed quantity Enter the interruption times triggered in the given time to switch over current timer state, to obtain pulsed quantity input.

According to another aspect of the present invention, a kind of deicing equipment automatic control system is provided, including state sensor, is removed Ice and snow equipment automatic control device and executing agency, in which:

State sensor is sent to deicing for acquiring current system conditions parameter, and by current system conditions parameter Equipment automatic control device；

Deicing equipment automatic control device automatically controls dress for any of the above-described deicing equipment as described in the examples It sets；

Executing agency, the current control signal for being exported according to deicing equipment automatic control device carry out corresponding Deicing movement.

In one embodiment of the invention, the system also includes the first temperature sensor and second temperature sensor, Wherein:

First temperature sensor for acquiring the temperature of deicing equipment automatic control device, and is sent to deicing and sets Standby automatic control device；

Second temperature sensor for acquiring the temperature of executing agency, and is sent to deicing equipment automatic control device.

The present invention controls various deicing equipment by current system conditions parameter and current feedback current value and carries out accordingly Movement can carry out dynamic adjustment by current control signal of the current feedback current value to output, to improve deicing The control precision and job stability of equipment；And then deicing working efficiency is improved, reduce labor intensity.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art To obtain other drawings based on these drawings.

Fig. 1 is the schematic diagram of deicing equipment autocontrol method one embodiment of the present invention.

Fig. 2 is the schematic diagram of another embodiment of deicing equipment autocontrol method of the present invention.

Fig. 3 is the schematic diagram for carrying out temperature-compensating in one embodiment of the invention to feedback current.

Fig. 4 is the schematic diagram that in one embodiment of the invention system status parameters are carried out with temperature-compensating.

Fig. 5 is the schematic diagram for carrying out temperature adjustmemt in one embodiment of the invention to control signal.

The schematic diagram of PI automatic conversion when Fig. 6 is currently used low speed timer in one embodiment of the invention.

Fig. 7 is the schematic diagram of PI automatic conversion when current timer is in halted state in one embodiment of the invention.

The schematic diagram of PI automatic conversion when Fig. 8 is currently used high speed timer in one embodiment of the invention.

Fig. 9 is the schematic diagram of PI automatic conversion when current timer is in switching state in one embodiment of the invention.

Figure 10 is the schematic diagram of deicing equipment automatic control device one embodiment of the present invention.

Figure 11 is the schematic diagram of another embodiment of deicing equipment automatic control device of the present invention.

Figure 12 is the schematic diagram of the another embodiment of deicing equipment automatic control device of the present invention.

Figure 13 is the schematic diagram of deicing equipment automatic control device another embodiment of the present invention.

Figure 14 is the schematic diagram of parameter acquiring unit in one embodiment of the invention.

Figure 15 is the schematic diagram of deicing equipment automatic control system one embodiment of the present invention.

Figure 16 is the schematic diagram of another embodiment of deicing equipment automatic control system of the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Below Description only actually at least one exemplary embodiment be it is illustrative, never as to the present invention and its application or make Any restrictions.Based on the embodiments of the present invention, those of ordinary skill in the art are not making creative work premise Under every other embodiment obtained, shall fall within the protection scope of the present invention.

Unless specifically stated otherwise, positioned opposite, the digital table of the component and step that otherwise illustrate in these embodiments It is not limited the scope of the invention up to formula and numerical value.

Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality Proportionate relationship draw.

Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable In the case of, the technology, method and apparatus should be considered as authorizing part of specification.

It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.

It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.

Fig. 1 is the schematic diagram of deicing equipment autocontrol method one embodiment of the present invention.Preferably, the present embodiment can It is executed by deicing equipment automatic control device of the present invention.Method includes the following steps:

Step 101, obtain current system conditions parameter, wherein current system conditions parameter include oil temperature, oil pressure, liquid level, Current state parameter of the executing agencies such as revolving speed, and snow removing pavement-height etc. execute the current state parameter of object.

Step 102, current feedback current value is obtained in the control signal from output to executing agency.

Step 103, according to current system conditions parameter and current feedback current value, current control signal is determined.

In one embodiment of the invention, step 103 may include:

Step 1031, according to current system conditions parameter, pass through inquiry current system conditions parameter and control signal value It is predetermined to correspond to table, by modes such as predetermined control algorithms, determine corresponding predetermined control signal value.

Such as: if current system conditions parameter is in preset range, by inquiring preset current system shape The correspondence table of state parameter area and predetermined control signal value determines corresponding predetermined control signal value.

Step 1032 is modified predetermined control signal value according to current feedback current value, to determine current control letter Number, wherein predetermined control signal value can be current value.For example, if current feedback current value is less than predetermined control signal value, Improve the current control signal value of output；If current feedback current value is greater than predetermined control signal value, the current of output is reduced Control signal value.

Step 104, current control signal is exported to executing agency, is moved so that executing agency carries out corresponding deicing Make.

In one embodiment of the invention, executing agency may include driving equipment and deicing equipment, wherein driving Equipment may include the equipment such as throttle control, all kinds of valves, hydraulic motor, hydraulic cylinder, and deicing equipment may include snow removing It shovels, scrape the equipment such as ice scraper, dispensing device.

In one embodiment of the invention, step 104 may include: to export current control signal to driving equipment, So that driving equipment driving deicing equipment carries out corresponding deicing movement.

Based on the deicing equipment autocontrol method that the above embodiment of the present invention provides, pass through current system conditions parameter Various deicing equipment, which are controlled, with current feedback current value carries out corresponding actions, it can be by current feedback current value to output Current control signal carries out dynamic adjustment, to improve system control precision and stability；And then improve deicing work Efficiency reduces labor intensity.

In one embodiment of the invention, the embodiment of the present invention can be held by engineering machinery nonshared control unit of the present invention Row.Compared with PLC or other control devices, engineering machinery nonshared control unit of the present invention possesses higher degree of protection, can reach IP67 thereby may be ensured that the reliability that control system works under bad working environments.

In the above embodiment of the present invention, current system conditions parameter enters engineering machinery of the present invention after acquiring by sensor Nonshared control unit (deicing equipment automatic control device) is handled, and engineering machinery nonshared control unit drives phase after being disposed The executing agency answered, executing agency change deicing equipment state, through signal acquisition, then feed back to the dedicated control of engineering machinery Device, so that closed-loop control is formed, it is possible thereby to further increase control precision and stability.

In one embodiment of the invention, the step 101 in Fig. 1 may include:

Step 1, the current system conditions parameter of reception state sensor acquisition, wherein state sensor includes third temperature Spend sensor, pressure sensor, liquid level sensor, the sensors such as speed probe, be respectively used to acquisition oil temperature, oil pressure, liquid level, The current system conditions parameter such as revolving speed.

Step 2, by different types of current system conditions such as voltage value, current value, the resistance values of state sensor acquisition Parameter is converted to standard voltage signal, such as the standard voltage signal of 0-5V.

Step 3, by analog-to-digital conversion (A/D conversion), the standard voltage signal of simulation is converted into standardized digital signal, it will As treated, current system conditions parameter executes subsequent step to standardized digital signal.

In the above embodiment of the present invention, be standardized by the current system conditions parameter acquired to sensor and A/D conversion can be further improved the precision of output control signal, to improve the control precision and work of deicing equipment Stability.

Fig. 2 is the schematic diagram of another embodiment of deicing equipment autocontrol method of the present invention.Step in Fig. 2 embodiment 201,203 is same or similar with the technology contents of step 101,104 execution in Fig. 1 embodiment and operation respectively, here no longer It is described in detail.

Step 202 in Fig. 2 includes: to pass through inquiry current system conditions parameter and control according to current system conditions parameter The predetermined corresponding table of signal value processed, by modes such as predetermined control algorithms, determine corresponding predetermined control signal value.

In one embodiment of the invention, if step 202 may include: that current system conditions parameter is in preset range It is interior, then by inquiring the correspondence table of preset current system conditions parameter area and predetermined control signal value, determine corresponding Predetermined control signal value.

Fig. 3 is the schematic diagram for carrying out temperature-compensating in one embodiment of the invention to feedback current.As shown in figure 3, After step 102 shown in FIG. 1, the method can also include:

Step 301, the first temperature signal of the first temperature sensor acquisition is received, wherein the first temperature signal is deicing Avenge the current temperature value of equipment automatic control device；First temperature sensor is for detecting deicing equipment automatic control device The current temperature value of circuit board.

In one embodiment of the invention, in step 301, the first temperature signal is more specifically feedback current acquisition The current temperature value of chip；First temperature sensor is specifically used for the current temperature value of detection feedback current acquisition chip.

Step 302, the first temperature-compensating list is inquired according to the first temperature signal, determines current offset values.Wherein, first Temperature-compensating list is the mapping table of preset first temperature signal and current offset values, the first temperature-compensating list It is the pre- mapping table for first passing through the first temperature signal and corresponding optimal current offset that experiment obtains.

Step 303, current feedback current value is compensated according to current offset values, obtains compensated current feedback electricity Flow valuve executes step 103 shown in FIG. 1 later.

In one embodiment of the invention, in step 303, current feedback current value is mended according to current offset values The step of repaying, obtaining compensated current feedback current value may include: to be added current offset values with current feedback current value, Obtain compensated current feedback current value.

The above embodiment of the present invention can overcome feedback current to acquire core by the temperature-compensating to feedback current Influence of the temperature drift of piece to measurement, since temperature drift value (measurement error value) is different under different temperatures, according to current temperature value Corresponding current offset values compensate current feedback current value, and the acquisition precision of feedback current can be improved, thus into One step improves system control precision.

Fig. 4 is the schematic diagram that in one embodiment of the invention system status parameters are carried out with temperature-compensating.As shown in figure 4, After step 102 shown in Fig. 1, the method can also include:

Step 401, the first temperature signal of the first temperature sensor acquisition is received, wherein the first temperature signal is deicing Avenge the current temperature value of equipment automatic control device；First temperature sensor is for detecting deicing equipment automatic control device The current temperature value of circuit board.

In one embodiment of the invention, in step 401, the first temperature signal is more specifically state parameter acquisition The current temperature value of chip；First temperature sensor is specifically used for the current temperature value of detecting state parameter acquisition chip.

Step 402, second temperature is inquired according to the first temperature signal and compensates list, determine current offset values.Wherein, second Temperature-compensating list is the mapping table of preset first temperature signal and state parameter offset, second temperature compensation List is the pre- mapping table for first passing through the first temperature signal and corresponding optimum state parameter offset that experiment obtains.

Step 403, current system conditions parameter is compensated according to state parameter offset, is obtained compensated current System status parameters execute step 103 shown in FIG. 1 later.

In one embodiment of the invention, in step 403, according to state parameter offset to current system conditions parameter The step of compensating, obtaining compensated current system conditions parameter may include: by state parameter offset and current system State parameter of uniting is added, to obtain compensated current system conditions parameter value.

Step 401- step 403 in Fig. 4 embodiment of the present invention can also be with the step 201 of embodiment shown in Fig. 2 and step It is executed between rapid 202, temperature-compensating is carried out with the current system conditions parameter value obtained to step 201 in Fig. 2 embodiment.

In the above embodiment of the present invention, by the temperature-compensating to current system conditions parameter value, system shape can be overcome Influence of the temperature drift of state parameter acquisition chip to measurement, since temperature drift value (measurement error value) is different under different temperatures, root Current system conditions parameter is compensated according to current temperature value corresponding state parameter offset, system mode ginseng can be improved Several acquisition precision, to further improve system control precision.

Fig. 5 is the schematic diagram for carrying out temperature adjustmemt in one embodiment of the invention to control signal.As shown in figure 5, in Fig. 1 After shown step 103, the method can also include:

Step 501, the second temperature signal of second temperature sensor acquisition is received, wherein second temperature signal is to execute The current temperature value of mechanism.Preferably, second temperature signal is the current temperature value of control valve in executing agency.

Step 502, current control signal is modified according to second temperature signal, executes step shown in FIG. 1 later 104。

In one embodiment of the invention, the step of current control signal being modified according to second temperature signal packet It includes: according to second temperature signal, inquiring preset second temperature signal and control the corresponding relationship of signal correction value, determine Control signal correction value；According to the sum of control signal correction value and current control signal, revised current control signal is determined.

Step 501- step 503 in Fig. 5 embodiment of the present invention can also be with the step 202 of embodiment shown in Fig. 2 and step It is executed between rapid 203, temperature adjustmemt is carried out with the current control signal determined to step 202 in Fig. 2 embodiment.

The above embodiment of the present invention establishes second temperature signal and controls the corresponding relationship of signal correction value, and passes through The inquiry of second temperature signal determines corresponding control signal correction value, to correct current control signal, to overcome low temperature ring Influence of the border to control valve response characteristic, and then further improve the control precision to executing agency.

In one embodiment of the invention, component that can be small by using temperature drift, so that signal measurement and signal Control is more accurate under worst cold case.

The above embodiment of the present invention, by carrying out the improved methods such as temperature-compensating, the component for selecting temperature drift small, so that letter Number measurement and signal control are more accurate under worst cold case and stablize.

In one embodiment of the invention, when current system conditions parameter includes pulsed quantity input (PI), shown in Fig. 1 The step 201 in step 101 or embodiment illustrated in fig. 2 in embodiment may include using low speed timer and high speed timer It acquires current system conditions parameter (pulsed quantity input), and PI automatic switchover may be implemented.

In one embodiment of the invention, the step in the step 101 or embodiment illustrated in fig. 2 in embodiment illustrated in fig. 1 Rapid 201 may include: to be cut according to the interruption times that pulsed quantity input triggers in the given time to current timer state It changes, to obtain the current system conditions parameter of pulsed quantity input.

In one embodiment of the invention, the interruption times triggered in the given time according to pulsed quantity input are to current The step of timer state switches over may include:

When the frequency of pulsed quantity input changes from high to low, if interruption times are predetermined less than or equal to first in the predetermined time Value, then current timer state is by using low speed timer to be switched to halted state；When pulsed quantity input frequency from low to high When variation, if interruption times are more than or equal to third predetermined value in the predetermined time, current timer state is cut by halted state It is changed to using low speed timer, wherein third predetermined value is greater than first predetermined value.

This switching mode of the above embodiment of the present invention is it is possible to prevente effectively from switching point shakes problem.

In one embodiment of the invention, first predetermined value can be 1；Third predetermined value can be 3；Second predetermined value It can be 134；4th predetermined value can be 100.

It is respectively using low speed timer (that is, using to timer state below by Fig. 6-embodiment shown in Fig. 9 The state of low speed timer acquisition pulse amount input), halted state, using low speed timer (that is, being adopted using the height timer that hastens Collect the state of pulsed quantity input) and when switching state, the process of PI automatic conversion is illustrated.

The schematic diagram of PI automatic conversion when Fig. 6 is currently used low speed timer in one embodiment of the invention.Such as Fig. 6 institute Show, the method for PI automatic conversion may include: when currently used low speed timer

Step 601, current timer state is obtained in real time.

Step 602, if current timer state is to judge pulsed quantity input in the given time using low speed timer Whether the interruption times of triggering are greater than first predetermined value.If the interruption times are not more than first predetermined value, then follow the steps 603；Otherwise, if the interruption times are greater than first predetermined value, 604 are thened follow the steps.

Step 603, current timer state is switched to halted state；Other steps of the present embodiment are no longer executed later Suddenly.

Step 604, further judge whether the interruption times are greater than second predetermined value, wherein second predetermined value is greater than First predetermined value.If the interruption times are greater than second predetermined value, 605 are thened follow the steps；Otherwise, if the interruption times are little In second predetermined value, 606 are thened follow the steps.

Step 605, current timer is labeled as high speed timer, and enters switching state；This reality is no longer executed later Apply other steps of example.

Step 606, the state inputted using low speed timer acquisition pulse amount is maintained.

Fig. 7 is the schematic diagram of PI automatic conversion when current timer is in halted state in one embodiment of the invention.Such as Shown in Fig. 7, the method for PI automatic conversion may include: when current timer is in halted state

Step 701, current timer state is obtained in real time.

Step 702, if current timer state is halted state, judge what pulsed quantity input triggered in the given time Whether interruption times are less than third predetermined value, wherein third predetermined value is greater than first predetermined value and is less than second predetermined value.If The interruption times are less than third predetermined value, then follow the steps 703；Otherwise, if the interruption times are not less than third predetermined value, Then row step 704.

Step 703, the halted state of current timer is maintained；Other steps of the present embodiment are no longer executed later.

Step 704, further judge whether the interruption times are greater than second predetermined value.If the interruption times are greater than the Two predetermined values, then follow the steps 705；Otherwise, if the interruption times are not more than second predetermined value, 706 are thened follow the steps.

Step 705, current timer is labeled as high speed timer, and enters switching state；This reality is no longer executed later Apply other steps of example.

Step 706, current timer is labeled as low speed timer, and enters switching state.

The schematic diagram of PI automatic conversion when Fig. 8 is currently used high speed timer in one embodiment of the invention.Such as Fig. 8 institute Show, the method for PI automatic conversion may include: when currently used high speed timer

Step 801, current timer state is obtained in real time.

Step 802, if current timer state is to judge pulsed quantity input in the given time using high speed timer Whether the interruption times of triggering are less than the 4th predetermined value, wherein the 4th predetermined value is greater than third predetermined value and makes a reservation for less than second Value.If the interruption times are not less than the 4th predetermined value, 803 are thened follow the steps；Otherwise, if the interruption times are pre- less than the 4th Definite value thens follow the steps 804.

Step 803, the state inputted using high speed timer acquisition pulse amount is maintained；The present embodiment is no longer executed later Other steps.

Step 804, further judge whether the interruption times are greater than first predetermined value.If the interruption times are not more than First predetermined value thens follow the steps 805；Otherwise, if the interruption times are greater than first predetermined value, 806 are thened follow the steps.

Step 805, current timer state is switched to halted state；Other steps of the present embodiment are no longer executed later Suddenly.

Step 806, current timer is labeled as low speed timer, and enters switching state.

Fig. 9 is the schematic diagram of PI automatic conversion when current timer is in switching state in one embodiment of the invention.Such as Shown in Fig. 9, the method for PI automatic conversion may include: when current timer is in switching state

Step 901, current timer state is obtained in real time.

Step 902, if current timer state is switching state, judge that current timer marks whether as low speed timing Device.If current timer is labeled as low speed timer, 903 are thened follow the steps；Otherwise, if current timer is labeled as high speed timing Device thens follow the steps 904.

Step 903, current timer state is switched to the state inputted using low speed timer acquisition pulse amount；Later No longer execute other steps of the present embodiment.

Step 904, current timer state is switched to the state inputted using high speed timer acquisition pulse amount.

From the above embodiment of the present invention as can be seen that when the frequency for measuring pulse changes from low to high, in the predetermined time It is interior when interruption times be greater than second predetermined value (134 times) when, high speed timer is switched to by low speed timer.But work as measurement When the frequency of pulse changes from high to low, in the given time when interruption times are less than the 4th predetermined value (100 times), by high speed Timer is switched to low speed timer.

Equally, when the frequency for measuring pulse changes from low to high, in the given time when interruption times are more than or equal to the When three predetermined values (3 times), it is switched to by halted state using low speed timer.But when measurement pulse frequency from high to low When variation, in the given time when interruption times are less than or equal to first predetermined value (1 time), by using low speed timer to be switched to Halted state.The frequency that switching threshold is greater than measurement pulse when the frequency of this measurement pulse changes from low to high becomes from high to low The switching mode of switching threshold when change, compared to the switching mode of single switching threshold values, it is possible to prevente effectively from pulse frequency is switching When near threshold frequently changes, the problem of timer frequent switching.

The above embodiment of the present invention introduces PI automatic switching function, by the timer of two different accuracies of flexible choice, PI measurement range can be expanded, while effectively improving measurement accuracy, prevent timer from overflowing.

Figure 10 is the schematic diagram of deicing equipment automatic control device one embodiment of the present invention.As shown in Figure 10, described Deicing equipment automatic control device includes parameter acquiring unit 11, value of feedback acquiring unit 12, control signal determination unit 13 With output unit 14, in which:

Parameter acquiring unit 11, for obtaining current system conditions parameter, wherein current system conditions parameter includes oil Current state parameter of the executing agencies such as temperature, oil pressure, liquid level, revolving speed, and snow removing pavement-height etc. execute the current shape of object State parameter.

Value of feedback acquiring unit 12, it is current anti-for exporting acquisition in the control signal to executing agency from output unit 14 Feed flow valuve.

Signal determination unit 13 is controlled, for determining current according to current system conditions parameter and current feedback current value Control signal.

In one embodiment of the invention, control signal determination unit 13 is specifically used for being joined according to current system conditions Number, by inquiry current system conditions parameter and control signal value predetermined corresponding table, by modes such as predetermined control algorithms, really Fixed corresponding predetermined control signal value；And predetermined control signal value is modified according to current feedback current value, worked as with determination Wherein, predetermined control signal value can be current value to preceding control signal.

In one embodiment of the invention, control signal determination unit 13 is specifically used at current system conditions parameter When in preset range, by the correspondence for inquiring preset current system conditions parameter area and predetermined control signal value Table determines corresponding predetermined control signal value.

In one embodiment of the invention, control signal determination unit 13 is specifically used for being less than in current feedback current value When predetermined control signal value, the current control signal value of output is improved；It is greater than predetermined control signal value in current feedback current value When, reduce the current control signal value of output.

Output unit 14, for exporting current control signal to executing agency, so that executing agency is removed accordingly Ice and snow movement.

In one embodiment of the invention, output unit 14 is specifically used for exporting current control signal setting to driving It is standby, so that driving equipment driving deicing equipment carries out corresponding deicing movement.

In the deicing equipment automatic control device provided based on the above embodiment of the present invention, current system conditions parameter is logical It is handled after crossing sensor acquisition into deicing equipment automatic control device of the present invention, deicing equipment automatic control device Corresponding executing agency is driven after being disposed, executing agency changes deicing equipment state, through signal acquisition, then feeds back to work Journey machinery nonshared control unit, so that closed-loop control is formed, it is possible thereby to improve control precision and stability.

The above embodiment of the present invention controls various deicing by current system conditions parameter and current feedback current value and sets It is standby to carry out corresponding actions, dynamic adjustment can be carried out by current control signal of the current feedback current value to output, thus into One step improves system control precision and stability；Thus deicing working efficiency is further improved, labor intensity is reduced.

In one embodiment of the invention, deicing equipment automatic control device of the invention can be by engineering machine of the present invention Tool nonshared control unit executes.Compared with PLC or other control devices, engineering machinery nonshared control unit of the present invention possesses higher anti- Grade is protected, IP67 is can reach, possesses the characteristics such as higher waterproof and dustproof, anti-vibration, shock resistance, thereby may be ensured that control system The reliability that system works under bad working environments, while extending the time between failures of system.

Figure 11 is the schematic diagram of another embodiment of deicing equipment automatic control device of the present invention.With embodiment illustrated in fig. 10 It compares, in the embodiment shown in fig. 11, described device can also include the first temperature reception unit 15,16 and of the first query unit First temperature compensation unit 17, in which:

First temperature reception unit 15, for receiving the first temperature signal of the first temperature sensor acquisition, wherein first Temperature signal is the current temperature value of deicing equipment automatic control device.

In one embodiment of the invention, the first temperature signal is specially the circuit of deicing equipment automatic control device The current temperature value of plate.

In a preferred embodiment of the invention, the first temperature signal is the Current Temperatures of feedback current acquisition chip Value.

First query unit 16, for according to received the first temperature of first temperature signal inquiry of the first temperature reception unit 15 Degree compensation list, determines current offset values.Wherein, the first temperature-compensating list is preset first temperature signal and electric current The mapping table of offset, the first temperature-compensating list be it is pre- first pass through experiment obtain the first temperature signal with accordingly it is optimal The mapping table of current offset values.

First temperature compensation unit 17, the current offset values for being determined according to the first query unit 16, obtains value of feedback The current feedback current value for taking unit 12 to obtain compensates, and the signal determination unit 13 of instruction control later is executed according to current system System state parameter and current feedback current value, determine the operation of current control signal.

The above embodiment of the present invention can overcome feedback current to acquire core by the temperature-compensating to feedback current Influence of the temperature drift of piece to measurement, due to feedback current acquisition chip under different temperatures temperature drift value (measurement error value) no Together, therefore according to current temperature value corresponding current offset values current feedback current value is compensated, feedback electricity can be improved The acquisition precision of flow valuve, to further improve system control precision.

In one embodiment of the invention, as shown in figure 11, described device can also include 18 He of the second query unit Second temperature compensating unit 19, in which:

Second query unit 18, for according to received the second temperature of first temperature signal inquiry of the first temperature reception unit 15 Degree compensation list, determines state parameter offset.Wherein, second temperature compensation list be preset first temperature signal with The mapping table of state parameter offset, second temperature compensation list be it is pre- first pass through experiment obtain the first temperature signal with The mapping table of corresponding optimum state parameter offset.

In one embodiment of the invention, received first temperature signal of the first temperature reception unit 15 is more specifically The current temperature value of state parameter acquisition chip.

Second temperature compensating unit 19 obtains parameter according to the state parameter offset that the second query unit 18 determines The current system conditions parameter that unit 11 obtains compensates, and the signal determination unit 13 of instruction control later is executed according to current system System state parameter and current feedback current value, determine the operation of current control signal.

In the above embodiment of the present invention, by the temperature-compensating to current system conditions parameter value, system shape can be overcome Influence of the temperature drift of state parameter acquisition chip to measurement, due to the temperature drift value of system status parameters acquisition chip under different temperatures (measurement error value) is different, therefore is carried out according to the corresponding state parameter offset of current temperature value to current system conditions parameter Compensation, can be improved the acquisition precision of system status parameters, to further improve system control precision.

In one embodiment of the invention, as shown in figure 11, described device can also include second temperature receiving unit 20 and control signal correction unit 21, in which:

Second temperature receiving unit 20, for receiving the second temperature signal of second temperature sensor acquisition, wherein second Temperature signal is the current temperature value of executing agency.

Preferably, second temperature signal is the current temperature value of control valve in executing agency.

Signal correction unit 21 is controlled, is used for according to the received second temperature signal of second temperature receiving unit 20, to control The current control signal that signal determination unit 13 processed determines is modified, and indicates that the execution of output unit 14 will currently control letter later Number output to executing agency operation.

In one embodiment of the invention, control signal correction unit 21 is specifically used for being looked into according to second temperature signal It askes preset second temperature signal and controls the corresponding relationship of signal correction value, determine control signal correction value；And according to The sum for controlling signal correction value and current control signal, determines revised current control signal.

In one embodiment of the invention, first device that deicing equipment automatic control device can be small by using temperature drift Part, so that signal measurement and signal control are more accurate under worst cold case.

The above embodiment of the present invention is small by the way that temperature compensation unit and control signal correction unit, selection temperature drift is added The improved methods such as component so that signal measurement and signal control are more accurate under worst cold case and stablize.

In one embodiment of the invention, the parameter acquiring unit 11 in above-described embodiment may include that signal receives mould Block, standardized module and analog-to-digital conversion module, in which:

Signal receiving module, the current system conditions parameter for the acquisition of reception state sensor.Wherein, state sensor Including sensors such as third temperature sensor, pressure sensor, liquid level sensor, speed probes, be respectively used to acquisition oil temperature, The current system conditions parameter such as oil pressure, liquid level, revolving speed.

Standardized module, voltage value, current value, resistance value for acquiring state sensor etc. are different types of current System status parameters are converted to standard voltage signal, such as the standard voltage signal of 0-5V.

Analog-to-digital conversion module believes standard digital for the standard voltage signal of simulation to be converted to standardized digital signal It number is used as treated current system conditions parameter for control signal determining module.

In the above embodiment of the present invention, be standardized by the current system conditions parameter acquired to sensor and A/D conversion can be further improved the precision of output control signal, to further improve the control precision of deicing equipment And job stability.

Figure 12 is the schematic diagram of the another embodiment of deicing equipment automatic control device of the present invention.As shown in figure 12, described Deicing equipment automatic control device includes parameter acquiring unit 31, control signal determination unit 33 and output unit 34, in which:

Signal determination unit 33 is controlled, for passing through inquiry current system conditions parameter according to current system conditions parameter With the predetermined corresponding table of control signal value, by modes such as predetermined control algorithms, determine corresponding predetermined control signal value.

Compared with embodiment illustrated in fig. 10, in the embodiment shown in fig. 12, deicing equipment automatic control device does not include Value of feedback acquiring unit；The structure and function of parameter acquiring unit 31 and output unit 34 in Figure 12, respectively and in Figure 10 Parameter acquiring unit 11 and output unit 14 are same or similar, and I will not elaborate.

In one embodiment of the invention, control signal determination unit 33 is specifically used at current system conditions parameter When in preset range, by the correspondence for inquiring preset current system conditions parameter area and predetermined control signal value Table determines corresponding predetermined control signal value.

Figure 13 is the schematic diagram of deicing equipment automatic control device another embodiment of the present invention.With embodiment illustrated in fig. 12 Compare, in the embodiment shown in fig. 13, described device can also include the first temperature reception unit 35, the second query unit 38, Second temperature compensating unit 39, second temperature receiving unit 40 and control signal correction unit 41, in which:

The first temperature reception unit 35, the second query unit 38, second temperature compensating unit in embodiment illustrated in fig. 13 39, the specific structure and function of second temperature receiving unit 40 and control signal correction unit 41, implements with shown in Figure 11 respectively The first temperature reception unit 15, the second query unit 18, second temperature compensating unit 19, second temperature receiving unit 20 in example Same or similar with control signal correction unit 21, I will not elaborate.

The first temperature reception unit 35, the second query unit 38, second temperature compensating unit in embodiment illustrated in fig. 13 39 may be implemented to carry out temperature adjustmemt to the current system conditions parameter that parameter acquiring unit 31 obtains, to overcome system mode to join Influence of the temperature drift of number acquisition chip to measurement.

Second temperature receiving unit 40 and control signal correction unit 41 in embodiment illustrated in fig. 13 may be implemented to control The current control signal that signal determination unit 33 processed determines carries out temperature adjustmemt, to overcome low temperature environment to control response valve The influence of characteristic.

In one embodiment of the invention, the parameter acquiring unit in Figure 10-13 in any embodiment can be used for When current system conditions parameter includes pulsed quantity input, according to the pulsed quantity interruption times that trigger in the given time of input to working as Preceding timer state switches over, to obtain the current system conditions parameter of pulsed quantity input.

In one embodiment of the invention, the parameter acquiring unit in Figure 10-13 in any embodiment is according to pulse When the interruption times that amount input triggers in the given time switch over current timer state, it can be used for:

Figure 14 is the schematic diagram of parameter acquiring unit in any embodiment in Figure 10-13 of the present invention.As shown in figure 14, scheme Parameter acquiring unit in 10-13 in any embodiment may include state acquisition module 111, the first switching module 112, second Switching module 113, third switching module 114 and the 4th switching module 115, in which:

State acquisition module 111, for obtaining current timer when current system conditions parameter includes pulsed quantity input State.

First switching module 112, the current timer state for obtaining in state acquisition module 111 are fixed using low speed When device when, judge whether the interruption times that trigger in the given time of pulsed quantity input are greater than first predetermined value；If the interruption Number is not more than first predetermined value, then current timer state is switched to halted state；If the interruption times are greater than first Predetermined value then further judges whether the interruption times are greater than second predetermined value, wherein it is predetermined that second predetermined value is greater than first Current timer is labeled as high speed timer, and enter switching shape if the interruption times are greater than second predetermined value by value State maintains if the interruption times are not more than second predetermined value using low speed timer.

Second switching module 113, the current timer state for obtaining in state acquisition module 111 are halted state When, judge whether the interruption times are less than third predetermined value, wherein third predetermined value is greater than first predetermined value and less than the Two predetermined values；If the interruption times are less than third predetermined value, halted state is maintained；If the interruption times are not less than third Predetermined value then further judges whether the interruption times are greater than second predetermined value, makes a reservation for if the interruption times are greater than second Current timer is then labeled as high speed timer, and enters switching state by value, if the interruption times are predetermined no more than second Current timer is then labeled as low speed timer, and enters switching state by value.

Third switching module 114, the current timer state for obtaining in state acquisition module 111 are fixed using high speed When device when, judge the interruption times whether less than the 4th predetermined value, wherein the 4th predetermined value is greater than third predetermined value and small In second predetermined value；If the interruption times are not less than the 4th predetermined value, maintain using high speed timer；If the interruption time Number then further judges whether the interruption times are greater than first predetermined value, if the interruption times are big less than the 4th predetermined value In first predetermined value, then current timer is labeled as low speed timer, and enter switching state, if the interruption times are little In first predetermined value, then current timer state is switched to halted state.

4th switching module 115, the current timer state for obtaining in state acquisition module 111 are switching state When, judge that current timer marks whether as low speed timer；If current timer is labeled as low speed timer, will currently determine When device state be switched to using low speed timer；If current timer is labeled as high speed timer, by current timer state It is switched to and uses high speed timer.

Figure 15 is the schematic diagram of deicing equipment automatic control system one embodiment of the present invention.As shown in figure 15, described Deicing equipment automatic control system includes state sensor 1, deicing equipment automatic control device 2 and executing agency 3, In:

State sensor 1 is sent to deicing for acquiring current system conditions parameter, and by current system conditions parameter Equipment automatic control device 2.

In one embodiment of the invention, state sensor 1 includes third temperature sensor, pressure sensor, liquid level The sensors such as sensor, speed probe are respectively used to the current system of the executing agencies such as acquisition oil temperature, oil pressure, liquid level, revolving speed State parameter.

Deicing equipment automatic control device 2 automatically controls dress for any of the above-described deicing equipment as described in the examples It sets.

Executing agency 3, the current control signal for being exported according to deicing equipment automatic control device 2 carry out corresponding Deicing movement.

In one embodiment of the invention, executing agency 3 includes driving equipment and deicing equipment, wherein driving is set Standby may include the equipment such as throttle control, all kinds of control valves, hydraulic motor, hydraulic cylinder, and deicing equipment may include removing Snow cave shovel scrapes the equipment such as ice scraper, dispensing device.

In one embodiment of the invention, driving equipment is used to be exported according to deicing equipment automatic control device 2 Current control signal, driving deicing equipment carry out corresponding deicing movement.

In one embodiment of the invention, all kinds of control valves can be exported according to deicing equipment automatic control device 2 Current control signal, the openings of sizes of adjusting control valve, so by hydraulic motor control deicing equipment carry out it is corresponding Deicing movement.

In the deicing equipment automatic control system provided based on the above embodiment of the present invention, current system conditions parameter is logical It is handled after crossing sensor acquisition into deicing equipment automatic control device of the present invention, deicing equipment automatic control device Corresponding executing agency is driven after being disposed, executing agency changes deicing equipment state, through signal acquisition, then feeds back to work Journey machinery nonshared control unit, so that closed-loop control is formed, it is possible thereby to improve control precision and stability.

The above embodiment of the present invention controls various deicing by current system conditions parameter and current feedback current value and sets It is standby to carry out corresponding actions, dynamic adjustment can be carried out by current control signal of the current feedback current value to output, thus into One step improves system control precision and stability；Deicing working efficiency is further improved simultaneously, reduces labor intensity.

Figure 16 is the schematic diagram of another embodiment of deicing equipment automatic control system of the present invention.With embodiment illustrated in fig. 15 Compare, in the embodiment shown in fig. 16, the system can also include the first temperature sensor 4 and second temperature sensor 5, In:

First temperature sensor 4 for acquiring the temperature of deicing equipment automatic control device 2, and is sent to deicing Equipment automatic control device 2, the current system conditions parameter acquired so as to 2 Duis of deicing equipment automatic control device and current anti- It feeds flow valuve and carries out temperature-compensating.

Second temperature sensor 5, for acquiring the temperature of executing agency 3 and being sent to deicing equipment automatic control device 2, so that deicing equipment automatic control device 2 carries out current control signal amendment, to avoid low temperature environment to control response valve The influence of characteristic.

The above embodiment of the present invention, by the way that temperature-compensating is added and controls the small component etc. of signal correction, selection temperature drift Improved method, so that signal measurement and signal control are more accurate under worst cold case and stablize.

In one embodiment of the invention, as shown in figure 16, the system can also include display 6, lighting device 7, monitoring alarm device 8, engine/motor 9 and battery 10, in which:

Display 6, for showing that the type selecting of current system conditions parameter, current feedback current value and current control signal is filled Divide the working condition for considering low temperature.

Lighting device 7, for providing illumination for system, in order to deicing operation.

Monitoring alarm device 8, for detecting current system conditions parameter, current feedback current value or current control letter When number occurring abnormal, externally alarm.

Electric generator/electric motor 9 is that deicing equipment automatic control device 2 provides the energy.

Battery 10 is that deicing equipment automatic control device 2 and display 6 are powered.

In one embodiment of the invention, the function of deicing equipment automatic control device 2 can be dedicated by engineering machinery Controller executes.Compared with PLC or other control devices, engineering machinery nonshared control unit of the present invention possesses higher protection etc. Grade, can reach IP67, possesses the characteristics such as higher waterproof and dustproof, anti-vibration, shock resistance, thereby may be ensured that control system exists The reliability to work under bad working environments, while extending the time between failures of system.

All kinds of chips of the entire electrical system of deicing equipment automatic control system of the present invention select automotive grade chip, work It can reach -40 DEG C -85 DEG C as temperature range.In addition, the influence of temperature is fully considered in the principle diagram design stage, in control cost Under the premise of, the component for selecting temperature drift small, and verified before application by thermocycling.

In one embodiment of the invention, engineering machinery nonshared control unit of the present invention can use such as ARM Cotex4 The chip of series is as control core.Engineering machinery nonshared control unit dominant frequency of the present invention reaches 168MHz, except included memory Outside, the EEPROM of the RAM and 128KB of FLASH, 1MB of 2MB are extended out.Engineering machinery nonshared control unit of the present invention is by extending out Storage, improve the service ability of control core, be easy to implement for any of the above-described deicing equipment as described in the examples it is automatic The correlation function of control device.

Engineering machinery nonshared control unit of the present invention supports CAN mouthfuls of two-way and all the way RS-232 serial ports in terms of communication.IO It include that 4 tunnels can carry out the port voltage/current/resistance configuration 5V AI in terms of port；Support the end AI of changeable fluid configuration in 4 tunnels Mouthful；4 road DI；6 road PI, measurement range 10-10kHz；10 tunnel PWM ports, maximum drive power can reach 4A；32 road DO, can Carry out DO/DI multiplexing；1 road AO, output area 0-5V, highest can support 61 circuit nodes.The dedicated control of engineering machinery of the present invention Device is realized and state sensor 1, executing agency 3 described in Figure 16, the first temperature sensor 4, second by the interface extended Temperature sensor 5, display 6, lighting device 7, monitoring alarm device 8, engine/motor 9 and battery 10 connection and Communication.

It is supervised in addition, engineering machinery engineering machinery nonshared control unit of the present invention also provides temperature on two-way probe power and plate The functions such as control, Power Supply Monitoring.

The software architecture of the engineering machinery nonshared control unit of the above embodiment of the present invention uses delamination modularization design philosophy, It is divided into application layer, configuration layer, firing floor, level of abstraction and driving layer, application layer from top to bottom and writes the upper layer application of distinct device Program, configuration layer carry out the selection of I/O function, and firing floor completes PLC periodic scheduling and I/O resource polling dispatching, level of abstraction mention For the function modelings unified call interface such as DI/DO, AI/AO, PI/PO, layer is driven then to provide the device drives of specific physical hardware Program, each layer effect is clearly demarcated, and user can pass through application layer setting related to configuration layer progress.

The engineering machinery nonshared control unit of the above embodiment of the present invention further includes shell, and sealing paint is coated on the shell, So that shell meets IP67 protection level requirements.

In one embodiment of the invention, deicing equipment automatic control device 2 can be using other satisfactions protection etc. Grade digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array (FPGA) or other can compile Journey logical device, discrete gate or transistor logic, discrete hardware components or it is any appropriately combined.

Deicing equipment automatic control system in the above embodiment of the present invention also introduces PI automatic switching function, passes through spirit The timer of two different accuracies of selection living, can expand PI measurement range, while effectively improving measurement accuracy, prevent timer from overflowing Out.

Autocontrol method of the invention, device and system are mainly used in deicing equipment, this method, device and are Unite it is engineered after can also be applied to the equipment to work under other low temperature conditions.

So far, the present invention is described in detail.In order to avoid covering design of the invention, it is public that this field institute is not described The some details known.Those skilled in the art as described above, completely it can be appreciated how implementing technology disclosed herein Scheme.

Those of ordinary skill in the art will appreciate that realizing that all or part of the steps of above-described embodiment can pass through hardware It completes, relevant hardware can also be instructed to complete by program, the program can store in a kind of computer-readable In storage medium, storage medium mentioned above can be read-only memory, disk or CD etc..

Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage The solution present invention is to design various embodiments suitable for specific applications with various modifications.

Claims

1. a kind of deicing equipment autocontrol method characterized by comprising

Obtain current system conditions parameter；

Wherein, after the step of according to current system conditions parameter and current feedback current value, determining current control signal, institute State method further include:

Receive the second temperature signal of second temperature sensor acquisition, wherein second temperature signal is the current temperature of executing agency Angle value；

Current control signal is modified according to second temperature signal, executes to export current control signal later and gives execution machine The step of structure.

2. working as the method according to claim 1, wherein being obtained in the control signal from output to executing agency After the step of preceding feedback current, further includes:

Receive the first temperature signal of the first temperature sensor acquisition, wherein the first temperature signal is that deicing equipment is controlled automatically The current temperature value of device processed；

Current feedback current value is compensated according to current offset values, is executed later according to current system conditions parameter and current Feedback current, the step of determining current control signal.

3. working as the method according to claim 1, wherein being obtained in the control signal from output to executing agency After the step of preceding feedback current, further includes:

Current system conditions parameter is compensated according to state parameter offset, is executed later according to current system conditions parameter With current feedback current value, the step of determining current control signal.

4. method according to any one of claim 1-3, which is characterized in that

If current system conditions parameter include pulsed quantity input, obtain current system conditions parameter the step of include:

Current timer state is switched over according to the interruption times that pulsed quantity input triggers in the given time, to obtain arteries and veins Momentum input.

5. according to the method described in claim 4, it is characterized in that, inputting the interruption triggered in the given time according to pulsed quantity The step of number switches over current timer state include:

When the frequency of pulsed quantity input changes from high to low, if interruption times are less than or equal to first predetermined value in the predetermined time, Then current timer state is by using low speed timer to be switched to halted state；When the frequency of pulsed quantity input changes from low to high When, if interruption times are more than or equal to third predetermined value in the predetermined time, current timer state is switched to by halted state Using low speed timer, wherein third predetermined value is greater than first predetermined value；

When the frequency for measuring pulse changes from high to low, if interruption times are less than four predetermined values in the predetermined time, when Preceding timer state is switched to low speed timer by high speed timer；When the frequency for measuring pulse changes from low to high, if in advance Interior interruption times of fixing time are greater than second predetermined value, then current timer state is switched to high speed timer by low speed timer, Wherein second predetermined value is greater than the 4th predetermined value.

6. according to the method described in claim 4, it is characterized in that, inputting the interruption triggered in the given time according to pulsed quantity The step of number switches over current timer state include:

Obtain current timer state；

If current timer state is to judge the interruption time that pulsed quantity input triggers in the given time using low speed timer Whether number is greater than first predetermined value；If the interruption times are not more than first predetermined value, current timer state is switched to Halted state；If the interruption times are greater than first predetermined value, it is pre- further to judge whether the interruption times are greater than second Definite value, wherein second predetermined value is greater than first predetermined value, will currently timing if the interruption times are greater than second predetermined value Device is labeled as high speed timer, and enters switching state, if the interruption times are not more than second predetermined value, maintains using low Fast timer；

If current timer state is halted state, judge whether the interruption times are less than third predetermined value, wherein third Predetermined value is greater than first predetermined value and is less than second predetermined value；If the interruption times are less than third predetermined value, maintain to stop State；If the interruption times are not less than third predetermined value, it is predetermined further to judge whether the interruption times are greater than second Current timer is labeled as high speed timer, and enter switching shape if the interruption times are greater than second predetermined value by value Current timer is labeled as low speed timer, and enter switching shape if the interruption times are not more than second predetermined value by state State；

If current timer state be using high speed timer, judge the interruption times whether less than the 4th predetermined value, In, the 4th predetermined value is greater than third predetermined value and is less than second predetermined value；If the interruption times are not less than the 4th predetermined value, It then maintains using high speed timer；If the interruption times less than the 4th predetermined value, further judge that the interruption times are It is no to be greater than first predetermined value, if the interruption times are greater than first predetermined value, current timer is labeled as low speed timer, And enter switching state, if the interruption times are not more than first predetermined value, current timer state is switched to stopping shape State；

If current timer state is switching state, judge that current timer marks whether as low speed timer；If current fixed When device be labeled as low speed timer, then current timer state is switched to using low speed timer；If current timer marks For high speed timer, then current timer state is switched to using high speed timer.

7. method according to any one of claim 1-3, which is characterized in that according to current system conditions parameter and currently Feedback current, the step of determining current control signal include:

According to current system conditions parameter, by inquiring the predetermined corresponding table of current system conditions parameter and control signal value, really Fixed corresponding predetermined control signal value；

8. a kind of deicing equipment autocontrol method characterized by comprising

Obtain current system conditions parameter；

Wherein, if current system conditions parameter include pulsed quantity input, obtain current system conditions parameter the step of include:

Current timer state is switched over according to the interruption times that pulsed quantity input triggers in the given time, to obtain arteries and veins Momentum input；

9. according to the method described in claim 8, it is characterized in that, inputting the interruption triggered in the given time according to pulsed quantity The step of number switches over current timer state include:

10. method according to claim 8 or claim 9, which is characterized in that triggered in the given time according to pulsed quantity input The step of interruption times switch over current timer state include:

Obtain current timer state；

11. a kind of deicing equipment automatic control device, which is characterized in that including parameter acquiring unit, value of feedback acquiring unit, Control signal determination unit and output unit, in which:

Parameter acquiring unit, for obtaining current system conditions parameter；

Value of feedback acquiring unit, for exporting acquisition current feedback electric current in the control signal to executing agency from output unit Value；

Signal determination unit is controlled, for determining current control letter according to current system conditions parameter and current feedback current value Number；

Output unit is moved for exporting current control signal to executing agency so that executing agency carries out corresponding deicing Make；

Wherein, described device further includes second temperature receiving unit and control signal correction unit, in which:

Second temperature receiving unit, for receiving the second temperature signal of second temperature sensor acquisition, wherein second temperature letter Number be executing agency current temperature value；

Signal correction unit is controlled, for according to the received second temperature signal of second temperature receiving unit, signal to be true to controlling The current control signal that order member determines is modified, and indicates that output unit execution exports current control signal to execution later The operation of mechanism.

12. device according to claim 11, which is characterized in that further include the first temperature reception unit, the first cargo tracer Member and the first temperature compensation unit, in which:

First temperature reception unit, for receiving the first temperature signal of the first temperature sensor acquisition, wherein the first temperature letter Number be deicing equipment automatic control device current temperature value；

First query unit, for inquiring the first temperature-compensating column according to received first temperature signal of the first temperature reception unit Table determines current offset values；

First temperature compensation unit, the current offset values for being determined according to the first query unit, obtains value of feedback acquiring unit The current feedback current value taken compensates, the signal determination unit of instruction control later execute according to current system conditions parameter and Current feedback current value determines the operation of current control signal.

13. device according to claim 11, which is characterized in that further include the first temperature reception unit, the second cargo tracer Member and second temperature compensating unit, in which:

Second query unit, for according to the received first temperature signal inquiry second temperature compensation column of the first temperature reception unit Table determines state parameter offset；

Second temperature compensating unit obtains parameter acquiring unit according to the state parameter offset that the second query unit determines Current system conditions parameter compensate, the signal determination unit of instruction control later execute according to current system conditions parameter and Current feedback current value determines the operation of current control signal.

14. device described in any one of 1-13 according to claim 1, which is characterized in that

Parameter acquiring unit is when current system conditions parameter includes pulsed quantity input, for being inputted according to pulsed quantity in pre- timing Between the interruption times of internal trigger current timer state is switched over, to obtain pulsed quantity input.

15. device according to claim 14, which is characterized in that

Parameter acquiring unit according to the pulsed quantity interruption times that trigger in the given time of input to current timer state into When row switching, it is used for:

16. device according to claim 14, which is characterized in that parameter acquiring unit includes state acquisition module, first Switching module, the second switching module, third switching module and the 4th switching module, in which:

State acquisition module, for obtaining current timer state when current system conditions parameter includes pulsed quantity input；

First switching module is sentenced when the current timer state for obtaining in state acquisition module is using low speed timer Whether the interruption times that disconnected pulsed quantity input triggers in the given time are greater than first predetermined value；If the interruption times are not more than Current timer state is then switched to halted state by first predetermined value；If the interruption times are greater than first predetermined value, into One step judges whether the interruption times are greater than second predetermined value, wherein second predetermined value is greater than first predetermined value, if in described Disconnected number is greater than second predetermined value, then current timer is labeled as high speed timer, and enter switching state, if the interruption Number is not more than second predetermined value, then maintains using low speed timer；

Second switching module, when the current timer state for obtaining in state acquisition module is halted state, described in judgement Whether interruption times are less than third predetermined value, wherein third predetermined value is greater than first predetermined value and is less than second predetermined value；If The interruption times are less than third predetermined value, then maintain halted state；If the interruption times are not less than third predetermined value, into One step judges whether the interruption times are greater than second predetermined value, will be current if the interruption times are greater than second predetermined value Timer is labeled as high speed timer, and enters switching state, will be current if the interruption times are not more than second predetermined value Timer is labeled as low speed timer, and enters switching state；

Third switching module is sentenced when the current timer state for obtaining in state acquisition module is using high speed timer Whether the interruption times of breaking are less than the 4th predetermined value, wherein the 4th predetermined value is greater than third predetermined value and makes a reservation for less than second Value；If the interruption times are not less than the 4th predetermined value, maintain using high speed timer；If the interruption times are less than the 4th Predetermined value then further judges whether the interruption times are greater than first predetermined value, makes a reservation for if the interruption times are greater than first Current timer is then labeled as low speed timer, and enters switching state by value, if the interruption times are predetermined no more than first Value, then be switched to halted state for current timer state；

4th switching module, when the current timer state for obtaining in state acquisition module is switching state, judgement is current Timer marks whether as low speed timer；If current timer is labeled as low speed timer, current timer state is cut It changes to and uses low speed timer；If current timer is labeled as high speed timer, current timer state is switched to use High speed timer.

17. device described in any one of 1-13 according to claim 1, which is characterized in that

Signal determination unit is controlled to be used to be believed according to current system conditions parameter by inquiry current system conditions parameter and control Number value predetermined corresponding table, determine corresponding predetermined control signal value；According to current feedback current value to predetermined control signal value It is modified, to determine current control signal.

18. a kind of deicing equipment automatic control device, which is characterized in that determined including parameter acquiring unit, control signal single Member and output unit, in which:

Parameter acquiring unit, for obtaining current system conditions parameter；

Wherein, parameter acquiring unit is when current system conditions parameter includes pulsed quantity input, for being existed according to pulsed quantity input The interruption times of predetermined time internal trigger switch over current timer state, to obtain pulsed quantity input；

19. device according to claim 18, which is characterized in that

Parameter acquiring unit according to the pulsed quantity interruption times that trigger in the given time of input to current timer state into When row switching, when the frequency for inputting when pulsed quantity changes from high to low, if interruption times are less than or equal to the in the predetermined time One predetermined value, then current timer state is by using low speed timer to be switched to halted state；When pulsed quantity input frequency from When as low as High variation, if interruption times are more than or equal to third predetermined value in the predetermined time, current timer state is by stopping State is switched to using low speed timer, and wherein third predetermined value is greater than first predetermined value；When measurement pulse frequency from height to When low variation, if interruption times are less than four predetermined values in the predetermined time, current timer state is cut by high speed timer It is changed to low speed timer；When the frequency for measuring pulse changes from low to high, if interruption times are greater than second in advance in the predetermined time Definite value, then current timer state is switched to high speed timer by low speed timer, and wherein it is predetermined to be greater than the 4th for second predetermined value Value.

20. device described in 8 or 19 according to claim 1, which is characterized in that parameter acquiring unit include state acquisition module, First switching module, the second switching module, third switching module and the 4th switching module, in which:

21. a kind of deicing equipment automatic control system, which is characterized in that controlled automatically including state sensor, deicing equipment Device processed and executing agency, in which:

State sensor is sent to deicing equipment for acquiring current system conditions parameter, and by current system conditions parameter Automatic control device；

Deicing equipment automatic control device is that deicing equipment described in any one of claim 11-20 automatically controls dress It sets；

Executing agency, the current control signal for being exported according to deicing equipment automatic control device, carries out corresponding deicing Snow movement.

22. system according to claim 21, which is characterized in that further include the first temperature sensor and second temperature sensing Device, in which:

First temperature sensor for acquiring the temperature of deicing equipment automatic control device, and is sent to deicing equipment certainly Dynamic control device；