CN106381899A - Position closed-loop control device and method for electric transmission excavator - Google Patents

Abstract

The invention relates to the technical field of electric transmission control intelligent program control, in particular to a position closed-loop control device and method for an electric transmission excavator. The device includes a left electric crossed handle (15), a right electric crossed handle (16), an instruction distributor (17), a bucket angular displacement sensor (18), a bucket rod angular displacement sensor (19), a movable arm angular displacement sensor (20), a controller (21), a bucket rod pilot electromagnetic valve (22), a bucket rod pilot proportional electromagnetic valve (23) and a movable arm pilot proportional electromagnetic valve (24). According to the position closed-loop control device and method for the electric transmission excavator, the instruction distributor is designed at the front end of the controller of a traditional electric transmission operation excavator, a space Descartes coordinate instruction of a rotating shaft of a bucket is mapped into a deflection angle instruction of a movable arm and a bucket rod, the excavator can be more visually operated, and the purposes of simplifying operation and relieving burdens of a driver are achieved.

Description

Closed-loop control device and method for telex excavator position

Technical Field

The invention relates to the technical field of telex control intelligent program control, in particular to a telex excavator position closed-loop control device and method.

Background

Fig. 1 shows six working devices of a conventional excavator. Fig. 2 shows a steering mechanism of a conventional excavator. The driver controls the six working devices by operating the two cross handles and the two foot pedals respectively. The left-right inclination of the left cross handle 11 is used to control the swing 4, the front-back inclination of the left cross handle 11 is used to control the arm 2, the left-right inclination of the right cross handle 12 is used to control the bucket 1, the front-back inclination of the right cross handle 12 is used to control the boom 3, and the front-back inclinations of the left travel pedal 13 and the right travel pedal 14 are used to control the left travel 5 and the right travel 6, respectively. At present, the control of the excavator operating handle and the pedal on each working device is based on speed control, namely the larger the inclination angle of the cross handle or the pedal operated by a driver is, the faster the movement speed of the corresponding controlled device is.

Since one degree of freedom of movement of an operating mechanism corresponds to the movement of a particular implement, if the excavator is required to perform a complex maneuver, the operator may need to manipulate multiple directions of a single joystick, or multiple joystick directions. For example, when performing a "sweeping" (the bucket tooth is held at the same height and moved back and forth) maneuver, the three work devices (boom, stick, bucket) need to move in coordination with each other, corresponding to the coordinated maneuver of the driver with three degrees of freedom of movement of the two joysticks. This greatly increases the steering burden on the driver.

In the conventional excavator operation mode, one operation direction of a left cross handle controls an arm, and two operation directions of a right cross handle respectively control a bucket and a boom, but three working devices, namely the bucket, the arm and the boom, actually move in a plane. Such a way of steering is to map the three-dimensional motion of the two joysticks into the planar motion of the work apparatus. This type of maneuver is not intuitive and it is difficult for the driver to coordinate several actions during a compound maneuver. This type of maneuver places high demands on the maneuver skills of the driver.

In summary, almost all actions of the excavator are complex operations requiring several working devices, and the traditional control method is not intuitive and has great control difficulty, so that a new control scheme is required to simplify the traditional control method.

Disclosure of Invention

The purpose of the invention is as follows: a closed-loop control device and method for the position of a telex excavator are provided, and the traditional control mode is simplified.

The technical scheme is as follows:

a teletype excavator position closed-loop control apparatus comprising:

the system comprises a left electric cross handle (15), a right electric cross handle (16), an instruction distributor (17), a bucket angular displacement sensor (18), a bucket rod angular displacement sensor (19), a movable arm angular displacement sensor (20), a controller (21), a bucket pilot electromagnetic valve (22), a bucket rod pilot proportional electromagnetic valve (23) and a movable arm pilot proportional electromagnetic valve (24);

a left electric cross handle (15) connected with the instruction distributor (17) and used for generating a forward and backward control instruction to control the hinge point O of the bucket through forward and backward movement₃The displacement in the horizontal direction is forward and backward, and the forward and backward control command signals are sent to a command distributor (17);

a right electric cross handle (16) connected with the instruction distributor (17) and used for generating an up-down control instruction by moving back and forth to control the hinge point O of the bucket₃The vertical displacement is carried out in the vertical direction, and the vertical control command signal is sent to a command distributor (17); controlling the outward lifting and the recovery of the bucket through left and right movement, and sending outward lifting and recovery signals of the bucket to a command distributor (17);

the command distributor (17) is connected with the controller (21), is decomposed into a control command of an arm and a control command of a movable arm according to the forward and backward control command signals and the up and down control command signals through calculation, generates a control command of the bucket according to the control command of the arm, the control command of the movable arm and an outward raising and recovering signal of the bucket, and sends the control command of the bucket, the control command of the arm and the control command of the movable arm to the controller (21);

the controller (21) is respectively connected with the bucket angular displacement sensor (18), the arm angular displacement sensor (19) and the movable arm angular displacement sensor (20) and used for collecting feedback signals of the bucket angular displacement sensor (18), the arm angular displacement sensor (19) and the movable arm angular displacement sensor (20), performing difference operation on a control instruction of the bucket and the feedback signal of the bucket angular displacement sensor (18), obtaining a valve control instruction signal of the bucket through instruction forming, and sending the valve control instruction signal to the bucket pilot electromagnetic valve (22); carrying out difference operation on the control instruction of the bucket rod and a feedback signal of a bucket rod angular displacement sensor (19), obtaining a valve control instruction signal of the bucket rod through instruction forming, and sending the valve control instruction signal to a bucket rod pilot proportional electromagnetic valve (23); carrying out difference operation on the control instruction of the movable arm and a feedback signal of a movable arm angular displacement sensor (20), obtaining a valve control instruction signal of the movable arm through instruction forming, and sending the valve control instruction signal to a movable arm pilot proportional electromagnetic valve (24);

the bucket pilot proportional electromagnetic valve (22) controls the motion of a bucket actuator according to a valve control command signal of the bucket so as to control the bucket to work;

the bucket rod pilot proportional electromagnetic valve (23) controls the motion of the bucket rod actuator according to a valve control command signal of the bucket rod so as to control the bucket rod to work;

and a boom pilot proportional solenoid valve (24) for controlling the movement of the boom actuator according to the valve control command signal of the boom, thereby controlling the boom to work.

A closed-loop control method for the position of a telex excavator comprises the following steps:

step 1, recording the displacement P of the left operating lever_ARMAnd right joystick displacement P_BOOMWhen P is_ARMOr P_BOOMWhen the position of the control lever moves out of the dead zone, the deflection angle theta of the movable arm at the moment is recorded_2fAnd the angle of deflection theta of the dipper_3fAnd the angle of deflection theta of the bucket_4fCalculating the twisting point O of the lower bucket at the moment according to the formula (1)₃Coordinate (x) of₃₀、z₃₀) Calculating the included angle theta between the teeth of the lower bucket and the ground at the moment according to a formula (3)_d0(ii) a The formula (1) is:

$\begin{array}{c}{x}_{30}=a_2{\mathrm{cos\θ}}_{2f}+a_3\sin (\frac{\mathrm{\π}}{2}+{\mathrm{\θ}}_{2f}-{\mathrm{\θ}}_{3f})\\ z_{30}=a_2{\mathrm{sin\θ}}_{2f}-a_3\cos (\frac{\mathrm{\π}}{2}+{\mathrm{\θ}}_{2f}-{\mathrm{\θ}}_{3f})\end{array}---\left(1\right)$

wherein, a₂Is the length of the boom, a₃Is the length of the bucket rod;

the formula (3) is

θ_d0＝π+θ_2f-θ_3f-θ_4f(3)；

Step 2, adding P_ARMAnd P_BOOMThe output result obtained by the instruction shaping is P_{ARM 1}And P_{BOOM 1}According to the formula

$x_{3i}=x_{30}+{\∫}_0^t{P}_{ARM1}\·dt$

$z_{3i}=z_{30}+{\∫}_0^t{P}_{BOOM1}\·dt$

Obtaining a bucket hinge point O₃Theoretical coordinate (x) of_3i、z_3i)；

Step 3, reversely solving the control theoretical value theta of the movable arm and the bucket rod at the moment according to the formula (2)_2fi、θ_3fi(ii) a The formula (2) is:

θ_2fi＝α+β

${\mathrm{\θ}}_{3fi}=\mathrm{\π}-\arccos \left(\frac{a_2^2+a_3^2-a_6^2}{2a_2{a}_3}\right)---\left(2\right)$

wherein,

step 4, measuring a deflection angle of the movable arm to obtain a feedback value theta₂Control theoretical value theta with boom_2fiMake a difference to obtain an errorDifference Δ θ_2fThe formula is Delta theta_2f＝θ_2fi-θ₂(ii) a Measuring the deflection angle of the bucket rod to obtain a feedback value theta₃Control theoretical value theta of bucket arm_3fiMaking a difference to obtain an error delta theta_3fThe formula is Delta theta_3f＝θ_3fi-θ₃；

Step 5, when delta theta_2f>At 0, a lift arm command, Δ θ, is generated_2f<When 0, generating a boom descending instruction; when Δ θ_3f>At 0, a boom raising command, Δ θ, is generated_3f<When 0, generating a bucket rod recovery command;

step 6, feeding back a signal theta according to the deflection angle of the movable arm₂Feedback signal theta of deflection angle of bucket rod₃And theta_d0From the formula θ_4fi＝π+θ₂-θ₃-θ_d0Calculating theoretical deflection angle theta of bucket_4fi；

Step 7, measuring a deflection angle of the bucket to obtain a feedback value theta₄Control theory theta with bucket_4fiMaking a difference to obtain an error delta theta_4fThe formula is Delta theta_4f＝θ_4fi-θ₄；

Step 8, when delta theta_4f>At 0, a recovery bucket command, Δ θ, is generated_4f<When 0, an out-swinging bucket instruction is generated.

Advantageous effects

The invention simplifies the traditional operation mode and lightens the burden of a driver.

Drawings

Fig. 1 is a schematic view of an excavator working apparatus.

Fig. 2 is a schematic view of the excavator operating mechanism.

FIG. 3 is a schematic diagram of the new control system of the excavator.

Fig. 4 is a schematic diagram of the working principle of the new control system.

FIG. 5 is a method for realizing the recording principle of the tilt angles of the movable arm and the arm when the control lever goes out of the dead zone.

FIG. 6 is a Cartesian coordinate implementation of a mapping algorithm from boom and stick deflection angles to bucket hinge points.

FIG. 7 is an implementation of a theoretical coordinate algorithm for bucket winching points.

Fig. 8 shows a method for calculating a boom/arm tilt angle command.

Detailed Description

A closed-loop control device for the position of a teletype excavator, as shown in fig. 3, comprising:

the system comprises a left electric cross handle (15), a right electric cross handle (16), an instruction distributor (17), a bucket angular displacement sensor (18), a bucket rod angular displacement sensor (19), a movable arm angular displacement sensor (20), a controller (21), a bucket pilot electromagnetic valve (22), a bucket rod pilot proportional electromagnetic valve (23) and a movable arm pilot proportional electromagnetic valve (24);

a left electric cross handle (15) connected with the instruction distributor (17) and used for generating a forward and backward control instruction to control the hinge point O of the bucket through forward and backward movement₃The displacement in the horizontal direction is forward and backward, and the forward and backward control command signals are sent to a command distributor (17);

a right electric cross handle (16) connected with the instruction distributor (17) and used for generating an up-down control instruction by moving back and forth to control the hinge point O of the bucket₃The vertical displacement is carried out in the vertical direction, and the vertical control command signal is sent to a command distributor (17); controlling the outward lifting and the recovery of the bucket through left and right movement, and sending outward lifting and recovery signals of the bucket to a command distributor (17);

the command distributor (17) is connected with the controller (21), is decomposed into a control command of an arm and a control command of a movable arm according to the forward and backward control command signals and the up and down control command signals through calculation, generates a control command of the bucket according to the control command of the arm, the control command of the movable arm and an outward raising and recovering signal of the bucket, and sends the control command of the bucket, the control command of the arm and the control command of the movable arm to the controller (21);

the controller (21) is respectively connected with the bucket angular displacement sensor (18), the arm angular displacement sensor (19) and the movable arm angular displacement sensor (20) and used for collecting feedback signals of the bucket angular displacement sensor (18), the arm angular displacement sensor (19) and the movable arm angular displacement sensor (20), performing difference operation on a control instruction of the bucket and the feedback signal of the bucket angular displacement sensor (18), obtaining a valve control instruction signal of the bucket through instruction forming, and sending the valve control instruction signal to the bucket pilot electromagnetic valve (22); carrying out difference operation on the control instruction of the bucket rod and a feedback signal of a bucket rod angular displacement sensor (19), obtaining a valve control instruction signal of the bucket rod through instruction forming, and sending the valve control instruction signal to a bucket rod pilot proportional electromagnetic valve (23); carrying out difference operation on the control instruction of the movable arm and a feedback signal of a movable arm angular displacement sensor (20), obtaining a valve control instruction signal of the movable arm through instruction forming, and sending the valve control instruction signal to a movable arm pilot proportional electromagnetic valve (24);

the bucket pilot proportional electromagnetic valve (22) controls the motion of a bucket actuator according to a valve control command signal of the bucket so as to control the bucket to work;

the bucket rod pilot proportional electromagnetic valve (23) controls the motion of the bucket rod actuator according to a valve control command signal of the bucket rod so as to control the bucket rod to work;

and a boom pilot proportional solenoid valve (24) for controlling the movement of the boom actuator according to the valve control command signal of the boom, thereby controlling the boom to work.

A closed-loop control method for telex excavator position, as shown in fig. 4, includes:

step 1, recording the displacement P of the left operating lever_ARMAnd right joystick displacement P_BOOMWhen P is_ARMOr P_BOOMWhen the position of the control lever moves out of the dead zone, the deflection angle of the movable arm at the moment is recordedθ_2fAnd the angle of deflection theta of the dipper_3f(the recording is carried out as shown in FIG. 5) and the bucket deflection angle θ_4fCalculating the twisting point O of the lower bucket at the moment according to the formula (1)₃Coordinate (x) of₃₀、z₃₀) Calculating the included angle theta between the teeth of the lower bucket and the ground at the moment according to a formula (3)_d0(ii) a The formula (1) is:

wherein, a₂Is the length of the boom, a₃Is the length of the bucket rod;

the implementation method of formula (1) is shown in fig. 6;

the formula (3) is

θ_d0＝π+θ_2f-θ_3f-θ_4f(3)；

Step 2, adding P_ARMAnd P_BOOMThe output result obtained by the instruction shaping is P_{ARM 1}And P_{BOOM 1}According to the formula

$x_{3i}=x_{30}+{\&Integral;}_0^t{P}_{ARM1}\&CenterDot;dt$

$z_{3i}=z_{30}+{\&Integral;}_0^t{P}_{BOOM1}\&CenterDot;dt$

Obtaining a bucket hinge point O₃Theoretical coordinate (x) of_3i、z_3i) The implementation method is shown in FIG. 7;

step 3, reversely solving the control theoretical value theta of the movable arm and the bucket rod at the moment according to the formula (2)_2fi、θ_3fi(ii) a The formula (2) is:

θ_2fi＝α+β

${\mathrm{\&theta;}}_{3fi}=\mathrm{\&pi;}-\arccos \left(\frac{a_2^2+a_3^2-a_6^2}{2a_2{a}_3}\right)---\left(2\right)$

wherein,

the implementation method of formula (2) is shown in fig. 8;

step 4, measuring a deflection angle of the movable arm to obtain a feedback value theta₂Control theoretical value theta with boom_2fiMaking a difference to obtain an error delta theta_2fThe formula is Delta theta_2f＝θ_2fi-θ₂(ii) a Measuring the deflection angle of the bucket rod to obtain a feedback value theta₃Control theoretical value theta of bucket arm_3fiMaking a difference to obtain an error delta theta_3fThe formula is Delta theta_3f＝θ_3fi-θ₃；

Step 5, when delta theta_2f>At 0, a lift arm command, Δ θ, is generated_2f<When 0, generating a boom descending instruction; when Δ θ_3f>At 0, a boom raising command, Δ θ, is generated_3f<When 0, generating a bucket rod recovery command;

step 6, feeding back a signal theta according to the deflection angle of the movable arm₂Feedback signal theta of deflection angle of bucket rod₃And theta_d0From the formula θ_4fi＝π+θ₂-θ₃-θ_d0Calculating theoretical deflection angle theta of bucket_4fi；

Step 7, measuring a deflection angle of the bucket to obtain a feedback value theta₄Control theory theta with bucket_4fiMaking a difference to obtain an error delta theta_4fThe formula is Delta theta_4f＝θ_4fi-θ₄；

Step 8, when delta theta_4f>At 0, a recovery bucket command, Δ θ, is generated_4f<When 0, an out-swinging bucket instruction is generated.

Claims (2)

1. A telex excavator position closed-loop control apparatus, comprising:

the system comprises a left electric cross handle (15), a right electric cross handle (16), an instruction distributor (17), a bucket angular displacement sensor (18), a bucket rod angular displacement sensor (19), a movable arm angular displacement sensor (20), a controller (21), a bucket pilot electromagnetic valve (22), a bucket rod pilot proportional electromagnetic valve (23) and a movable arm pilot proportional electromagnetic valve (24);

a left electric cross handle (15) connected with the instruction distributor (17) and used for generating a forward and backward control instruction to control the bucket through forward and backward movementHinge point O of₃The displacement in the horizontal direction is forward and backward, and the forward and backward control command signals are sent to a command distributor (17);

a right electric cross handle (16) connected with the instruction distributor (17) and used for generating an up-down control instruction by moving back and forth to control the hinge point O of the bucket₃The vertical displacement is carried out in the vertical direction, and the vertical control command signal is sent to a command distributor (17); controlling the outward lifting and the recovery of the bucket through left and right movement, and sending outward lifting and recovery signals of the bucket to a command distributor (17);

the command distributor (17) is connected with the controller (21), is decomposed into a control command of an arm and a control command of a movable arm according to the forward and backward control command signals and the up and down control command signals through calculation, generates a control command of the bucket according to the control command of the arm, the control command of the movable arm and an outward raising and recovering signal of the bucket, and sends the control command of the bucket, the control command of the arm and the control command of the movable arm to the controller (21);

the controller (21) is respectively connected with the bucket angular displacement sensor (18), the arm angular displacement sensor (19) and the movable arm angular displacement sensor (20) and used for collecting feedback signals of the bucket angular displacement sensor (18), the arm angular displacement sensor (19) and the movable arm angular displacement sensor (20), performing difference operation on a control instruction of the bucket and the feedback signal of the bucket angular displacement sensor (18), obtaining a valve control instruction signal of the bucket through instruction forming, and sending the valve control instruction signal to the bucket pilot electromagnetic valve (22); carrying out difference operation on the control instruction of the bucket rod and a feedback signal of a bucket rod angular displacement sensor (19), obtaining a valve control instruction signal of the bucket rod through instruction forming, and sending the valve control instruction signal to a bucket rod pilot proportional electromagnetic valve (23); carrying out difference operation on the control instruction of the movable arm and a feedback signal of a movable arm angular displacement sensor (20), obtaining a valve control instruction signal of the movable arm through instruction forming, and sending the valve control instruction signal to a movable arm pilot proportional electromagnetic valve (24);

the bucket pilot proportional electromagnetic valve (22) controls the motion of a bucket actuator according to a valve control command signal of the bucket so as to control the bucket to work;

the bucket rod pilot proportional electromagnetic valve (23) controls the motion of the bucket rod actuator according to a valve control command signal of the bucket rod so as to control the bucket rod to work;

and a boom pilot proportional solenoid valve (24) for controlling the movement of the boom actuator according to the valve control command signal of the boom, thereby controlling the boom to work.

2. A closed-loop control method for the position of a telex excavator is characterized by comprising the following steps:

step 1, recording the displacement P of the left operating lever_ARMAnd right joystick displacement P_BOOMWhen P is_ARMOr P_BOOMWhen the position of the control lever moves out of the dead zone, the deflection angle theta of the movable arm at the moment is recorded_2fAnd the angle of deflection theta of the dipper_3fAnd the angle of deflection theta of the bucket_4fCalculating the twisting point O of the lower bucket at the moment according to the formula (1)₃Coordinate (x) of₃₀、z₃₀) Calculating the included angle theta between the teeth of the lower bucket and the ground at the moment according to a formula (3)_d0(ii) a The formula (1) is:

$\begin{array}{c}{x}_{30}=a_2{\mathrm{cos\&theta;}}_{2f}+a_3\sin (\frac{\mathrm{\&pi;}}{2}+{\mathrm{\&theta;}}_{2f}-{\mathrm{\&theta;}}_{3f})\\ z_{30}=a_2{\mathrm{sin\&theta;}}_{2f}-a_3\cos (\frac{\mathrm{\&pi;}}{2}+{\mathrm{\&theta;}}_{2f}-{\mathrm{\&theta;}}_{3f})\end{array}---\left(1\right)$

wherein, a₂Is the length of the boom, a₃Is the length of the bucket rod;

the formula (3) is

θ_d0＝π+θ_2f-θ_3f-θ_4f(3)；

Step 2, adding P_ARMAnd P_BOOMThe output result obtained by the instruction shaping is P_{ARM 1}And P_{BOOM 1}According to the formula

$x_{3i}=x_{30}+{\&Integral;}_0^t{P}_{ARM1}\&CenterDot;dt$

$z_{3i}=z_{30}+{\&Integral;}_0^t{P}_{BOOM1}\&CenterDot;dt$

Obtaining a bucket hinge point O₃Theoretical coordinate (x) of_3i、z_3i)；

Step 3, reversely solving the control theoretical value theta of the movable arm and the bucket rod at the moment according to the formula (2)_2fi、θ_3fi(ii) a The formula (2) is:

$\begin{array}{c}{\mathrm{\&theta;}}_{2fi}=\mathrm{\&alpha;}+\mathrm{\&beta;}\\ {\mathrm{\&theta;}}_{3fi}=\mathrm{\&pi;}-\arccos \left(\frac{a_2^2+a_3^2-a_6^2}{2a_2{a}_3}\right)\end{array}---\left(2\right)$

wherein,

step 4, measuring a deflection angle of the movable arm to obtain a feedback value theta₂Control theoretical value theta with boom_2fiMaking a difference to obtain an error delta theta_2fThe formula is Delta theta_2f＝θ_2fi-θ₂(ii) a Measuring the deflection angle of the bucket rod to obtain a feedback value theta₃Control theoretical value theta of bucket arm_3fiMaking a difference to obtain an error delta theta_3fThe formula is Delta theta_3f＝θ_3fi-θ₃；

Step 5, when delta theta_2f>At 0, a lift arm command, Δ θ, is generated_2f<When 0, generating a boom descending instruction; when Δ θ_3f>At 0, a boom raising command, Δ θ, is generated_3f<When 0, generating a bucket rod recovery command;

step 6, feeding back a signal theta according to the deflection angle of the movable arm₂Feedback signal theta of deflection angle of bucket rod₃And theta_d0From the formula θ_4fi＝π+θ₂-θ₃-θ_d0Calculating theoretical deflection angle theta of bucket_4fi；

Step 7, measuring a deflection angle of the bucket to obtain a feedback value theta₄Control theory theta with bucket_4fiMaking a difference to obtain an error delta theta_4fThe formula is Delta theta_4f＝θ_4fi-θ₄；

Step 8, when delta theta_4f>At 0, a recovery bucket command, Δ θ, is generated_4f<When 0, an out-swinging bucket instruction is generated.