CN106958182A - A kind of wheel-type spreading machine running gear and its control method - Google Patents
A kind of wheel-type spreading machine running gear and its control method Download PDFInfo
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- CN106958182A CN106958182A CN201710299923.5A CN201710299923A CN106958182A CN 106958182 A CN106958182 A CN 106958182A CN 201710299923 A CN201710299923 A CN 201710299923A CN 106958182 A CN106958182 A CN 106958182A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 230000007480 spreading Effects 0.000 title claims abstract description 24
- 230000033228 biological regulation Effects 0.000 claims description 17
- 230000003044 adaptive effect Effects 0.000 claims description 14
- 230000008569 process Effects 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 6
- 230000009467 reduction Effects 0.000 claims description 6
- 230000007423 decrease Effects 0.000 claims description 3
- 239000002283 diesel fuel Substances 0.000 claims 2
- 230000008859 change Effects 0.000 abstract description 7
- 238000005516 engineering process Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/12—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for distributing granular or liquid materials
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention discloses a kind of wheel-type spreading machine running gear, including master controller, described master controller is connected with potentiometer, traveling pump and running motor respectively, described potentiometer includes manual governing potentiometer and pedal speed-adjusting potentiometer, described manual governing potentiometer is connected with the shelves that pave, and described pedal speed-adjusting potentiometer is connected with traveling shelves.The invention also discloses a kind of control method of wheel-type spreading machine running gear, according to the relation of input and output, make potentiometer input value 0.5V ~ 4.5V corresponding speeds minimum value ~ speed maximum, the velocity amplitude that the electric current of pump and motor is as needed is voluntarily adjusted.Corresponding relation of the invention by adjusting a series of variables such as the input value of potentiometer and the current value of respective pump, the current value of motor, speed of travel value, torque change rule, meets the maximal rate requirement of pave shelves and traveling shelves.
Description
Technical field
The present invention relates to a kind of wheel-type spreading machine running gear and its control method, belong to technical field of engineering machinery.
Background technology
In the running gear design of wheel-type spreading machine, by the increase of fast ratio, the walking load energy for the shelves that pave is improved
Power, however, while with high load capability, the speed for the shelves that pave is improved as far as possible again, with meet pave performance and
Machine performance, so as to improve the applicability and competitiveness of machine.Work progress is the process that an extraneous load is continually changing,
Run into when the change of stockpile height, truck retreating, if machine can be always ensured that constant speed is advanced, this is with regard to that can substantially improve
Flatness of constructing and packed uniform effect.
Existing technical scheme is single between potentiometer value and pump current value for simple running gear control method
Corresponding relation.In the presence of the hypodynamic hidden danger of driving, it is impossible to meet the maximal rate requirement of pave shelves and traveling shelves；User used
Need to be changed according to extraneous load in journey, artificial regulation potentiometer value carrys out regulation speed；It is not current potential when resistance is very big
Peak torque is produced when device regulation is to maximum, but peak torque is realized at flex point, the operation that this point does not meet paver is thought
Dimension, manual operation is got up difficult.
The content of the invention
The technical problems to be solved by the invention are to overcome the defect of prior art there is provided a kind of wheel-type spreading machine Running System
System and its control method, it is proposed that constant speed and moment of torsion self-adaptation control method, realize travelling control process well；Meet
In the regulation of whole potentiometer input variable is interval, the discharge capacity of pump will change from small to large, and motor discharge capacity suitable
Opportunity from big toward small change, required with the maximal rate for meeting pave shelves and traveling shelves；In control process, potentiometer it is defeated
Enter the current value that value wants respective pump（Pumpage）, motor current value（Motor displacement）, speed of travel value, torque change rule etc.
A series of variables, by the technical research, be such technological accumulation such as wheel-type spreading machine travelling control a large amount of experiences and basis.
In order to solve the above technical problems, the present invention provides a kind of wheel-type spreading machine running gear, including master controller, it is special
Levying is, described master controller is connected with potentiometer, traveling pump and running motor respectively, and described potentiometer includes manual tune
Fast potentiometer and pedal speed-adjusting potentiometer, described manual governing potentiometer is connected with the shelves that pave, described pedal speed-adjusting electricity
Position device is connected with traveling shelves.
Further, be provided with proportion magnetic valve between described traveling pump and running motor, described proportion magnetic valve with
Described master controller is connected.
Further, described master controller is connected by running motor magnetic valve with described running motor.
Further, described master controller is connected with diesel engine controller, and described diesel engine controller is with starting
Machine is connected, and described engine is connected with traveling pump.
Further, described master controller is connected with diesel engine controller, described diesel engine controller and throttle
Potentiometer is connected, and described throttle potentiometer is connected with described master controller.
Further, it is connected between described master controller and diesel engine controller by CAN.
Further, described master controller is connected with display by CAN.
Present invention also offers a kind of control method of wheel-type spreading machine running gear, it is characterized in that, according to input with it is defeated
The relation gone out, makes potentiometer input value 0.5V ~ 4.5V corresponding speeds minimum value ~ speed maximum, the electric current of pump and motor according to
The velocity amplitude needed is voluntarily adjusted, and regulation process comprises the following steps：
（1）Controller judges the current value situation when front pump and motor, and the electricity when front pump and motor is re-recorded down after the completion of regulation
Flow valuve state；
（2）Speed is from small toward increasing the added-time, and the electric current for first adjusting pump changes from small to big, and then keeps, then adjust the electric current of motor by
It is small to arrive big；
（3）Speed reduces from big toward the electric current for during small reduction, first adjusting motor, then adjusts the electric current reduction of pump.
Further, the detailed process of the regulation of the pump and motor current is：
（1）Admission velocity closed loop states, the minimum value of potentiometer to the minimum value of maximum corresponding speed to maximum, minimum value
Demarcation is both needed to maximum；
（2）Rotational potentiometer, gathers way to V, PID control, the electric current of pump from small toward big increase, still reached to during to maximum less than
Setting speed, motor current is again from small toward big increase；
（3）When pump and maximum motor current, if VIt is real≥VIf, then rotational potentiometer, reduces speed to V, PID control is first tieed up
Hold pump electric current constant, reduce motor current, if motor current 0, then reduce pump electric current, wait new potentiometer value；
（4）If VIt is real<VIf, and without departing from deviation dead band 2m/min, then pump and motor maximum current are maintained, wait new potentiometer
Value；
（5）If beyond deviation dead band 2m/min, but diesel engine speed≤1900rpm, then default user need not enter moment of torsion
Adaptive model, maintains pump and motor current, waits new potentiometer value；Display provides prompting and " please improve engine to turn simultaneously
Speed is to obtain more large driving force "；
（6）If diesel engine speed>1900rpm, paver is in forward travel state, into moment of torsion adaptive model；When the external world is negative
When carrying very big, user's setting does not enter moment of torsion adaptive model, and user finds an equalization point by adjusting potentiometer manually；
（7）Into after moment of torsion adaptive model, pump electric current remains maximum, and motor current gradually decreases to 0, to obtain before maximum
Enter power；Peak torque prompt message, which occurs, in display " automatically into peak torque pattern, to be turned potentiometer value down and will move out this
State "；
（8）If potentiometer value changes, and VIt is real<VIf, VIf—VIt is real≤ 2m/min, or VIt is real≥VIf, then it is loop-like into normal speed
State；If VIf—VIt is real>2m/min, then maintain the state.
The beneficial effect that the present invention is reached：
By adjusting the input value of potentiometer and the current value of respective pump（Pumpage）, motor current value（Motor displacement）, OK
A series of corresponding relation of variables such as velocity amplitude, torque change rule is walked, the maximal rate for meeting pave shelves and traveling shelves will
Ask；Work progress is exactly the process that an extraneous load is continually changing, and is running into the feelings such as the change of stockpile height, truck retreating
During condition, machine can be always ensured that constant speed is advanced, and this can substantially improve construction flatness and packed uniform effect.Pass through the technology
Research, be such technological accumulation such as wheel-type spreading machine travelling control a large amount of experiences and basis, and the application of the technology will
An innovative point as wheel-type spreading machine.
Brief description of the drawings
Fig. 1 is a kind of theory diagram of wheel-type spreading machine running gear of the invention；
Fig. 2 is input and output correspondence graph of a relation of the present invention；
Fig. 3 is the flow chart of closed loop regulation of the present invention；
Fig. 4 is the flow chart of moment of torsion Automatic adjusument of the present invention.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following examples are only used for clearly illustrating the present invention
Technical scheme, and can not be limited the scope of the invention with this.
As shown in figure 1, a kind of wheel-type spreading machine running gear, including master controller, described master controller respectively with electricity
Position device, traveling pump are connected with running motor, and described potentiometer includes manual governing potentiometer and pedal speed-adjusting potentiometer, institute
The manual governing potentiometer stated is connected with the shelves that pave, and described pedal speed-adjusting potentiometer is connected with traveling shelves.Described row
Walk and proportion magnetic valve is provided between pump and running motor, described proportion magnetic valve is connected with described master controller.It is described
Master controller be connected by running motor magnetic valve with described running motor.Described master controller and Diesel Engine Control
Device is connected, and described diesel engine controller is connected with engine, and described engine is connected with traveling pump.Described master
It is connected between controller and diesel engine controller by CAN, described diesel engine controller is connected with throttle potentiometer
Connect, described throttle potentiometer is connected with described master controller.Described master controller passes through CAN phase with display
Connection.
Whole control process only one of which input variable, is manual governing potentiometer for the shelves that pave（Resistive）,
It is pedal speed-adjusting potentiometer for traveling shelves（Hall）；Output variable has three kinds, and one is the electric current of pump, and two be motor
Electric current, three be the speed of travel；Wherein pumpage and motor displacement give tacit consent to it linear with corresponding current value due to can not electrically detect
It is related；Between the interval correspondence input whole district of the interval full scale regulation plus motor of full scale regulation of pump, also just corresponding speed
Full output interval；For flex point t in figure, it is the control cross-connecting area of pump and motor, according to the individual difference of every chassis, certainly exists
Dead band；The input relation of real-time moment of torsion and potentiometer is somewhat special, in general, the appearance of maximum torque point be not
The maximum end of potentiometer, but in mid-transition point, as shown in Figure 2.
Present invention also offers a kind of control method of wheel-type spreading machine running gear, according to the relation of input and output,
Make potentiometer input value 0.5V ~ 4.5V corresponding speeds minimum value ~ speed maximum, the electric current of pump and motor speed as needed
Value is voluntarily adjusted, and regulation process comprises the following steps：
（1）Controller judges the current value situation when front pump and motor, and the electricity when front pump and motor is re-recorded down after the completion of regulation
Flow valuve state；
（2）Speed is from small toward increasing the added-time, and the electric current for first adjusting pump changes from small to big, and then keeps, then adjust the electric current of motor by
It is small to arrive big；
（3）Speed reduces from big toward the electric current for during small reduction, first adjusting motor, then adjusts the electric current reduction of pump.
Before and after velocity variations, controller needs to judge the current value situation when front pump and motor, is re-recorded after the completion of regulation
Down when front pump and the electric current state of value of motor.
Therefore, the control strategy is not required to artificially determine current control flex point, but need to artificially determine maximal rate（That is Hz
Number）, its advantage is exactly fixed speed control, and in the loading range of permission, speed is constant.
As shown in Figure 3 and Figure 4, the detailed process of the regulation of the pump and motor current is：
（1）Admission velocity closed loop states, the minimum value of potentiometer to the minimum value of maximum corresponding speed to maximum, minimum value
Demarcation is both needed to maximum；
（2）Rotational potentiometer, gathers way to V, PID control, the electric current of pump from small toward big increase, still reached to during to maximum less than
Setting speed, motor current is again from small toward big increase；
（3）When pump and maximum motor current, if VIt is real≥VIf, then rotational potentiometer, reduces speed to V, PID control is first tieed up
Hold pump electric current constant, reduce motor current, if motor current 0, then reduce pump electric current, wait new potentiometer value；
（4）If VIt is real<VIf, and without departing from deviation dead band 2m/min, then pump and motor maximum current are maintained, wait new potentiometer
Value；
（5）If beyond deviation dead band 2m/min, but diesel engine speed≤1900rpm, then default user need not enter moment of torsion
Adaptive model, maintains pump and motor current, waits new potentiometer value；Display provides prompting and " please improve engine to turn simultaneously
Speed is to obtain more large driving force "；
（6）If diesel engine speed>1900rpm, paver is in forward travel state, into moment of torsion adaptive model；When the external world is negative
When carrying very big, user's setting does not enter moment of torsion adaptive model, and user finds an equalization point by adjusting potentiometer manually；
（7）Into after moment of torsion adaptive model, pump electric current remains maximum, and motor current gradually decreases to 0, to obtain before maximum
Enter power；Peak torque prompt message, which occurs, in display " automatically into peak torque pattern, to be turned potentiometer value down and will move out this
State "；
（8）If potentiometer value changes, and VIt is real<VIf, VIf—VIt is real≤ 2m/min, or VIt is real≥VIf, then it is loop-like into normal speed
State；If VIf—VIt is real>2m/min, then maintain the state.
In summary：
1）In actual mechanical process, if maximal rate does not reach requirement, need first to increase the maximum current value of motor, if
DeGrain after increase, then increase the maximum current value of pump again (current increase is no more than 50mA).If the former controls
When current breakpoint put to death Qu Tai great or the latter control when speed point regulating time it is long, then need increase motor minimum electricity
Stream, on the contrary there is impact at current breakpoint, then need to reduce the minimum current of motor；
2）Analysis process default engine throttle is constant in 2000rpm or so above, therefore in the case of speed closed loop, is only possible to
In any position automatically into moment of torsion adaptive model；If engine speed is in below 1900rpm, default user need not
Peak torque, will not now enter moment of torsion adaptive model, be handled by normal speed closed loop.
In superincumbent description, the control strategy is referred to as velocity close-loop control（Abbreviation closed loop）；Control flow chart is given tacit consent to
By taking forward travel state as an example, for each gear, the control for the state that moves forward and backward is just the same, simply a control advance valve,
One control retreats valve；Under closed-loop case, when external world's load is very big, by adjusting electric current adjust automatically torque output, until
Reach an equalization point（Refer to the maximal rate that current working can reach）Or peak torque, this certain process need to be in engine
Carried out during maximum (top) speed 2000rpm.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, on the premise of the technology of the present invention principle is not departed from, some improvement and deformation can also be made, these improve and deformed
Also it should be regarded as protection scope of the present invention.
Claims (9)
1. a kind of wheel-type spreading machine running gear, including master controller, it is characterized in that, described master controller respectively with current potential
Device, traveling pump are connected with running motor, and described potentiometer includes manual governing potentiometer and pedal speed-adjusting potentiometer, described
Manual governing potentiometer be connected with the shelves that pave, described pedal speed-adjusting potentiometer is connected with traveling shelves.
2. a kind of wheel-type spreading machine running gear according to claim 1, it is characterized in that, described traveling pump and walking horse
Proportion magnetic valve is provided between reaching, described proportion magnetic valve is connected with described master controller.
3. a kind of wheel-type spreading machine running gear according to claim 1, it is characterized in that, described master controller passes through row
Motor magnetic valve is walked with described running motor to be connected.
4. a kind of wheel-type spreading machine running gear according to claim 1, it is characterized in that, described master controller and diesel oil
Machine controller is connected, and described diesel engine controller is connected with engine, and described engine is connected with traveling pump.
5. a kind of wheel-type spreading machine running gear according to claim 1, it is characterized in that, described master controller and diesel oil
Machine controller is connected, and described diesel engine controller is connected with throttle potentiometer, described throttle potentiometer with it is described
Master controller is connected.
6. a kind of wheel-type spreading machine running gear according to claim 4 or 5, it is characterized in that, described master controller with
It is connected between diesel engine controller by CAN.
7. a kind of wheel-type spreading machine running gear according to claim 1, it is characterized in that, described master controller and display
Device is connected by CAN.
8. a kind of control method of wheel-type spreading machine running gear, it is characterized in that, according to the relation of input and output, make potentiometer
The velocity amplitude that the electric current of input value 0.5V ~ 4.5V corresponding speeds minimum value ~ speed maximum, pump and motor is as needed is voluntarily adjusted
Section, regulation process comprises the following steps：
（1）Controller judges the current value situation when front pump and motor, and the electricity when front pump and motor is re-recorded down after the completion of regulation
Flow valuve state；
（2）Speed is from small toward increasing the added-time, and the electric current for first adjusting pump changes from small to big, and then keeps, then adjust the electric current of motor by
It is small to arrive big；
（3）Speed reduces from big toward the electric current for during small reduction, first adjusting motor, then adjusts the electric current reduction of pump.
9. a kind of control method of wheel-type spreading machine running gear according to claim 8, it is characterized in that, the pump and horse
Detailed process up to the regulation of electric current is：
（1）Admission velocity closed loop states, the minimum value of potentiometer to the minimum value of maximum corresponding speed to maximum, minimum value
Demarcation is both needed to maximum；
（2）Rotational potentiometer, gathers way to V, PID control, the electric current of pump from small toward big increase, still reached to during to maximum less than
Setting speed, motor current is again from small toward big increase；
（3）When pump and maximum motor current, if VIt is real≥VIf, then rotational potentiometer, reduces speed to V, PID control is first tieed up
Hold pump electric current constant, reduce motor current, if motor current 0, then reduce pump electric current, wait new potentiometer value；
（4）If VIt is real<VIf, and without departing from deviation dead band 2m/min, then pump and motor maximum current are maintained, wait new potentiometer
Value；
（5）If beyond deviation dead band 2m/min, but diesel engine speed≤1900rpm, then default user need not enter moment of torsion
Adaptive model, maintains pump and motor current, waits new potentiometer value；Display provides prompting and " please improve engine to turn simultaneously
Speed is to obtain more large driving force "；
（6）If diesel engine speed>1900rpm, paver is in forward travel state, into moment of torsion adaptive model；When the external world is negative
When carrying very big, user's setting does not enter moment of torsion adaptive model, and user finds an equalization point by adjusting potentiometer manually；
（7）Into after moment of torsion adaptive model, pump electric current remains maximum, and motor current gradually decreases to 0, to obtain before maximum
Enter power；Peak torque prompt message, which occurs, in display " automatically into peak torque pattern, to be turned potentiometer value down and will move out this
State "；
（8）If potentiometer value changes, and VIt is real<VIf, VIf—VIt is real≤ 2m/min, or VIt is real≥VIf, then it is loop-like into normal speed
State；If VIf—VIt is real>2m/min, then maintain the state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299923.5A CN106958182B (en) | 2017-04-28 | 2017-04-28 | Wheeled paver traveling system and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710299923.5A CN106958182B (en) | 2017-04-28 | 2017-04-28 | Wheeled paver traveling system and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106958182A true CN106958182A (en) | 2017-07-18 |
| CN106958182B CN106958182B (en) | 2022-09-02 |
Family
ID=59484263
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710299923.5A Active CN106958182B (en) | 2017-04-28 | 2017-04-28 | Wheeled paver traveling system and control method thereof |
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| Country | Link |
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| CN (1) | CN106958182B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108121348A (en) * | 2018-02-09 | 2018-06-05 | 徐工集团工程机械有限公司 | Travel speed control method, device, system and engineering machinery |
| CN108194217A (en) * | 2017-12-26 | 2018-06-22 | 徐工集团工程机械股份有限公司 | A kind of method for controlling number of revolution of paver diesel engine |
| CN115217017A (en) * | 2022-07-18 | 2022-10-21 | 潍柴动力股份有限公司 | Speed control method, device and equipment for road roller and storage medium |
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| US20110126533A1 (en) * | 2009-11-30 | 2011-06-02 | Joseph Vogele Ag | Method for closed-loop power control of a road finishing machine or feeder and a road finishing machine or feeder comprising the same |
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| DE3911401C1 (en) * | 1989-04-07 | 1990-03-01 | Joseph Voegele Ag, 6800 Mannheim, De | |
| US20110126533A1 (en) * | 2009-11-30 | 2011-06-02 | Joseph Vogele Ag | Method for closed-loop power control of a road finishing machine or feeder and a road finishing machine or feeder comprising the same |
| CN204139028U (en) * | 2014-04-24 | 2015-02-04 | 徐州工业职业技术学院 | A kind of rubber-tyred paver drive-control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108194217A (en) * | 2017-12-26 | 2018-06-22 | 徐工集团工程机械股份有限公司 | A kind of method for controlling number of revolution of paver diesel engine |
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| CN108121348B (en) * | 2018-02-09 | 2023-10-10 | 江苏徐工工程机械研究院有限公司 | Running speed control method, device, system and engineering machinery |
| CN115217017A (en) * | 2022-07-18 | 2022-10-21 | 潍柴动力股份有限公司 | Speed control method, device and equipment for road roller and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106958182B (en) | 2022-09-02 |
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