CN107178024A - Supporting leg lift control system and method and engineering machinery - Google Patents
Supporting leg lift control system and method and engineering machinery Download PDFInfo
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- CN107178024A CN107178024A CN201610209438.XA CN201610209438A CN107178024A CN 107178024 A CN107178024 A CN 107178024A CN 201610209438 A CN201610209438 A CN 201610209438A CN 107178024 A CN107178024 A CN 107178024A
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- supporting leg
- elongation
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- leg
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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
- E01C19/02—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 preparing the materials
- E01C19/10—Apparatus or plants for premixing or precoating aggregate or fillers with non-hydraulic binders, e.g. with bitumen, with resins, i.e. producing mixtures or coating aggregates otherwise than by penetrating or surface dressing; Apparatus for premixing non-hydraulic mixtures prior to placing or for reconditioning salvaged non-hydraulic compositions
- E01C19/1004—Reconditioning or reprocessing bituminous mixtures, e.g. salvaged paving, fresh patching mixtures grown unserviceable; Recycling salvaged bituminous mixtures; Apparatus for the in-plant recycling thereof
-
- 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
- E01C19/02—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 preparing the materials
- E01C19/10—Apparatus or plants for premixing or precoating aggregate or fillers with non-hydraulic binders, e.g. with bitumen, with resins, i.e. producing mixtures or coating aggregates otherwise than by penetrating or surface dressing; Apparatus for premixing non-hydraulic mixtures prior to placing or for reconditioning salvaged non-hydraulic compositions
- E01C19/1059—Controlling the operations; Devices solely for supplying or proportioning the ingredients
- E01C19/1063—Controlling the operations
-
- 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
- E01C19/02—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 preparing the materials
- E01C19/10—Apparatus or plants for premixing or precoating aggregate or fillers with non-hydraulic binders, e.g. with bitumen, with resins, i.e. producing mixtures or coating aggregates otherwise than by penetrating or surface dressing; Apparatus for premixing non-hydraulic mixtures prior to placing or for reconditioning salvaged non-hydraulic compositions
- E01C19/1059—Controlling the operations; Devices solely for supplying or proportioning the ingredients
-
- 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
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
Abstract
The invention discloses a kind of supporting leg lift control system and method and engineering machinery, it is related to control technology field, wherein, system includes：Linear transducer, the elongation for each supporting leg of work machine；Controller, the lifting speed for controlling each supporting leg according to the elongation of each supporting leg.The embodiment of the present invention controls the lifting speed of supporting leg according to the elongation of supporting leg, overall engineering machine can steadily be lifted, reduce between supporting leg, supporting leg and engineering machinery in itself between collision.
Description
Technical field
The present invention relates to control technology field, especially a kind of supporting leg lift control system and method,
And engineering machinery.
Background technology
Cold regenerative machine is complete to the old pavement structure sheaf including surface layer and part basic unit at normal temperatures
The operation process such as milling and broken, addition regrown material, mix are carried out, paves, roll, so that
Re-form the engineering machinery of the structure sheaf with certain bearing capacity.Asphalt pavement regeneration and tradition
Asphalt pavement maintenance mode compare, the raw material such as substantial amounts of pitch, sandstone can be saved, save
Construction investment, while being conducive to waste disposal and environmental protection, with significant economic benefit and society
Can benefit.
Cold regenerative machine equipment has four supporting legs to control the height of vehicle body, and is needed in work progress
Control construction depth is highly often adapted to facilitate to fuselage.In equipment construction, it is necessary to logical
The height of four supporting legs of reduction is crossed so that cold regenerative machine milling control section gos deep into ground to meet road surface
Construction requirement；During equipment construction transition, it is necessary to by raise four supporting legs height so that
Cold regenerative machine milling is partially disengaged ground in order to which transition is walked, therefore the lifting control of cold regenerative machine supporting leg
System processed is extremely important for improving efficiency of construction.Cold regenerative machine supporting leg lift control system be it is cold again
Very important link in life work progress, supporting leg is lifted during four supporting leg elevating controls
Speed influence cold regenerative machine construction and transition efficiency, and the coordination elevating control of four supporting legs can shadow
The stationarity of vehicle body is rung, and it is most important to the security performance of complete machine.
The content of the invention
One purpose of the embodiment of the present invention is：There is provided a kind of supporting leg lift control system and method,
And engineering machinery, to realize the steady lifting of engineering machinery.
According to an aspect of the present invention there is provided a kind of supporting leg lift control system, including：
Linear transducer, the elongation for each supporting leg of work machine；
Controller, the lifting speed for controlling each supporting leg according to the elongation of each supporting leg.
In one embodiment, the controller includes：
Computing unit, the average elongation amount for the lengthening variable supporting leg according to each supporting leg；
Control unit, the average elongation amount control for the elongation according to each supporting leg and supporting leg is every
The lifting speed of individual supporting leg.
In one embodiment, in the elongation L of i-th of supporting legiMeet | Li-Ls|≤M situation
Under, described control unit controls i-th of supporting leg with First Speed V1Rise or fall, wherein, Ls
For the average elongation amount of whole supporting legs, M is preset value, and 1≤i≤N, N is supporting leg sum.
In one embodiment, when supporting leg rises：
In the elongation L of i-th of supporting legiMeet Ls+M<Li≤K1×LimaxIn the case of, institute
State control unit and control i-th of supporting leg with second speed V2Rise, wherein, 0.9≤K1<1,
LimaxFor the maximal tensility of i-th of supporting leg；
In the elongation L of i-th of supporting legiMeet K1×Limax<Li<LimaxIn the case of, it is described
Control unit controls i-th of supporting leg with third speed V3Rise；
In the elongation L of i-th of supporting legiMeet 0<Li<LsIn the case of-M, described control unit
I-th of supporting leg is controlled with fourth speed V4Rise；
Wherein, V4>V1>V2>V3。
In one embodiment, when supporting leg declines：
In the elongation L of i-th of supporting legiMeet K2×Limax≤Li<LsIt is described in the case of-M
Control unit controls i-th of supporting leg with the 5th speed V5Decline, wherein, 0<K2≤ 0.1, Limax
For the maximal tensility of i-th of supporting leg；
In the elongation L of i-th of supporting legiMeet 0<Li<K2×LimaxIn the case of, the control
Unit controls i-th of supporting leg with the 6th speed V6Decline；
In the elongation L of i-th of supporting legiMeet Li>LsIn the case of+M, described control unit
I-th of supporting leg is controlled with the 7th speed V7Decline；
Wherein, V7>V1>V5>V6。
In one embodiment, the maximal tensility all same of whole supporting legs.
In one embodiment, 0.01Limax≤M≤0.05Limax。
In one embodiment, in addition to：It is arranged on the magnetic valve on each supporting leg oil circuit；It is described
Control unit by control magnetic valve by electric current to control the lifting speed of respective leg.
In one embodiment, the magnetic valve includes rising magnetic valve and declines magnetic valve；
Described control unit by control to rise magnetic valve by electric current to control the upper of respective leg
Lifting speed；
Described control unit by control to decline magnetic valve by electric current to control under respective leg
Reduction of speed degree.
According to another aspect of the present invention there is provided a kind of engineering machinery, including：It is above-mentioned any one
Supporting leg lift control system described in embodiment.
In one embodiment, the engineering machinery includes cold regenerative machine.
According to another aspect of the invention there is provided a kind of supporting leg lift control method, including：
Utilize the elongation of each supporting leg of linear transducer work machine；
The lifting speed of each supporting leg is controlled according to the elongation of each supporting leg.
In one embodiment, the elongation of each supporting leg of the basis controls the lifting of each supporting leg
Speed includes：
According to the average elongation amount of the lengthening variable supporting leg of each supporting leg；
The lifting speed of each supporting leg is controlled according to the average elongation amount of the elongation of each supporting leg and supporting leg
Degree.
In one embodiment, the average elongation amount of the elongation of each supporting leg of the basis and supporting leg
Controlling the lifting speed of each supporting leg includes：
In the elongation L of i-th of supporting legiMeet | Li-Ls| in the case of≤M, control i-th
Leg is with First Speed V1Rise or fall, wherein, LsFor the average elongation amount of whole supporting legs, M
For preset value, 1≤i≤N, N is supporting leg sum.
In one embodiment, when supporting leg rises, the elongation and branch of each supporting leg of basis
The average elongation amount of leg controls the lifting speed of each supporting leg to include：
In the elongation L of i-th of supporting legiMeet Ls+M<Li≤K1×LimaxIn the case of, control
I-th of supporting leg is made with second speed V2Rise, wherein, 0.9≤K1<1, LimaxFor i-th
The maximal tensility of leg；
In the elongation L of i-th of supporting legiMeet K1×Limax<Li<LimaxIn the case of, control
I-th of supporting leg is with third speed V3Rise；
In the elongation L of i-th of supporting legiMeet 0<Li<LsIn the case of-M, i-th is controlled
Leg is with fourth speed V4Rise；
Wherein, V4>V1>V2>V3。
In one embodiment, when supporting leg declines, the elongation and branch of each supporting leg of basis
The average elongation amount of leg controls the lifting speed of each supporting leg to include：
In the elongation L of i-th of supporting legiMeet K2×Limax≤Li<LsIn the case of-M, control
I-th of supporting leg is with the 5th speed V5Decline, wherein, 0<K2≤ 0.1, LimaxFor i-th of supporting leg
Maximal tensility；
In the elongation L of i-th of supporting legiMeet 0<Li<K2×LimaxIn the case of, control i-th
Individual supporting leg is with the 6th speed V6Decline；
In the elongation L of i-th of supporting legiMeet Li>LsIn the case of+M, i-th of supporting leg is controlled
With the 7th speed V7Decline；
Wherein, V7>V1>V5>V6。
In one embodiment, the maximal tensility all same of whole supporting legs.
In one embodiment, 0.01Limax≤M≤0.05Limax。
In one embodiment, the average elongation amount of the elongation of each supporting leg of the basis and supporting leg
Controlling the lifting speed of each supporting leg includes：
According to the average elongation amount of the elongation of each supporting leg and supporting leg, it is arranged on by control each
Magnetic valve on supporting leg oil circuit by electric current to control the lifting speed of respective leg.
In one embodiment, the magnetic valve includes rising magnetic valve and declines magnetic valve；
It is described by the magnetic valve that controls to be arranged on each supporting leg oil circuit by electric current to control phase
Answering the lifting speed of supporting leg includes：
By control to rise magnetic valve by electric current to control the rate of climb of respective leg；
By control to decline magnetic valve by electric current to control the decrease speed of respective leg.
The lifting speed of supporting leg is controlled the embodiments of the invention provide a kind of elongation according to supporting leg
Scheme, specifically, the elongation of each supporting leg is detected by linear transducer, then basis
The elongation of each supporting leg that linear transducer is detected controls the lifting speed of each supporting leg, from
And can make it that overall engineering machine is steadily lifted, reduce between supporting leg, supporting leg and engineering machinery sheet
Collision between body.
Below by drawings and examples, technical scheme is done and further retouched in detail
State.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will
The required accompanying drawing used in embodiment or description of the prior art is briefly described, it is clear that
Ground, drawings in the following description are only some embodiments of the present invention, for the common skill in this area
For art personnel, without having to pay creative labor, it can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the structural representation of supporting leg lift control system one embodiment of the present invention；
Fig. 2 is the structural representation of another embodiment of supporting leg lift control system of the present invention；
Fig. 3 is the schematic diagram that supporting leg lift control system control supporting leg of the present invention rises；
Fig. 4 is the schematic diagram that supporting leg lift control system control supporting leg of the present invention declines；
Fig. 5 is the structural representation of another embodiment of supporting leg lift control system of the present invention；
Fig. 6 is the schematic flow sheet of supporting leg lift control method one embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention
It is clearly and completely described, it is clear that described embodiment is only that a part of the invention is real
Apply example, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to this
Invent the scope of protection.
Unless specifically stated otherwise, the part and the phase of step otherwise illustrated in these embodiments
Arrangement, numerical expression and numerical value are not limited the scope of the invention.
Simultaneously, it should be appreciated that for the ease of description, the chi of the various pieces shown in accompanying drawing
Very little is not to be drawn according to actual proportionate relationship.
It may not make in detail for technology, method and apparatus known to person of ordinary skill in the relevant
It is thin to discuss, but in the appropriate case, the technology, method and apparatus, which should be considered as authorizing, to be said
A part for bright book.
In shown here and discussion all examples, any occurrence should be construed as merely
Exemplary, not as limitation.Therefore, the other examples of exemplary embodiment can have
There are different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, because
This, once be defined in a certain Xiang Yi accompanying drawing, then need not be to it in subsequent accompanying drawing
It is further discussed.
Fig. 1 is the structural representation of supporting leg lift control system one embodiment of the present invention.Such as Fig. 1
Shown, the supporting leg lift control system of the embodiment can include linear transducer 101 and controller
102.Linear transducer 101 can be arranged in the oil cylinder of each supporting leg of engineering machinery, be used for
The elongation of each supporting leg of work machine.In one embodiment, linear transducer 101
For example can be MTS linear transducers.Controller 102 is used for the elongation according to each supporting leg
Control the lifting speed of each supporting leg.
Above-mentioned engineering machinery can for example include but is not limited to cold rise machine again.For different engineering machines
For tool, the quantity of supporting leg may be also different, and in one embodiment, supporting leg at least includes
Two.For cold regenerative machine, it includes four supporting legs, therefore, it can utilize four length
Sensor detects the elongation of four supporting legs respectively.Controller can be according to the elongations of four supporting legs
Measure to control the lifting speed of each supporting leg.
In actual applications, linear transducer 101 can be after the elongation of each supporting leg be detected
Controller 102 is sent it to, or controller 102 reads each length according to predetermined period and passed
The elongation for the supporting leg that sensor 101 is detected.
A kind of elongation according to supporting leg is present embodiments provided to control the side of the lifting speed of supporting leg
Case, specifically, the elongation of each supporting leg is detected by linear transducer, then according to length
The elongation of each supporting leg that sensor is detected controls the lifting speed of each supporting leg, so as to
To cause overall engineering machine steadily to lift, reduce between supporting leg, supporting leg and engineering machinery in itself it
Between collision.
It should be noted that controller noted above is that can be realized by way of hardware, for example may be used
To be realized by controlling circuit, it can also be realized by way of software, for example, pass through program
To realize.
Fig. 2 is the structural representation of another embodiment of supporting leg lift control system of the present invention.As schemed
Shown in 2, the controller 102 in the embodiment can include computing unit 112 and control unit
122.Computing unit 112 is used for the average elongation of the lengthening variable supporting leg according to each supporting leg
Amount；Control unit 122 is used to be controlled according to the elongation of each supporting leg and the average elongation amount of supporting leg
The lifting speed of each supporting leg.Control unit 122 can by the relatively elongation of each supporting leg with
The difference of the average elongation amount of supporting leg controls the lifting speed of each supporting leg, for example, on supporting leg
When rising, if the elongation of some supporting leg is less than the average elongation amount of supporting leg, the branch can be controlled
The rate of climb increase of leg, so as to be risen with comparatively faster speed, so as to ensure whole supporting legs
Elongation is as identical as possible；If the elongation of some supporting leg is more than the average elongation amount of supporting leg,
The rate of climb of the supporting leg can be controlled to reduce, so as to rise at relatively slow speeds, so as to protect
The elongation of the whole supporting legs of card is as identical as possible.
In the present embodiment, first according to the average elongation amount of the lengthening variable supporting leg of each supporting leg,
Then the liter of each supporting leg can be determined according to the average elongation amount of the elongation of each supporting leg and supporting leg
Reduction of speed degree, can cause whole supporting legs the lifting speed that controls each supporting leg in this manner
Elongation is as identical as possible, so that it is guaranteed that engineering machinery is steadily lifted.
Control unit 122 can be according to the elongation of each supporting leg and the difference of the average elongation amount of supporting leg
The difference of value determines the lifting speed of each supporting leg, does specifically below in conjunction with Fig. 3 and Fig. 4
It is bright.
Fig. 3 is the schematic diagram that supporting leg lift control system control supporting leg of the present invention rises.Fig. 4 is this
The schematic diagram that invention supporting leg lift control system control supporting leg declines.
In one embodiment, referring to Fig. 3 and Fig. 4, in the elongation L of i-th of supporting legiMeet
|Li-Ls| in the case of≤M, control unit can control i-th of supporting leg with First Speed V1Rise
Or decline.Wherein, LsFor the average elongation amount of whole supporting legs；1≤i≤N, N are that supporting leg is total
Number.M is preset value, and it can be determined according to control accuracy, in one embodiment, M
It can be determined according to the maximal tensility of supporting leg.Preferably, M span can be
0.01Limax≤M≤0.05Limax, LimaxFor the maximal tensility of i-th of supporting leg.In a reality
Apply in example, the maximal tensility of whole supporting legs can be with all same, i.e., for different supporting legs, Limax
For a constant.
In the present embodiment, when supporting leg elongation and supporting leg average elongation amount difference in default model
When enclosing interior, for example difference comparsion is small, i.e., the average elongation amount of the elongation of supporting leg and supporting leg is approached
When, supporting leg can be controlled to be lifted with some pre-set velocity.
Illustrate the control of the rate of climb when supporting leg rises to supporting leg with reference to Fig. 3.Such as Fig. 3
It is shown, in the elongation L of i-th of supporting legiMeet Ls+M<Li≤K1×LimaxIn the case of,
Control unit controls i-th of supporting leg with second speed V2Rise, wherein, 0.9≤K1<1, Limax
For the maximal tensility of i-th of supporting leg；In the elongation L of i-th of supporting legiMeet K1×
Limax<Li<LimaxIn the case of, control unit controls i-th of supporting leg with third speed V3On
Rise；In the elongation L of i-th of supporting legiMeet 0<Li<LsIn the case of-M, control unit control
I-th of supporting leg is with fourth speed V4Rise；Wherein, V4>V1>V2>V3.In addition, in LiIt is full
Sufficient Li=LimaxIn the case of, control unit controls i-th of supporting leg stop motion, to reduce hydraulic pressure
Impact of the system to supporting leg.
Illustrate the control of the decrease speed when supporting leg declines to supporting leg with reference to Fig. 4.Such as Fig. 4
It is shown, in the elongation L of i-th of supporting legiMeet K2×Limax≤Li<LsIn the case of-M, control
Unit processed controls i-th of supporting leg with the 5th speed V5Decline, wherein, 0<K2≤ 0.1, LimaxFor
The maximal tensility of i-th of supporting leg；In the elongation L of i-th of supporting legiMeet 0<Li<K2×
LimaxIn the case of, control unit controls i-th of supporting leg with the 6th speed V6Decline；At i-th
The elongation L of supporting legiMeet Li>LsIn the case of+M, control unit control i-th of supporting leg with
7th speed V7Decline；Wherein, V7>V1>V5>V6.In addition, in LiMeet Li=0 feelings
Under condition, control unit controls i-th of supporting leg stop motion, to reduce the loss of energy.
It should be noted that the control of the supporting leg lifting speed shown in Fig. 3 and Fig. 4 is included to
The elongation L of i supporting legiSize multiple judgements, for example, in figure 3, first judging LiIt is
It is no to meet | Li-Ls|≤M, then judge LiWhether 0 is met<Li<Ls- M, then judges LiIt is whether full
Sufficient Ls+M<Li≤K1×Limax.It should be understood that the judgement order shown in Fig. 3 and Fig. 4 is only to show
Example property, the scope being not intended to limit the invention.In actual applications, can be according to actual feelings
Condition adjusts the sequencing of multiple judgements.
Fig. 5 is the structural representation of another embodiment of supporting leg lift control system of the present invention.Fig. 5
In schematically show situation of the supporting leg including four supporting legs, correspondingly, linear transducer is also wrapped
Include four, respectively the first linear transducer 111, the second linear transducer 121, the 3rd length
The linear transducer 141 of sensor 131 and the 4th, four sensors can be separately positioned on first
Leg oil cylinder 14, the second support oil cylinder 15, the 3rd support oil cylinder 16 and the 4th support oil cylinder 17
It is interior.The supporting leg lift control system of the embodiment also includes the hydraulic pressure being arranged on each supporting leg oil circuit
System (not shown), can be provided with magnetic valve (the first magnetic valve on the oil circuit of hydraulic system
501st, the second magnetic valve 502, the 3rd magnetic valve 503 and the 4th magnetic valve 504).Control unit
Can be by controlling the lifting speed that respective leg is controlled by electric current of magnetic valve.
As a specific embodiment, magnetic valve can include rising magnetic valve and decline magnetic valve.
Referring to Fig. 5, the first magnetic valve 501 includes first and rises the decline magnetic valve of magnetic valve 511 and first
521, the second magnetic valve 502 includes second and rises the decline magnetic valve 522 of magnetic valve 512 and second,
3rd magnetic valve 503 includes the 3rd and rises the decline magnetic valve 523 of magnetic valve 513 and the 3rd, the 4th
Magnetic valve 504 includes the 4th and rises the decline magnetic valve 524 of magnetic valve 514 and the 4th.The embodiment
In, control unit can control the upper of respective leg by electric current by control rising magnetic valve
Lifting speed；By control to decline magnetic valve by electric current to control the decrease speed of respective leg.
Present invention also offers a kind of engineering machinery, including：Described in any one above-mentioned embodiment
Supporting leg lift control system.Engineering machinery can include but is not limited to cold regenerative machine.
Fig. 6 is the schematic flow sheet of supporting leg lift control method one embodiment of the present invention.Such as Fig. 6
It is shown, including：
Step 602, using linear transducer work machine each supporting leg elongation；
Step 604, the lifting speed of each supporting leg is controlled according to the elongation of each supporting leg.
The present embodiment detects the elongation of each supporting leg by linear transducer, then according to length
The elongation of each supporting leg that sensor is detected controls the lifting speed of each supporting leg, so as to
To cause overall engineering machine steadily to lift, reduce between supporting leg, supporting leg and engineering machinery in itself it
Between collision.
In a specific embodiment, above-mentioned steps 604 can be realized in the following way：Root
According to the average elongation amount of the lengthening variable supporting leg of each supporting leg；According to the elongation of each supporting leg with
The average elongation amount of supporting leg controls the lifting speed of each supporting leg, for example, can be by relatively more each
The difference of the elongation of supporting leg and the average elongation amount of supporting leg controls the lifting speed of each supporting leg.
In one embodiment, it can be led to according to the elongation and the average elongation amount of supporting leg of each supporting leg
Cross the magnetic valve that control is arranged on each supporting leg oil circuit by electric current to control the liter of respective leg
Reduction of speed degree.Further, magnetic valve can include rising magnetic valve and decline magnetic valve；It can lead to
Cross control rise magnetic valve by electric current to control the rate of climb of respective leg；By under control
Drop magnetic valve by electric current to control the decrease speed of respective leg.
In the present embodiment, first according to the average elongation amount of the lengthening variable supporting leg of each supporting leg,
Then the liter of each supporting leg can be determined according to the average elongation amount of the elongation of each supporting leg and supporting leg
Reduction of speed degree, can cause whole supporting legs the lifting speed that controls each supporting leg in this manner
Elongation is as identical as possible, so that it is guaranteed that engineering machinery is steadily lifted.
In actual applications, can be according to the average elongation amount of the elongation of each supporting leg and supporting leg
The difference of difference determines the lifting speed of each supporting leg, below will elaborate respectively.
In one embodiment, in the elongation L of i-th of supporting legiMeet | Li-Ls|≤M situation
Under, i-th of supporting leg can be controlled with First Speed V1Rise or fall, wherein, LsFor whole
The average elongation amount of supporting leg, M is preset value, and 1≤i≤N, N is supporting leg sum.In a reality
Apply in example, M can be determined according to the maximal tensility of supporting leg.Preferably, M value model
It can be 0.01L to encloseimax≤M≤0.05Limax, LimaxFor the maximal tensility of i-th of supporting leg.
Illustrate the control of the rate of climb when supporting leg rises to supporting leg below.
In one embodiment, when supporting leg rises, the elongation and branch of the above-mentioned each supporting leg of basis
The step of average elongation amount of leg controls the lifting speed of each supporting leg can include：
In the elongation L of i-th of supporting legiMeet Ls+M<Li≤K1×LimaxIn the case of, control
I-th of supporting leg is made with second speed V2Rise, wherein, 0.9≤K1<1, LimaxFor i-th
The maximal tensility of leg；
In the elongation L of i-th of supporting legiMeet K1×Limax<Li<LimaxIn the case of, control
I-th of supporting leg is with third speed V3Rise；
In the elongation L of i-th of supporting legiMeet 0<Li<LsIn the case of-M, i-th is controlled
Leg is with fourth speed V4Rise；
Wherein, V4>V1>V2>V3。
Illustrate the control of the decrease speed when supporting leg declines to supporting leg below.
In one embodiment, when supporting leg declines, the elongation and branch of the above-mentioned each supporting leg of basis
The step of average elongation amount of leg controls the lifting speed of each supporting leg can include：
In the elongation L of i-th of supporting legiMeet K2×Limax≤Li<LsIn the case of-M, control
I-th of supporting leg is with the 5th speed V5Decline, wherein, 0<K2≤ 0.1, LimaxFor i-th of supporting leg
Maximal tensility；
In the elongation L of i-th of supporting legiMeet 0<Li<K2×LimaxIn the case of, control i-th
Individual supporting leg is with the 6th speed V6Decline；
In the elongation L of i-th of supporting legiMeet Li>LsIn the case of+M, i-th of supporting leg is controlled
With the 7th speed V7Decline；
Wherein, V7>V1>V5>V6。
The embodiment of each in this specification is described by the way of progressive, and each embodiment emphasis is said
Bright is all same or analogous part between the difference with other embodiments, each embodiment
Cross-reference.For embodiment of the method, because it is substantially corresponding with system embodiment,
So description is fairly simple, the relevent part can refer to the partial explaination of embodiments of method.
One of ordinary skill in the art will appreciate that：Realize all or part of above method embodiment
Step can be completed by the related hardware of programmed instruction, and foregoing program can be stored in a meter
In calculation machine read/write memory medium, upon execution, execution includes above method embodiment to the program
Step；And foregoing storage medium includes：ROM, RAM, magnetic disc or CD etc. are various can
With the medium of store program codes.
Description of the invention is provided for the sake of example and description, and is not exhaustively
Or limit the invention to disclosed form.Common skill of many modifications and variations for this area
It is obvious for art personnel.Selection and description embodiment be in order to more preferably illustrate the present invention principle
And practical application, and make one of ordinary skill in the art it will be appreciated that the present invention is so as to design suitable
In the various embodiments with various modifications of special-purpose.
Claims (20)
1. a kind of supporting leg lift control system, it is characterised in that including：
Linear transducer, the elongation for each supporting leg of work machine；
Controller, the lifting speed for controlling each supporting leg according to the elongation of each supporting leg.
2. system according to claim 1, it is characterised in that the controller includes：
Computing unit, the average elongation amount for the lengthening variable supporting leg according to each supporting leg；
Control unit, the average elongation amount control for the elongation according to each supporting leg and supporting leg is every
The lifting speed of individual supporting leg.
3. system according to claim 2, it is characterised in that
In the elongation L of i-th of supporting legiMeet | Li-Ls| in the case of≤M, described control unit
I-th of supporting leg is controlled with First Speed V1Rise or fall, wherein, LsFor the flat of whole supporting legs
Equal elongation, M is preset value, and 1≤i≤N, N is supporting leg sum.
4. system according to claim 3, it is characterised in that when supporting leg rises：
In the elongation L of i-th of supporting legiMeet Ls+M<Li≤K1×LimaxIn the case of, institute
State control unit and control i-th of supporting leg with second speed V2Rise, wherein, 0.9≤K1<1,
LimaxFor the maximal tensility of i-th of supporting leg；
In the elongation L of i-th of supporting legiMeet K1×Limax<Li<LimaxIn the case of, it is described
Control unit controls i-th of supporting leg with third speed V3Rise；
In the elongation L of i-th of supporting legiMeet 0<Li<LsIn the case of-M, described control unit
I-th of supporting leg is controlled with fourth speed V4Rise；
Wherein, V4>V1>V2>V3。
5. system according to claim 3, it is characterised in that when supporting leg declines：
In the elongation L of i-th of supporting legiMeet K2×Limax≤Li<LsIt is described in the case of-M
Control unit controls i-th of supporting leg with the 5th speed V5Decline, wherein, 0<K2≤ 0.1, Limax
For the maximal tensility of i-th of supporting leg；
In the elongation L of i-th of supporting legiMeet 0<Li<K2×LimaxIn the case of, the control
Unit controls i-th of supporting leg with the 6th speed V6Decline；
In the elongation L of i-th of supporting legiMeet Li>LsIn the case of+M, described control unit
I-th of supporting leg is controlled with the 7th speed V7Decline；
Wherein, V7>V1>V5>V6。
6. the system according to claim 4 or 5, it is characterised in that whole supporting legs are most
Big elongation all same.
7. the system according to claim 3-5 any one, it is characterised in that
0.01Limax≤M≤0.05Limax。
8. system according to claim 2, it is characterised in that also include：It is arranged on every
Magnetic valve on individual supporting leg oil circuit；
Described control unit by control magnetic valve by electric current to control the lifting speed of respective leg
Degree.
9. system according to claim 8, it is characterised in that the magnetic valve includes upper
Rise magnetic valve and decline magnetic valve；
Described control unit by control to rise magnetic valve by electric current to control the upper of respective leg
Lifting speed；
Described control unit by control to decline magnetic valve by electric current to control under respective leg
Reduction of speed degree.
10. a kind of engineering machinery, it is characterised in that including：Claim 1-9 any one institute
The supporting leg lift control system stated.
11. engineering machinery according to claim 10, it is characterised in that the engineering machine
Tool includes cold regenerative machine.
12. a kind of supporting leg lift control method, it is characterised in that including：
Utilize the elongation of each supporting leg of linear transducer work machine；
The lifting speed of each supporting leg is controlled according to the elongation of each supporting leg.
13. method according to claim 12, it is characterised in that the basis is each propped up
The elongation of leg controls the lifting speed of each supporting leg to include：
According to the average elongation amount of the lengthening variable supporting leg of each supporting leg；
The lifting speed of each supporting leg is controlled according to the average elongation amount of the elongation of each supporting leg and supporting leg
Degree.
14. method according to claim 13, it is characterised in that the basis is each propped up
The elongation of leg and the average elongation amount of supporting leg control the lifting speed of each supporting leg to include：
In the elongation L of i-th of supporting legiMeet | Li-Ls| in the case of≤M, control i-th
Leg is with First Speed V1Rise or fall, wherein, LsFor the average elongation amount of whole supporting legs, M
For preset value, 1≤i≤N, N is supporting leg sum.
15. method according to claim 14, it is characterised in that when supporting leg rises,
The elongation of each supporting leg of basis and the average elongation amount of supporting leg control the lifting speed of each supporting leg
Degree includes：
In the elongation L of i-th of supporting legiMeet Ls+M<Li≤K1×LimaxIn the case of, control
I-th of supporting leg is made with second speed V2Rise, wherein, 0.9≤K1<1, LimaxFor i-th
The maximal tensility of leg；
In the elongation L of i-th of supporting legiMeet K1×Limax<Li<LimaxIn the case of, control
I-th of supporting leg is with third speed V3Rise；
In the elongation L of i-th of supporting legiMeet 0<Li<LsIn the case of-M, i-th is controlled
Leg is with fourth speed V4Rise；
Wherein, V4>V1>V2>V3。
16. method according to claim 14, it is characterised in that when supporting leg declines,
The elongation of each supporting leg of basis and the average elongation amount of supporting leg control the lifting speed of each supporting leg
Degree includes：
In the elongation L of i-th of supporting legiMeet K2×Limax≤Li<LsIn the case of-M, control
I-th of supporting leg is with the 5th speed V5Decline, wherein, 0<K2≤ 0.1, LimaxFor i-th of supporting leg
Maximal tensility；
In the elongation L of i-th of supporting legiMeet 0<Li<K2×LimaxIn the case of, control i-th
Individual supporting leg is with the 6th speed V6Decline；
In the elongation L of i-th of supporting legiMeet Li>LsIn the case of+M, i-th of supporting leg is controlled
With the 7th speed V7Decline；
Wherein, V7>V1>V5>V6。
17. the method according to claim 15 or 16, it is characterised in that whole supporting legs
Maximal tensility all same.
18. the method according to claim 14-16 any one, it is characterised in that
0.01Limax≤M≤0.05Limax。
19. method according to claim 13, it is characterised in that the basis is each propped up
The elongation of leg and the average elongation amount of supporting leg control the lifting speed of each supporting leg to include：
According to the average elongation amount of the elongation of each supporting leg and supporting leg, it is arranged on by control each
Magnetic valve on supporting leg oil circuit by electric current to control the lifting speed of respective leg.
20. method according to claim 19, it is characterised in that the magnetic valve includes
Rise magnetic valve and decline magnetic valve；
It is described by the magnetic valve that controls to be arranged on each supporting leg oil circuit by electric current to control phase
Answering the lifting speed of supporting leg includes：
By control to rise magnetic valve by electric current to control the rate of climb of respective leg；
By control to decline magnetic valve by electric current to control the decrease speed of respective leg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610209438.XA CN107178024B (en) | 2016-04-06 | 2016-04-06 | Landing leg lifting control system and method and engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610209438.XA CN107178024B (en) | 2016-04-06 | 2016-04-06 | Landing leg lifting control system and method and engineering machinery |
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| Publication Number | Publication Date |
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| CN107178024A true CN107178024A (en) | 2017-09-19 |
| CN107178024B CN107178024B (en) | 2023-01-17 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101397770A (en) * | 2005-08-09 | 2009-04-01 | 三一重工股份有限公司 | Milling machine outrigger elevator apparatus and pavement milling machine using the same |
| CN102591371A (en) * | 2012-03-07 | 2012-07-18 | 三一电气有限责任公司 | Synchronous control method and device of four-leg oil cylinder |
| WO2014048034A1 (en) * | 2012-09-28 | 2014-04-03 | 湖南三一智能控制设备有限公司 | Leg control system and engineering machine |
-
2016
- 2016-04-06 CN CN201610209438.XA patent/CN107178024B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101397770A (en) * | 2005-08-09 | 2009-04-01 | 三一重工股份有限公司 | Milling machine outrigger elevator apparatus and pavement milling machine using the same |
| CN102591371A (en) * | 2012-03-07 | 2012-07-18 | 三一电气有限责任公司 | Synchronous control method and device of four-leg oil cylinder |
| WO2014048034A1 (en) * | 2012-09-28 | 2014-04-03 | 湖南三一智能控制设备有限公司 | Leg control system and engineering machine |
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|---|---|
| CN107178024B (en) | 2023-01-17 |
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