CN107780458A - A kind of Control System of Hydraulic Excavator based on CAN - Google Patents
A kind of Control System of Hydraulic Excavator based on CAN Download PDFInfo
- Publication number
- CN107780458A CN107780458A CN201610747487.9A CN201610747487A CN107780458A CN 107780458 A CN107780458 A CN 107780458A CN 201610747487 A CN201610747487 A CN 201610747487A CN 107780458 A CN107780458 A CN 107780458A
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- China
- Prior art keywords
- control
- control system
- sensor
- display
- pump pressure
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
Abstract
A kind of Control System of Hydraulic Excavator based on CAN, possesses the features such as system status monitoring, fault diagnosis and Throttle Opening Control, meets requirement of system design.The control system is stable and reliable for performance, and the CAN communication Throttle Opening Control speed error of success rate 100% is small, while control system design of hardware and software is easy, has very big engineering application value.
Description
Art
The present invention relates to a kind of Control System of Hydraulic Excavator based on CAN, suitable for mechanical field.
Background technology
It is commonly used with hydraulic crawler excavator, it is digitized and intelligent requirements also more and more higher.CAN
(controller area network) bus is German Bosch companies in early 1980s to solve in Hyundai Motor
Numerous controls and the data exchanges between tester and a kind of serial communication protocol for developing.It is it is a kind of support distributed AC servo system or
The serial communication network controlled in real time, transmission high speed, strong antijamming capability, and caused any mistake can be detected, in vehicle
Control field is used widely.But because filling sensor on board a dredger, actuator, controller, display equal distribution relatively point
Dissipate, therefore in electronic control, person works' efficiency and systematic function is evaluated preferably to develop skill.
The content of the invention
The present invention proposes a kind of Control System of Hydraulic Excavator based on CAN, possesses system status monitoring, failure
The features such as diagnosis and Throttle Opening Control, meet requirement of system design.The control system is stable and reliable for performance, and CAN communicates successfully
The Throttle Opening Control speed error of rate 100% is small, while control system design of hardware and software is easy, has very big engineering application value.
The technical solution adopted in the present invention is：
In the control system, cooling-water temperature sensor is used for detecting engine cooling water temperature, and hydraulic oil temperature sensor is used for detecting
Hydraulic fluid temperature, fuel level sender are used for detecting fuel level, preceding pump pressure sensor and rear pump pressure sensor difference
For detecting preceding pump pressure and rear pump pressure, speed probe is used for detecting engine speed.Controller is read by sensor
Hydraulic crawler excavator state parameter, engine target rotating speed control throttle motor is set according to grip and rotated, changes engine
Rotating speed.Proportioning valve is used for controlling the output displacement size of variable pump.Controller is connected by CAN with display, on the one hand
Whole vehicle state parameter is sent into display to show, on the other hand receives execution transducer calibration, throttle mark that display is sent
The control command such as fixed.
The parameter initialization module of the control system mainly realizes the reading and modification of the transducer calibration parameter such as water temperature
Etc. function.Sensor input module mainly completes the reading work(of the measurement value sensors such as cooling-water temperature sensor, hydraulic oil temperature sensor
Energy.CAN sending modules mainly complete controller and send sensor detected value to the display function of display, CAN receiving module masters
Complete controller and receive the CAN control commands that display is sent.Throttle Opening Control module is mainly realized to be set according to grip
Rotating speed of target value controls the function of engine speed.
The main pump pressure sensor chosen in the control system is voltage-type, and electricity is provided by the V of controller source of stable pressure 5
Pressure, is exported as voltage signal.
The beneficial effects of the invention are as follows：The control system is stable and reliable for performance, the CAN communication throttle control of success rate 100%
Speed error processed is small, while control system design of hardware and software is easy, has very big engineering application value.
Brief description of the drawings
Fig. 1 is the control system general structure block diagram of the present invention.
Fig. 2 is the control system hardware block diagram of the present invention.
Fig. 3 is the control system main program flow chart of the present invention.
Fig. 4 is sensor of the invention input module flow chart.
Embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, cooling-water temperature sensor is used for detecting engine cooling water temperature, and hydraulic oil temperature sensor is used for detecting hydraulic oil
Temperature, fuel level sender are used for detecting fuel level, and preceding pump pressure sensor and rear pump pressure sensor are respectively intended to examine
Preceding pump pressure and rear pump pressure are surveyed, speed probe is used for detecting engine speed.Controller reads hydraulic pressure by sensor and dug
Pick machine state parameter, engine target rotating speed control throttle motor is set according to grip and rotated, changes engine speed.Than
Example valve is used for controlling the output displacement size of variable pump.Controller is connected by CAN with display, on the one hand by vehicle shape
State parameter is sent to display and shown, on the other hand receives the controls such as execution transducer calibration, the throttle demarcation of display transmission
Order.
Different according to each sensor output signal such as Fig. 2, controller measures engine by resistance input interface respectively
The signals such as water temperature, hydraulic oil temperature, fuel level, preceding pump pressure, rear pump pressure, grip are measured by control source interface
Value, engine speed is measured by frequency input interface.Controller is exported by PWM (pulse width modulation) and controlled
Proportioning valve opening degree size processed, and pass through PWMCM (pulse width modulation current measurement)
Carry out the size of measurement scale valve electric current.Because throttle motor has elongation and shrinks two kinds of actions (i.e. motor rotate and reverse),
When controlled motor is shunk, PWM1 output drive signals, output drive signal, DO1 are not connected PWM2, and D02 disconnects；When control electricity
When machine extends, PWM2 output drive signals, output drive signal, DO1 do not disconnect PWM1, and it is total by CAN that D02 connects controllers
Line carries out data exchange with display.Controller and display select the JRCC300 controls that Jiangsu Inst. of Automation develops respectively
Device and JRCD657 display processed, linear electric motors selection KECM-1524 engine auto-throttle motors.
Such as Fig. 3, parameter initialization module mainly realizes the functions such as reading and the modification of the transducer calibration parameter such as water temperature.Pass
Sensor input module mainly completes the read functions of the measurement value sensors such as cooling-water temperature sensor, hydraulic oil temperature sensor.CAN is sent
Module mainly completes controller and sends sensor detected value to the display function of display.CAN receiving modules are mainly completed to control
Device receives the CAN control commands that display is sent.Throttle Opening Control module is mainly realized according to grip sets target tachometer value
Control the function of engine speed.
Such as Fig. 4, when sensor input module reading engine speed is more than 300r/min, illustrate that engine speed is normal,
It is TRUE to put rotary regimes flag bit (monitor_speed_state).Engine water temperature sensor, fuel level sender,
Hydraulic oil temperature sensor is all resistance type sensor, therefore parameter mark must be carried out during temperature or oil level is scaled
It is fixed.The main pump pressure sensor chosen in control system is voltage-type, provides voltage by controller source of stable pressure 5V, exports as electricity
Press signal.
Claims (5)
1. a kind of Control System of Hydraulic Excavator based on CAN, it is characterized in that：In the control system, cooling-water temperature sensor
For detecting engine cooling water temperature, hydraulic oil temperature sensor is used for detecting hydraulic fluid temperature, and fuel level sender is used for
Fuel level is detected, preceding pump pressure sensor and rear pump pressure sensor are respectively intended to detect preceding pump pressure and rear pump pressure, turn
Fast sensor is used for detecting engine speed.
2. a kind of Control System of Hydraulic Excavator based on CAN according to claim 1, it is characterized in that：The control
Device processed reads hydraulic crawler excavator state parameter by sensor, and engine target rotating speed control throttle electricity is set according to grip
Machine rotates, and changes engine speed, and proportioning valve is used for controlling the output displacement size of variable pump, controller by CAN with
Display is connected, and whole vehicle state parameter on the one hand is sent into display and shown, on the other hand receives the execution that display is sent
The control commands such as transducer calibration, throttle demarcation.
3. a kind of Control System of Hydraulic Excavator based on CAN according to claim 1, it is characterized in that：The control
The parameter initialization module of system processed mainly realizes that function, the sensors such as reading and the modification of the transducer calibration parameter such as water temperature are defeated
Enter the read functions that module mainly completes the measurement value sensors such as cooling-water temperature sensor, hydraulic oil temperature sensor.
4. a kind of Control System of Hydraulic Excavator based on CAN according to claim 1, it is characterized in that：The CAN
Sending module is mainly completed controller transmission sensor detected value and mainly completed to the display function of display, CAN receiving modules
Controller receives the CAN control commands that display is sent, and Throttle Opening Control module is mainly realized to be turned according to grip sets target
The function of speed value control engine speed.
5. a kind of Control System of Hydraulic Excavator based on CAN according to claim 1, it is characterized in that：The control
The main pump pressure sensor chosen in system processed is voltage-type, provides voltage by the V of controller source of stable pressure 5, exports and believe for voltage
Number.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610747487.9A CN107780458A (en) | 2016-08-30 | 2016-08-30 | A kind of Control System of Hydraulic Excavator based on CAN |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610747487.9A CN107780458A (en) | 2016-08-30 | 2016-08-30 | A kind of Control System of Hydraulic Excavator based on CAN |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107780458A true CN107780458A (en) | 2018-03-09 |
Family
ID=61441054
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610747487.9A Pending CN107780458A (en) | 2016-08-30 | 2016-08-30 | A kind of Control System of Hydraulic Excavator based on CAN |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107780458A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108560633A (en) * | 2018-04-20 | 2018-09-21 | 徐州徐工挖掘机械有限公司 | A kind of hydraulic excavator engine and variable pump complex controll online monitoring system |
| CN109649434A (en) * | 2018-12-24 | 2019-04-19 | 中铁宝桥集团有限公司 | A kind of railcar intelligent maintenance system and method |
| CN115388068A (en) * | 2022-04-06 | 2022-11-25 | 广州多钛克机械科技有限公司 | Hydraulic power equipment control system and hydraulic power equipment thereof |
-
2016
- 2016-08-30 CN CN201610747487.9A patent/CN107780458A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108560633A (en) * | 2018-04-20 | 2018-09-21 | 徐州徐工挖掘机械有限公司 | A kind of hydraulic excavator engine and variable pump complex controll online monitoring system |
| CN109649434A (en) * | 2018-12-24 | 2019-04-19 | 中铁宝桥集团有限公司 | A kind of railcar intelligent maintenance system and method |
| CN115388068A (en) * | 2022-04-06 | 2022-11-25 | 广州多钛克机械科技有限公司 | Hydraulic power equipment control system and hydraulic power equipment thereof |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180309 |