CN108058694A - A kind of control method of special purpose vehicle supporting leg - Google Patents
A kind of control method of special purpose vehicle supporting leg Download PDFInfo
- Publication number
- CN108058694A CN108058694A CN201711210419.XA CN201711210419A CN108058694A CN 108058694 A CN108058694 A CN 108058694A CN 201711210419 A CN201711210419 A CN 201711210419A CN 108058694 A CN108058694 A CN 108058694A
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- China
- Prior art keywords
- supporting leg
- special purpose
- pressure
- purpose vehicle
- control method
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S9/00—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks
- B60S9/02—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting
- B60S9/10—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure
- B60S9/12—Ground-engaging vehicle fittings for supporting, lifting, or manoeuvring the vehicle, wholly or in part, e.g. built-in jacks for only lifting or supporting by fluid pressure of telescopic type
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
Abstract
The invention discloses a kind of control method of special purpose vehicle supporting leg, which includes the following steps, step 1, obtains close on off state；Have that signal then performs step 6, no signal then performs step 2；Step 2, hydraulic pump solenoid valve is opened, initial controlled quentity controlled variable is set；Step 3, idling pressure is obtained；Step 4, obtained again close on off state, there is that signal then performs step 5, no signal then re-executes step 4；Step 5, supporting leg rodless cavity pressure is gathered again, if current supporting leg rodless cavity pressure is more than the sum of idling pressure and default relative pressure and current supporting leg rodless cavity pressure is more than default absolute pressure, performs step 6；If it is not, then re-execute step 5；Step 6, finishing control.The present invention, which realizes, effectively to be judged under various oil cylinder characteristics, various environment temperatures, various surface conditions whether special purpose vehicle supporting leg reliably contacts to earth, and is effectively improved the safety and reliability of special purpose vehicle supporting leg control.
Description
Technical field
The present invention relates to special purpose vehicle technical field, specifically for, the present invention is a kind of controlling party of special purpose vehicle supporting leg
Method.
Background technology
The important control function that supporting leg control is special purpose vehicle is stretched, to realize special purpose vehicle and thereon mounting mechanism etc. in objective
Expansion, under conditions of supporting leg reliably contacts to earth perform special purpose vehicle subsequent action.Therefore, it is to ensure that special purpose vehicle supporting leg, which reliably contacts to earth,
The basis that subsequent action smoothly performs.
Although the control method of conventional special purpose vehicle supporting leg can also realize that supporting leg stretches out, its reliability is poor, mainly
Show it is following some：(1) it is affected by oil cylinder characteristic, it is difficult to be to more vehicle supporting legs of same batch using unified parameter
No reliable contact to earth effectively is judged；(2) it is influenced by environmental temperature, it is difficult to using unified parameter in different temperatures ring
Whether the same vehicle supporting leg under border, which reliably contacts to earth, is effectively judged；(3) it is affected by surface conditions, it is difficult on complicated road
Effectively judged whether vehicle supporting leg reliably contacts to earth on face.In addition, the control method of existing special purpose vehicle supporting leg also exist into
The problem of this is high.
Therefore, for the demand of special purpose vehicle supporting leg control, oil cylinder characteristic, environment temperature and surface conditions how to be avoided to spy
Whether kind of vehicle supporting leg reliably contacts to earth the influence of judgement, while reduces cost, becomes those skilled in the art's skill urgently to be resolved hurrily
Art problem and the emphasis studied always.
The content of the invention
Easily it is subject to oil cylinder characteristic or environment temperature or road surface to solve the presence of the control method of conventional special purpose vehicle supporting leg
The influence of situation, can not accurate judgement special purpose vehicle supporting leg the problem of whether reliably contacting to earth, is of high cost, present invention innovation proposes one
The control method of kind of special purpose vehicle supporting leg effectively combines supporting leg extension elongation determination methods, absolute pressure determination methods and opposite
Whether pressure determination methods significantly improve special purpose vehicle supporting leg and reliably contact to earth accuracy, security and the reliability of judgement, and have
Effect solves existing control method easily to be influenced by oil cylinder characteristic, environment temperature or surface conditions；In addition, the present invention is also greatly
Reduce cost.
To realize above-mentioned technical purpose, the invention discloses a kind of control method of special purpose vehicle supporting leg, the control method bags
Include following steps,
Step 1, obtain close on off state；If step 6 is performed in there is signal condition close to switch；If it connects
Nearly switch then performs step 2 in no signal condition；Wherein, it is described to approach switch for sensing whether supporting leg stretches out default length
Degree；
Step 2, hydraulic pump solenoid valve is opened, initial controlled quentity controlled variable is set, the initial controlled quentity controlled variable includes hydraulic system pressure
With for control supporting leg stretch out flow；
Step 3, supporting leg rodless cavity pressure is gathered, to obtain the idling pressure of supporting leg rodless cavity；
Step 4, obtain again close on off state, if performing step 5 in there is signal condition close to switch；Such as
Fruit in no signal condition, then re-executes step 4 close to switch；
Step 5, again gather supporting leg rodless cavity pressure, if current supporting leg rodless cavity pressure be more than idling pressure with
The sum of default relative pressure and current supporting leg rodless cavity pressure are more than default absolute pressure, then perform step 6；If
It is no, then re-execute step 5；
Step 6, the control of special purpose vehicle supporting leg is terminated.
Further, which further includes following steps,
Step 7, above-mentioned hydraulic system pressure is corrected, for control branch according to the feedback result of special purpose vehicle real work situation
Flow that leg stretches out, default absolute pressure, at least one of default relative pressure.
Based on above-mentioned improved technical solution, the present invention can as the case may be carry out relevant parameter more rational
Adjustment, so as to reach to the better control effect of special purpose vehicle supporting leg.
Further, at the end of step 2, the computation delay time is started；
When step 4 starts, judge whether the delay time generated is more than the first overtime duration；If it is, alarm is anxious
Stop, terminate the control of special purpose vehicle supporting leg；If it is not, then perform step 4.
Further, in step 4, if gathering supporting leg rodless cavity pressure again in no signal condition close to switch, sentencing
Whether disconnected current supporting leg rodless cavity pressure is more than default absolute pressure, if it is, alarm emergency stop, end special purpose vehicle supporting leg
Control；If it is not, then re-execute step 4.
Further, when step 5 starts, judge whether the delay time generated is more than the first overtime duration；If so,
The control for the emergency stop, end special purpose vehicle supporting leg of then alarming；If it is not, then perform step 5.
Further, sender bar is connected on supporting leg, and sender bar is with leg motion；The close switch and the sender
When the distance between bar is less than distance of reaction, then being in close to switch has signal condition；The close switch and the sender bar
The distance between when being greater than or equal to distance of reaction, then close to switch in no signal condition.
Further, in step 3, at interval of the first preset duration gather a supporting leg rodless cavity pressure, the supporting leg without
The idling pressure of rod cavity is the average of multiple supporting leg rodless cavity pressure.
Further, in step 2, hydraulic system pressure is set by way of controlling proportional pressure control valve.
Further, in step 2, the flow that supporting leg is controlled to stretch out is set by way of controlling Multi-way valve with support leg.
Further, when the delay time reaches the first preset duration, then step 3 is performed.
Beneficial effects of the present invention are：The present invention is innovatively by supporting leg extension elongation determination methods, absolute pressure judgement side
Method and relative pressure determination methods are effectively combined, it can be achieved that various oil cylinder characteristics, various environment temperatures, various road surface feelings
Effectively judged whether special purpose vehicle supporting leg reliably contacts to earth under condition.Moreover, the present invention can initially stretch out state to supporting leg
The unusual service conditions such as exception, starting stage supporting leg clamping stagnation, supporting leg be slow in one's movements carry out timely warning reminding, so as to effectively increase spy
The safety and reliability of kind vehicle supporting leg control.
Description of the drawings
Fig. 1 is the overall flow schematic diagram of the control method of special purpose vehicle supporting leg of the present invention.
Fig. 2 is to stretch supporting leg control flow schematic diagram.
Fig. 3 is initial controlled quentity controlled variable setting procedure schematic diagram.
Fig. 4 obtains flow diagram for idling pressure.
Fig. 5 judges flow diagram in place to stretch supporting leg.
Fig. 6 is close to special purpose vehicle supporting leg state diagram when switching in no signal condition.
Fig. 7 is the special purpose vehicle supporting leg state diagram being in close to switch when having signal condition.
In figure,
1st, supporting leg；2nd, sender bar；3rd, close to switch.
Specific embodiment
Detailed explanation and illustration is carried out to the control method of the special purpose vehicle supporting leg of the present invention with reference to Figure of description.
As shown in Figures 1 to 7, the invention particularly discloses a kind of control method of special purpose vehicle supporting leg, to implement the control
Method in the present embodiment, builds special purpose vehicle leg control system first, which includes Vehicle Controller, hydraulic pump electricity
Magnet valve, hydraulic system pressure sensor, proportional pressure control valve, Multi-way valve with support leg, support leg pressure sensor, close switch etc., pass through
Vehicle Controller carries out PWM outputs, for controlling the valve members such as proportional pressure control valve, Multi-way valve with support leg；It is carried out by Vehicle Controller
DO is exported, for controlling hydraulic pump solenoid valve.
Specifically, which includes the following steps.
Step 1, as shown in Figure 1 and Figure 2, obtain close on off state；If recognize close to switch in there is signal condition
Position has been reached for supporting leg, performs step 6；If step 2 is performed in no signal condition close to switch；Wherein, close to switch
For sensing whether supporting leg stretches out preset length；It should be appreciated that " close switch " of the present invention is that " supporting leg reaches position and approaches
Switch ".
Step 2, as shown in figure 3, opening hydraulic pump solenoid valve, so that pumping source oil circuit be controlled to open, initial controlled quentity controlled variable is set,
And initial controlled quentity controlled variable includes hydraulic system pressure and for controlling the flow that supporting leg stretches out；In the present embodiment, by controlling ratio
Hydraulic system pressure is set or adjusted in the mode of overflow valve, sets that supporting leg is controlled to stretch by way of controlling Multi-way valve with support leg
The speed that the flow and adjusting supporting leg gone out stretches out；In the present embodiment, proportional pressure control valve is opened 33%, pressure is set
It is set to 12Mpa；Multi-way valve with support leg controlled quentity controlled variable is set 8500, to generate the flow of 14.7L/min.
At the end of step 2, start the computation delay time, it can be by preserving timing initial value, the side of beginning computation delay time
Formula is implemented.
In the present embodiment, when delay time reaches the first preset duration, then step 3 is performed, in the present embodiment, first is pre-
If when a length of 5 seconds, so as to for supporting leg stretch out the stand-by period is provided.
Step 3, as shown in figure 4, supporting leg rodless cavity pressure is gathered, to obtain the idling pressure of supporting leg rodless cavity；For
To more accurate idling pressure, the present embodiment gathers a supporting leg rodless cavity pressure, supporting leg at interval of the first preset duration
The idling pressure of rodless cavity is the average of multiple supporting leg rodless cavity pressure, for example, every 0.1 second preserves a supporting leg rodless cavity pressure
Power preserves 10 groups of data altogether, so that the supporting leg rodless cavity pressure obtained is more accurate.
Step 4, as shown in figure 5, when this step starts, when judging whether the delay time generated is more than the first time-out
It is long；If it is, alarm emergency stop, the control of end special purpose vehicle supporting leg, realize and abnormal state or initial rank are initially stretched out to supporting leg
The unusual service conditions such as section supporting leg clamping stagnation or supporting leg are slow in one's movements carry out timely warning reminding；If it is not, then it is obtained again close to switch
State, if performing step 5 in there is signal condition close to switch；If no signal condition is in close to switch, again
Perform step 4, as improved plan, in the present embodiment, if close to switch in no signal condition, gather again supporting leg without
Rod cavity pressure, judges whether current supporting leg rodless cavity pressure is more than default absolute pressure, if it is, alarm emergency stop, knot
The control of beam special purpose vehicle supporting leg is realized and the progress of the unusual service conditions such as abnormal state or starting stage supporting leg clamping stagnation is initially stretched out to supporting leg
Timely warning reminding；If it is not, then re-execute step 4.In the present embodiment, first time-out when a length of 60 seconds.
Step 5, as shown in figure 5, when this step starts, when judging whether the delay time generated is more than the first time-out
It is long；If it is, alarm emergency stop, the control of end special purpose vehicle supporting leg, realize and abnormal state or initial rank are initially stretched out to supporting leg
The unusual service conditions such as section supporting leg clamping stagnation or supporting leg are slow in one's movements carry out timely warning reminding；If it is not, then supporting leg is gathered again without bar
Cavity pressure, if current supporting leg rodless cavity pressure is more than the sum of idling pressure and default relative pressure and current supporting leg
Rodless cavity pressure is more than default absolute pressure, then it is assumed that supporting leg reliably contacts to earth, performs step 6；If it is not, then it re-executes
Step 5.In the present embodiment, default absolute pressure is 9Mpa, and default relative pressure is 6.5Mpa.
Step 6, the control of special purpose vehicle supporting leg is terminated.In the present invention, when carrying out alarm emergency stop, hydraulic pump electromagnetism is simultaneously closed off
Valve, Multi-way valve with support leg controlled quentity controlled variable zero setting.
Step 7, above-mentioned hydraulic system pressure is corrected, for control branch according to the feedback result of special purpose vehicle real work situation
Flow that leg stretches out, idling pressure acquisition timing time, default absolute pressure, default relative pressure, first it is default when
At least one of long, first overtime duration etc., more effectively controls special purpose vehicle supporting leg with realizing.
In addition, the present invention judges whether supporting leg reaches position using close to switch in the following way, specifically such as Fig. 6, Fig. 7 institute
Show, sender bar 2 is connected on supporting leg 1, and sender bar 2 is moved with supporting leg 1；It is used for whether judging supporting leg overhang close to switch 3
Reach preset length, when close switch the distance between 3 and sender bar 2 are less than distance of reaction, then being in close to switch 3 has signal
State；When being greater than or equal to distance of reaction close to switch the distance between 3 and sender bar 2, then no signal shape is in close to switch 3
State；Wherein, supporting leg overhang, the occurrence of distance of reaction can carry out reasonable set as needed, such as supporting leg and the theory on ground
Distance is 550mm, if sender bar movement length is 550 ± 2mm, then it is assumed that supporting leg reaches position, and distance of reaction scope is 550
±2mm。
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, " multiple " are meant that at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integral；Can be that machinery connects
It connects or is electrically connected；It can be directly connected, can also be indirectly connected by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the description of this specification, reference term " the present embodiment ", " one embodiment ", " some embodiments ", " show
The description of example ", " specific example " or " some examples " etc. mean to combine the specific features of the embodiment or example description, structure,
Material or feature are contained at least one embodiment of the present invention or example.In the present specification, above-mentioned term is shown
The statement of meaning property is necessarily directed to identical embodiment or example.Moreover, specific features, structure, material or the spy of description
Point may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other,
Those skilled in the art can be by the different embodiments described in this specification or example and different embodiments or exemplary
Feature is combined and combines.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Any modification, equivalent substitution and simple modifications for being made in content etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of control method of special purpose vehicle supporting leg, it is characterised in that：The control method includes the following steps,
Step 1, obtain close on off state；If step 6 is performed in there is signal condition close to switch；If close open
It closes in no signal condition, then performs step 2；Wherein, it is described to approach switch for sensing whether supporting leg stretches out preset length；
Step 2, hydraulic pump solenoid valve is opened, initial controlled quentity controlled variable is set, the initial controlled quentity controlled variable includes hydraulic system pressure and use
In the flow that control supporting leg stretches out；
Step 3, supporting leg rodless cavity pressure is gathered, to obtain the idling pressure of supporting leg rodless cavity；
Step 4, obtain again close on off state, if performing step 5 in there is signal condition close to switch；If it connects
Nearly switch then re-executes step 4 in no signal condition；
Step 5, supporting leg rodless cavity pressure is gathered again, if current supporting leg rodless cavity pressure is more than idling pressure with presetting
The sum of relative pressure and current supporting leg rodless cavity pressure be more than default absolute pressure, then perform step 6；If it is not, then
Re-execute step 5；
Step 6, the control of special purpose vehicle supporting leg is terminated.
2. the control method of special purpose vehicle supporting leg according to claim 1, it is characterised in that：The control method further includes as follows
Step,
Step 7, above-mentioned hydraulic system pressure is corrected, for supporting leg to be controlled to stretch according to the feedback result of special purpose vehicle real work situation
At least one of the flow that goes out, default absolute pressure, default relative pressure.
3. the control method of special purpose vehicle supporting leg according to claim 1 or 2, it is characterised in that：
At the end of step 2, start the computation delay time；
When step 4 starts, judge whether the delay time generated is more than the first overtime duration；If it is, alarm emergency stop, knot
The control of beam special purpose vehicle supporting leg；If it is not, then perform step 4.
4. the control method of special purpose vehicle supporting leg according to claim 3, it is characterised in that：
In step 4, if gathering supporting leg rodless cavity pressure again in no signal condition close to switch, judging current supporting leg
Whether rodless cavity pressure is more than default absolute pressure, if it is, alarm emergency stop, the control of end special purpose vehicle supporting leg；If
It is no, then re-execute step 4.
5. the control method of special purpose vehicle supporting leg according to claim 4, it is characterised in that：
When step 5 starts, judge whether the delay time generated is more than the first overtime duration；If it is, alarm emergency stop, knot
The control of beam special purpose vehicle supporting leg；If it is not, then perform step 5.
6. the control method of special purpose vehicle supporting leg according to claim 1 or 5, it is characterised in that：Sender is connected on supporting leg
Bar, and sender bar is with leg motion；When the distance between the close switch and described sender bar are less than distance of reaction, then approach
Switch, which is in, signal condition；When the distance between the close switch and described sender bar are greater than or equal to distance of reaction, then
Close to switch in no signal condition.
7. the control method of special purpose vehicle supporting leg according to claim 6, it is characterised in that：
In step 3, a supporting leg rodless cavity pressure, the idle stroke pressure of the supporting leg rodless cavity are gathered at interval of the first preset duration
Power is the average of multiple supporting leg rodless cavity pressure.
8. the control method of special purpose vehicle supporting leg according to claim 7, it is characterised in that：
In step 2, hydraulic system pressure is set by way of controlling proportional pressure control valve.
9. the control method of special purpose vehicle supporting leg according to claim 8, it is characterised in that：
In step 2, the flow that supporting leg is controlled to stretch out is set by way of controlling Multi-way valve with support leg.
10. the control method of special purpose vehicle supporting leg according to claim 3, it is characterised in that：When the delay time reaches
During the first preset duration, then perform step 3.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711210419.XA CN108058694B (en) | 2017-11-28 | 2017-11-28 | Control method for special vehicle supporting leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711210419.XA CN108058694B (en) | 2017-11-28 | 2017-11-28 | Control method for special vehicle supporting leg |
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| Publication Number | Publication Date |
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| CN108058694A true CN108058694A (en) | 2018-05-22 |
| CN108058694B CN108058694B (en) | 2020-11-17 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109297829A (en) * | 2018-10-30 | 2019-02-01 | 北京航天发射技术研究所 | A kind of ground intensity detection device and method based on the control of hydraulic cylinder constant force |
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| CN104495623A (en) * | 2014-12-30 | 2015-04-08 | 中联重科股份有限公司 | Crane telescopic boom control device and method and crane |
| WO2017017204A1 (en) * | 2015-07-28 | 2017-02-02 | Hoerbiger Automatisierungstechnik Holding Gmbh | Land vehicle having a chassis and a plurality of attached corner support units |
| CN106740729A (en) * | 2016-12-19 | 2017-05-31 | 三汽车制造有限公司 | Supporting leg leveling method, control system and engineering truck |
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|---|---|---|---|---|
| US5383563A (en) * | 1994-02-10 | 1995-01-24 | Caterpillar Inc. | Outrigger and guard assembly |
| EP0945318A1 (en) * | 1998-03-23 | 1999-09-29 | F.LLI FERRARI S.p.A. | Stabiliser leg for a load carrying vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109297829A (en) * | 2018-10-30 | 2019-02-01 | 北京航天发射技术研究所 | A kind of ground intensity detection device and method based on the control of hydraulic cylinder constant force |
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| CN108058694B (en) | 2020-11-17 |
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