CN110042733B - Attitude control method and control system for screed of paver - Google Patents
Attitude control method and control system for screed of paver Download PDFInfo
- Publication number
- CN110042733B CN110042733B CN201910299369.XA CN201910299369A CN110042733B CN 110042733 B CN110042733 B CN 110042733B CN 201910299369 A CN201910299369 A CN 201910299369A CN 110042733 B CN110042733 B CN 110042733B
- Authority
- CN
- China
- Prior art keywords
- value
- elevation
- target
- actual
- screed
- 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.)
- Active
Links
Images
Classifications
-
- 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
- E01C19/48—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 laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
- E01C19/4833—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 laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ with tamping or vibrating means for consolidating or finishing, e.g. immersed vibrators, with or without non-vibratory or non-percussive pressing or smoothing means
Abstract
The invention discloses a paver screed attitude control method and a paver screed attitude control system, wherein the actual elevation angle value and the transverse gradient value of a screed are calculated by detecting the angles of a vehicle body and the screed in the X-axis direction and the Y-axis direction; before starting, the leveling cylinder is controlled to adjust the elevation angle of the screed plate, so that the self-setting of the starting elevation angle is realized; when the vehicle is in a forward state after starting, the elevation angle of the screed is controlled by controlling and adjusting the vibrating rotating speed, and the function of a cross slope leveling instrument can be realized by detecting the angle of the screed in the X direction; the invention firstly proposes the elevation adjustment of the screed plate when the paving is in a forward state through the adjustment of the vibrating rotating speed; the matching of the paving speed and the vibrating speed is realized through elevation angle control, and further the compactness of the paved road surface is controlled.
Description
Technical Field
The invention relates to a method and a system for controlling the attitude of a screed of a paver, and belongs to the technical field of engineering machinery.
Background
The green concrete paver is a core device for paving a high-grade road surface, and has important influence on the construction quality of the road surface. The elevation angle of the screed of the paver has great influence on the construction quality and the abrasion of the screed bottom plate in the construction starting and process.
When the paver is constructed at present, the elevation angle of a screed plate is preset by a manipulator through adjusting the leveling oil cylinder according to different construction conditions, the elevation angle is observed by human eyes to form an approximate angle, if the elevation angle value preset by the manipulator with rich experience is proper, the paver can quickly enter a stable state under the preset thickness when starting, and if the set elevation angle is improper, the paver can enter the stable state through a long process or repeated adjustment.
The inspection of compactness in construction quality is an important part of construction quality, the existing detection method is relatively complex, and the detection is complex and troublesome in operation and destructive when one block is dug from a constructed road surface for detection; the cost for configuring the special densitometer is high, and the detection data can not participate in control;
when the construction is carried out at present, if the pavement with higher requirements is debugged in a test section, a most appropriate matching value of the vibration rotating speed and the paving speed is tested, when the motion balance is achieved in the state, the compactness of the paved pavement meets the requirement, and the subsequent construction is carried out according to the two values. If the paving speed is changed, the test section must be made again, otherwise the road surface compactness changes.
If the requirement is not high, a constant vibration rotating speed value is preset by a road manipulator according to different construction conditions according to experience, if the vibration set value is small, the compaction density is insufficient, the supporting force of the paved road surface is small, in order to ensure balance, the elevation angle of the screed can be increased in motion, dynamic balance is achieved, the abrasion of the screed bottom plate is serious, and the service life of the screed bottom plate is greatly shortened.
Disclosure of Invention
The purpose is as follows: in order to overcome the defects in the prior art, the invention provides a method and a system for controlling the attitude of a screed of a paver.
The technical scheme is as follows: in order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a paver screed attitude control method comprises the following steps:
obtaining signals of an S1 main switch, an S2 paving/driving gear change-over switch and an S3 vibrating hand automatic change-over switch, and judging the working state of the paver;
determining a target elevation value;
calculating an actual elevation value: acquiring angles of a vehicle body and a screed plate in X-axis and Y-axis directions; calculating an elevation angle value of the screed plate relative to the vehicle body, namely an actual elevation angle value, according to the angles of the vehicle body and the screed plate in the Y-axis direction; calculating to obtain a transverse gradient value of the screed plate, namely an actual gradient value, according to the angles of the vehicle body and the screed plate in the X-axis direction;
comparing the actual elevation value with the target elevation value, and judging whether the difference value between the actual elevation value and the target elevation value exceeds an error range value or not;
comparing the actual gradient value with the target gradient value, and judging whether the difference value between the actual gradient value and the target gradient value exceeds the error range value or not;
and responding to the fact that the difference value between the actual elevation angle value and the target elevation angle value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the elevation angle of the screed or control the vibration-suppressing electromagnet to adjust the vibration speed and further adjust the elevation angle of the screed based on the current working state of the paver until the difference value between the actual elevation angle value and the target elevation angle value does not exceed the error range value.
a) When the automatic change-over switch of the vibrator of S3 is in the automatic gear, the paving/driving gear change-over switch is in the paving gear, and the main switch of S1 is in the parking state at 0 position; and responding to the fact that the difference value between the actual elevation value and the target elevation value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the elevation angle of the screed plate according to the difference value between the actual elevation value and the target elevation value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value.
b) When the automatic change-over switch of the vibrator of S3 is in the automatic gear, the paving/driving gear change-over switch is in the paving gear, and the main switch of S1 is in 1 position, namely in a forward state; responding to the fact that the difference value between the actual elevation angle value and the target elevation angle value exceeds the error range value, and sending a command to control the vibrating electromagnet to adjust the vibrating speed and further adjust the elevation angle of the screed plate according to the difference value between the actual elevation angle value and the target elevation angle value until the difference value between the actual elevation angle value and the target elevation angle value does not exceed the error range value;
and responding to the fact that the difference value between the actual slope value and the target slope value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the transverse slope value of the ironing plate according to the difference value between the actual slope value and the target slope value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value.
Furthermore, the step of sending a command to control the vibrating electromagnet to adjust the vibrating speed and further adjust the elevation angle of the screed plate according to the difference value between the actual elevation angle value and the target elevation angle value is as follows:
when the actual elevation value is larger than the target elevation value, the vibrating electromagnet is controlled to increase the vibrating speed and improve the compaction density, so that the actual elevation value is dynamically balanced in the movement;
when the actual elevation value is smaller than the target elevation value, the vibrating electromagnet is controlled to reduce the vibrating speed and the compacting density, so that the actual elevation value is dynamically balanced in the movement process.
Further, in the method for controlling the attitude of the screed of the paver, the determined target elevation value is as follows: calculating to obtain a recommended elevation value of the screed plate, namely a target elevation value, based on the selected paving thickness and the selected paving material; or, the target elevation value is set based on the selected user experience.
Further, the target slope value is preset. When the vehicle is stopped, the transverse gradient value of the screed plate can be manually set, and can also be automatically adjusted by controlling the lifting of the leveling oil cylinder.
In another aspect, the present invention further provides a system for controlling a screed attitude of a paver, comprising:
the working state judging module of the paver is used for judging the working state of the paver based on the obtained signals of the S1 main switch, the S2 paving/driving gear change-over switch and the S3 vibrator automatic change-over switch;
the target value determining module is used for determining a target elevation angle value and a target gradient value;
the angle acquisition module is used for acquiring the angles of the vehicle body and the screed plate in the X-axis direction and the Y-axis direction;
a calculation module to: calculating an elevation angle value of the screed plate relative to the vehicle body, namely an actual elevation angle value, according to the angles of the vehicle body and the screed plate in the Y-axis direction; calculating to obtain a transverse gradient value of the screed plate, namely an actual gradient value, according to the angles of the vehicle body and the screed plate in the X-axis direction;
a comparison and judgment module, configured to: comparing the actual elevation value with the target elevation value, and judging whether the difference value between the actual elevation value and the target elevation value exceeds an error range value or not; comparing the actual gradient value with the target gradient value, and judging whether the difference value between the actual gradient value and the target gradient value exceeds the error range value or not;
an output control module to: responding to the fact that the difference value between the actual elevation angle value and the target elevation angle value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the elevation angle of the screed or control the vibration-suppressing electromagnet to adjust the vibration speed and further adjust the elevation angle of the screed based on the current working state of the paver until the difference value between the actual elevation angle value and the target elevation angle value does not exceed the error range value;
and responding to the fact that the difference value between the actual slope value and the target slope value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the transverse slope value of the ironing plate according to the difference value between the actual slope value and the target slope value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value.
Further, paver screed attitude control system still include: and the display module is used for displaying the target elevation angle value, the actual elevation angle value and the vibrating speed.
Further, paver screed attitude control system still include: the angle sensor is mounted on the vehicle body and used for detecting the angles of the vehicle body in the X-axis direction and the Y-axis direction;
the screed angle sensor is arranged on the screed and used for detecting angles of the screed in X-axis and Y-axis directions.
Furthermore, the paver screed attitude control system further comprises a vibration speed sensor for detecting the vibration speed. In practical application, the regulation and control of the vibration speed generally sets the modulation range of the vibration speed, namely an upper limit value and a lower limit value; prevent the vibration from being disordered due to the error of the elevation angle value.
Furthermore, the paver screed attitude control system also comprises a vibrating electromagnet which is used for receiving an instruction of the output control module and controlling and adjusting the vibrating speed;
furthermore, the paver screed attitude control system further comprises a right leveling descending electromagnet, a right leveling ascending electromagnet, a left leveling descending electromagnet and a left leveling ascending electromagnet, and the right leveling descending electromagnet, the left leveling ascending electromagnet and the left leveling ascending electromagnet are used for receiving the instruction of the output control module and controlling the leveling oil cylinder to ascend and descend so as to automatically adjust the elevation angle of the screed and the transverse gradient value of the screed.
Has the advantages that: the attitude control method and the attitude control system for the screed of the paver provided by the invention have the advantages of simplicity and convenience in operation, high reliability and economical use, only two angle sensors need to be added in the original system, the angles of a vehicle body and the screed in the X-axis and Y-axis directions can be detected simultaneously, the elevation angle pre-adjustment of the paver can be realized, the elevation angle change condition in the paving process can be effectively monitored, the elevation angle closed loop can be realized by adjusting the vibrating rotating speed in time, the paving compactness can be effectively controlled in the construction process, the construction requirements under different working conditions can be met, the labor intensity of workers and the complaints of users can be reduced, and the working quality of the paver can be improved. In addition, the transverse gradient value of the screed plate is obtained through calculation according to the angles in the X-axis direction detected by the two angle sensors, gradient control is achieved, namely the function of a transverse gradient leveling instrument is achieved, and cost is reduced.
Drawings
FIG. 1 is a schematic diagram of a screed attitude control system of a paver in an embodiment;
FIG. 2 is a diagram of an exemplary elevation adjustment interface;
FIG. 3 is a diagram illustrating an exemplary angle sensor calibration interface;
in the figure: 1. a1 display; 2. S1 main switch; 3. s2 paving/driving gear change-over switch; 4. b1 vehicle body angle sensor; 5. b2 screed plate angle sensor; 6. b3 vibration speed sensor; 7. s3 automatic switch of vibration hand; 8. An E1 controller; 9. y3 vibrating electromagnet; 10. y2.2 right leveling descending electromagnet; 11. y2.1 right leveling lifting electromagnet; 12. y1.2 left leveling descending electromagnet; 13. y1.1 left leveling electromagnet.
Detailed Description
The invention is further described below with reference to the figures and examples. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Example 1
A paver screed attitude control system comprising:
the working state judging module of the paver is used for judging the working state of the paver based on the obtained signals of the S1 main switch, the S2 paving/driving gear change-over switch and the S3 vibrator automatic change-over switch;
the target value determining module is used for determining a target elevation angle value and a target gradient value;
the angle acquisition module is used for acquiring the angles of the vehicle body and the screed plate in the X-axis direction and the Y-axis direction;
a calculation module to: calculating an elevation angle value of the screed plate relative to the vehicle body, namely an actual elevation angle value, according to the angles of the vehicle body and the screed plate in the Y-axis direction; calculating to obtain a transverse gradient value of the screed plate, namely an actual gradient value, according to the angles of the vehicle body and the screed plate in the X-axis direction;
a comparison and judgment module, configured to: comparing the actual elevation value with the target elevation value, and judging whether the difference value between the actual elevation value and the target elevation value exceeds an error range value or not; comparing the actual gradient value with the target gradient value, and judging whether the difference value between the actual gradient value and the target gradient value exceeds the error range value or not;
an output control module to: responding to the fact that the difference value between the actual elevation angle value and the target elevation angle value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the elevation angle of the screed or control the vibration-suppressing electromagnet to adjust the vibration speed and further adjust the elevation angle of the screed based on the current working state of the paver until the difference value between the actual elevation angle value and the target elevation angle value does not exceed the error range value; and responding to the fact that the difference value between the actual slope value and the target slope value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the transverse slope value of the ironing plate according to the difference value between the actual slope value and the target slope value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value.
Further, paver screed attitude control system still include: and the display module is used for displaying the target elevation angle value, the actual elevation angle value and the vibrating speed.
Further, paver screed attitude control system still include: the angle sensor is mounted on the vehicle body and used for detecting the angles of the vehicle body in the X-axis direction and the Y-axis direction;
the screed angle sensor is arranged on the screed and used for detecting angles of the screed in X-axis and Y-axis directions.
Furthermore, the paver screed attitude control system further comprises a vibration speed sensor for detecting the vibration speed. In practical application, the regulation and control of the vibration speed generally sets the modulation range of the vibration speed, namely an upper limit value and a lower limit value; prevent the vibration from being disordered due to the error of the elevation angle value.
Furthermore, the paver screed attitude control system also comprises a vibrating electromagnet which is used for receiving an instruction of the output control module and controlling and adjusting the vibrating speed;
the leveling device also comprises a right leveling descending electromagnet, a right leveling ascending electromagnet, a left leveling descending electromagnet and a left leveling ascending electromagnet, and is used for receiving the instruction of the output control module and controlling the leveling oil cylinder to ascend and descend so as to automatically adjust the elevation angle of the screed and the transverse gradient value of the screed.
In some embodiments, as shown in fig. 1, a screed attitude control system for a paver includes an a1 display 1, an S1 main switch 2, an S2 paving/driving shift change-over switch 3, a B1 vehicle body angle sensor 4, a B2 screed angle sensor 5, a B3 vibration speed sensor 6, an S3 vibrating hand automatic change-over switch 7, an E1 controller 8, a Y3 vibrating electromagnet 9, a Y2.2 right leveling down-magnet 10, a Y2.1 right leveling up-magnet 11, a Y1.2 left leveling down-magnet 12, and a Y1.1 left leveling up-magnet 13.
The A1 display 1, the S1 main switch 2, the S2 paving/driving gear change-over switch 3, the B1 vehicle body angle sensor 4, the B2 ironing board angle sensor 5, the B3 vibrating speed sensor 6, the S3 vibrating hand automatic change-over switch 7, the Y3 vibrating electromagnet 9, the Y2.2 right leveling descending electromagnet 10, the Y2.1 right leveling ascending electromagnet 11, the Y1.2 left leveling descending electromagnet 12 and the Y1.1 left leveling ascending electromagnet 13 are respectively connected with the E1 controller 8;
the E1 controller 8 is used for detecting input signals of the A1 display 1, the S1 main switch 2, the S2 paving/driving gear change-over switch 3, the B1 vehicle body angle sensor 4, the B2 screed angle sensor 5, the B3 vibration speed sensor 6, the S3 vibration hand automatic change-over switch 7 and the E1 controller 8, and after the E1 controller 10 receives the input signals and processes the input signals, the control signals are output to the Y3 vibration electromagnet 9, the Y2.2 right leveling descending electromagnet 10, the Y2.1 right leveling ascending electromagnet 11, the Y1.2 left leveling descending electromagnet 12 and the Y1.1 left leveling ascending electromagnet 13;
s2 paving/driving gear change-over switch 3 is in paving gear (on is driving gear, off is paving gear). S3 the tamper automatic selector switch 7 is in automatic mode. The filling and vibrating switch can realize automatic control under the condition of an automatic gear, and cannot realize automatic control on a manual gear.
The S2 paving/driving gear change-over switch 3 is disconnected, namely, at the paving gear, the high throttle state is started, the S1 main switch 2 is in the parking state at the 0 position, at the moment, an elevation angle automatic setting interface can be entered on a display, as shown in figure 2, the elevation angle value recommended by the system can be obtained on the interface according to the selected paving thickness and materials, the elevation angle value can be directly selected according to experience to be manually adjusted to a numerical value, a confirming key is pressed to calibrate the controller, at the moment, an automatic setting key is pressed, and the controller controls the leveling oil cylinder to lift and automatically adjust the elevation angle of the leveling plate, so that the actual value of the elevation angle is consistent with the set value.
In the embodiment, the ironing plate and the posture of the vehicle body are detected through the controller, the elevation angle value of the ironing plate relative to the vehicle body is calculated, and the leveling oil cylinder is adjusted in a static state, so that the elevation angle is adjusted in the static state.
The S2 paving/driving gear change-over switch 3 is disconnected, namely in the paving gear, the high throttle state is started, the S1 main switch 2 is in the 1-position, namely the forward state, the S3 vibrating hand automatic change-over switch 7 is in the automatic position, the closed-loop control of the elevation angle under the dynamic state is realized through the vibration adjustment, and the function can be opened and closed through the display.
As an improvement, the controller detects the angle of the vehicle body and the angle of the screed plate, and the display reads and displays through the CAN bus.
As an improvement, the angle sensors on the vehicle body and the screed plate can be calibrated through the display, and the 0 point is reset, so that errors caused by installation reasons are avoided; as shown in fig. 3.
As an improvement, the vehicle body and the screed plate are respectively provided with an angle sensor, so that the influence of relative installation errors between the vehicle body and the screed plate is avoided;
as an improvement, according to the selected paving thickness, width and material, the suggested value of the elevation angle can be given, meanwhile, according to the selected user experience, the suggested value of the elevation angle can be changed through a display, and the lifting of the leveling oil cylinder can be automatically adjusted by one key to complete the static elevation angle setting;
as an improvement, the controller screed plate elevation angle calculation, and the display reads and displays through the CAN bus.
As an improvement, an elevation closed loop is selected, in the paving process, the controller can automatically adjust the vibration speed according to the change of the elevation to realize the control of the elevation, the modulation range of vibration is increased in controller software to control, and the vibration imbalance caused by the error of the elevation value is prevented.
Example 2
A posture control method for a screed of a paver is characterized in that the posture control method comprises the steps of testing the angles of a vehicle body and the screed in the direction X, Y; the controller calculates the elevation angle value and the transverse gradient value of the ironing plate; before starting, the controller adjusts the leveling oil cylinder to adjust the elevation angle and the transverse gradient value of the screed plate, so as to realize self-setting of the starting elevation angle; after starting, the controller adjusts the vibrating rotating speed to realize the control of the elevation angle of the screed plate, and the function of the cross slope leveling instrument can be realized by detecting the angle of the screed plate in the X direction; the embodiment firstly proposes that the elevation angle adjustment is realized by adjusting the vibration rotating speed; the matching of the paving speed and the vibrating speed is realized through elevation angle control, and further the compactness of the paved road surface is controlled. According to the principle of stress balance, the paving material is unchanged, the pavement with the same thickness and compactness is achieved, the elevation angle of the screed plate in the balanced state is a fixed value, and the compactness of the paved pavement can be effectively controlled through detection and control of the elevation angle.
The method specifically comprises the following steps:
obtaining signals of an S1 main switch, an S2 paving/driving gear change-over switch and an S3 vibrating hand automatic change-over switch, and judging the working state of the paver;
determining a target elevation value and a target gradient value;
calculating an actual elevation value: acquiring angles of a vehicle body and a screed plate in X-axis and Y-axis directions; calculating an elevation angle value of the screed plate relative to the vehicle body, namely an actual elevation angle value, according to the angles of the vehicle body and the screed plate in the Y-axis direction; calculating to obtain a transverse gradient value of the screed plate, namely an actual gradient value, according to the angles of the vehicle body and the screed plate in the X-axis direction;
comparing the actual elevation value with the target elevation value, and judging whether the difference value between the actual elevation value and the target elevation value exceeds an error range value or not;
comparing the actual gradient value with the target gradient value, and judging whether the difference value between the actual gradient value and the target gradient value exceeds the error range value or not;
and responding to the fact that the difference value between the actual elevation angle value and the target elevation angle value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the elevation angle of the screed or control the vibration-suppressing electromagnet to adjust the vibration speed and further adjust the elevation angle of the screed based on the current working state of the paver until the difference value between the actual elevation angle value and the target elevation angle value does not exceed the error range value.
a) When the automatic change-over switch of the vibrator of S3 is in the automatic gear, the paving/driving gear change-over switch is in the paving gear, and the main switch of S1 is in the parking state at 0 position; and responding to the fact that the difference value between the actual elevation value and the target elevation value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the elevation angle of the screed plate according to the difference value between the actual elevation value and the target elevation value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value.
b) When the automatic change-over switch of the vibrator of S3 is in the automatic gear, the paving/driving gear change-over switch is in the paving gear, and the main switch of S1 is in 1 position, namely in a forward state; and responding to the fact that the difference value between the actual elevation angle value and the target elevation angle value exceeds the error range value, and sending a command to control the vibrating electromagnet to adjust the vibrating speed and further adjust the elevation angle of the screed plate according to the difference value between the actual elevation angle value and the target elevation angle value until the difference value between the actual elevation angle value and the target elevation angle value does not exceed the error range value.
And responding to the fact that the difference value between the actual slope value and the target slope value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the transverse slope value of the ironing plate according to the difference value between the actual slope value and the target slope value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value.
Furthermore, the step of sending a command to control the vibrating electromagnet to adjust the vibrating speed and further adjust the elevation angle of the screed plate according to the difference value between the actual elevation angle value and the target elevation angle value is as follows:
when the actual elevation value is larger than the target elevation value, the vibrating electromagnet is controlled to increase the vibrating speed and improve the compaction density, so that the actual elevation value is dynamically balanced in the movement;
when the actual elevation value is smaller than the target elevation value, the vibrating electromagnet is controlled to reduce the vibrating speed and the compacting density, so that the actual elevation value is dynamically balanced in the movement process.
Further, in the method for controlling the attitude of the screed of the paver, the determined target elevation value is as follows: calculating to obtain a recommended elevation value of the screed plate, namely a target elevation value, based on the selected paving thickness and the selected paving material; or, the target elevation value is set based on the selected user experience.
Further, the target slope value is preset. When the vehicle is stopped, the transverse gradient value of the screed plate can be manually set, and can also be automatically adjusted by controlling the lifting of the leveling oil cylinder. And in the advancing state, the transverse gradient value of the screed plate is obtained through the angle calculation in the X-axis direction, and after comparison and judgment, the leveling oil cylinder is controlled to lift and automatically adjust the transverse gradient value of the screed plate, so that gradient control is realized, namely the function of a transverse gradient leveling instrument is realized.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (9)
1. A method for controlling the posture of a screed of a paver is characterized by comprising the following steps:
obtaining signals of an S1 main switch, an S2 paving/driving gear change-over switch and an S3 vibrating hand automatic change-over switch, and judging the working state of the paver;
determining a target elevation value and a target gradient value;
calculating an actual elevation value and an actual gradient value: acquiring angles of a vehicle body and a screed plate in X-axis and Y-axis directions; calculating an elevation angle value of the screed plate relative to the vehicle body, namely an actual elevation angle value, according to the angles of the vehicle body and the screed plate in the Y-axis direction; calculating to obtain a transverse gradient value of the screed plate, namely an actual gradient value, according to the angles of the vehicle body and the screed plate in the X-axis direction;
comparing the actual elevation value with the target elevation value, and judging whether the difference value between the actual elevation value and the target elevation value exceeds an error range value or not;
comparing the actual gradient value with the target gradient value, and judging whether the difference value between the actual gradient value and the target gradient value exceeds the error range value or not;
a) when the automatic changeover switch of the vibrator is in the automatic gear, the paving/driving gear changeover switch is in the paving gear and the vehicle is in the parking state, the S3 is started; responding to the fact that the difference value between the actual elevation value and the target elevation value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the elevation angle of the screed plate according to the difference value between the actual elevation value and the target elevation value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value;
b) when the automatic changeover switch of the vibrator is in the automatic gear and the paving/driving gear changeover switch is in the paving gear and in the forward state of S3;
responding to the fact that the difference value between the actual elevation angle value and the target elevation angle value exceeds the error range value, and sending a command to control the vibrating electromagnet to adjust the vibrating speed and further adjust the elevation angle of the screed plate according to the difference value between the actual elevation angle value and the target elevation angle value until the difference value between the actual elevation angle value and the target elevation angle value does not exceed the error range value;
and responding to the fact that the difference value between the actual slope value and the target slope value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the transverse slope value of the ironing plate according to the difference value between the actual slope value and the target slope value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value.
2. The method for controlling the attitude of a screed of a paver according to claim 1 wherein the step of commanding the vibrating electromagnets to adjust the vibrating speed and thus the elevation of the screed according to the difference between the actual elevation value and the target elevation value is:
when the actual elevation value is larger than the target elevation value, the vibrating electromagnet is controlled to increase the vibrating speed and improve the compaction density, so that the actual elevation value is dynamically balanced in the movement;
when the actual elevation value is smaller than the target elevation value, the vibrating electromagnet is controlled to reduce the vibrating speed and the compacting density, so that the actual elevation value is dynamically balanced in the movement process.
3. The paving machine screed attitude control method of claim 1, wherein the determining a target elevation value is: calculating to obtain a recommended elevation value of the screed plate, namely a target elevation value, based on the selected paving thickness and the selected paving material; or the target elevation value is determined by selecting a user experience to set the target elevation value;
the target slope value is preset.
4. A paver screed attitude control system, comprising:
the working state judging module of the paver is used for judging the working state of the paver based on the obtained signals of the S1 main switch, the S2 paving/driving gear change-over switch and the S3 vibrator automatic change-over switch;
the target value determining module is used for determining a target elevation angle value and a target gradient value;
the angle acquisition module is used for acquiring the angles of the vehicle body and the screed plate in the X-axis direction and the Y-axis direction;
a calculation module to: calculating an elevation angle value of the screed plate relative to the vehicle body, namely an actual elevation angle value, according to the angles of the vehicle body and the screed plate in the Y-axis direction; calculating to obtain a transverse gradient value of the screed plate, namely an actual gradient value, according to the angles of the vehicle body and the screed plate in the X-axis direction;
a comparison and judgment module, configured to: comparing the actual elevation value with the target elevation value, and judging whether the difference value between the actual elevation value and the target elevation value exceeds an error range value or not; comparing the actual gradient value with the target gradient value, and judging whether the difference value between the actual gradient value and the target gradient value exceeds the error range value or not;
an output control module to:
a) when the automatic changeover switch of the vibrator is in the automatic gear, the paving/driving gear changeover switch is in the paving gear and the vehicle is in the parking state, the S3 is started; responding to the fact that the difference value between the actual elevation value and the target elevation value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the elevation angle of the screed plate according to the difference value between the actual elevation value and the target elevation value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value;
b) when the automatic changeover switch of the vibrator is in the automatic gear and the paving/driving gear changeover switch is in the paving gear and in the forward state of S3;
responding to the fact that the difference value between the actual elevation angle value and the target elevation angle value exceeds the error range value, and sending a command to control the vibrating electromagnet to adjust the vibrating speed and further adjust the elevation angle of the screed plate according to the difference value between the actual elevation angle value and the target elevation angle value until the difference value between the actual elevation angle value and the target elevation angle value does not exceed the error range value;
and responding to the fact that the difference value between the actual slope value and the target slope value exceeds the error range value, and sending a command to control the leveling oil cylinder to lift and automatically adjust the transverse slope value of the ironing plate according to the difference value between the actual slope value and the target slope value until the difference value between the actual elevation value and the target elevation value does not exceed the error range value.
5. The paving machine screed attitude control system of claim 4, further comprising: and the display module is used for displaying the target elevation angle value, the actual elevation angle value and the vibrating speed.
6. The paving machine screed attitude control system of claim 4, further comprising: the angle sensor is mounted on the vehicle body and used for detecting the angles of the vehicle body in the X-axis direction and the Y-axis direction;
the screed angle sensor is arranged on the screed and used for detecting angles of the screed in X-axis and Y-axis directions.
7. The paving machine screed attitude control system of claim 4, further comprising a tamper speed sensor for detecting tamper speed.
8. The paver screed attitude control system of claim 4, further comprising a vibrating electromagnet for receiving instructions from the output control module to control and adjust the vibrating speed.
9. The paver screed attitude control system of claim 4, further comprising a right leveling lowering electromagnet, a right leveling raising electromagnet, a left leveling lowering electromagnet, a left leveling raising electromagnet, for receiving instructions of the output control module, and controlling the leveling cylinder to lift to automatically adjust the elevation angle of the screed and the lateral gradient value of the screed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910299369.XA CN110042733B (en) | 2019-04-15 | 2019-04-15 | Attitude control method and control system for screed of paver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910299369.XA CN110042733B (en) | 2019-04-15 | 2019-04-15 | Attitude control method and control system for screed of paver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110042733A CN110042733A (en) | 2019-07-23 |
| CN110042733B true CN110042733B (en) | 2021-03-16 |
Family
ID=67277115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910299369.XA Active CN110042733B (en) | 2019-04-15 | 2019-04-15 | Attitude control method and control system for screed of paver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110042733B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110629636B (en) * | 2019-09-29 | 2020-05-19 | 徐州工业职业技术学院 | Paver screed negative elevation angle correction system |
| CN113389108A (en) * | 2021-07-20 | 2021-09-14 | 广州睿控信息系统集成有限公司 | Automatic paving thickness combined paving system and method based on gradient sensor |
| CN117073625B (en) * | 2023-10-17 | 2024-01-05 | 北京中元浩业科技有限公司 | 3D variable paving control system and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102337719A (en) * | 2011-08-03 | 2012-02-01 | 长沙中联重工科技发展股份有限公司 | Paver as well as control method, device and system thereof |
| CN103161117A (en) * | 2011-12-11 | 2013-06-19 | 陕西中大机械集团有限责任公司 | Dip angle sensor-based automatic leveling system of paver |
| JP2014062432A (en) * | 2012-09-24 | 2014-04-10 | Toyo Nainenki Kogyosha:Kk | Concrete finisher |
| CN104674637A (en) * | 2015-02-04 | 2015-06-03 | 天津大学 | Real-time monitoring device for pavement paving thickness and ironing vibration frequency |
| CN106087669A (en) * | 2016-08-15 | 2016-11-09 | 徐工集团工程机械股份有限公司道路机械分公司 | A kind of paver screed attitude control system and method thereof |
-
2019
- 2019-04-15 CN CN201910299369.XA patent/CN110042733B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102337719A (en) * | 2011-08-03 | 2012-02-01 | 长沙中联重工科技发展股份有限公司 | Paver as well as control method, device and system thereof |
| CN103161117A (en) * | 2011-12-11 | 2013-06-19 | 陕西中大机械集团有限责任公司 | Dip angle sensor-based automatic leveling system of paver |
| JP2014062432A (en) * | 2012-09-24 | 2014-04-10 | Toyo Nainenki Kogyosha:Kk | Concrete finisher |
| CN104674637A (en) * | 2015-02-04 | 2015-06-03 | 天津大学 | Real-time monitoring device for pavement paving thickness and ironing vibration frequency |
| CN106087669A (en) * | 2016-08-15 | 2016-11-09 | 徐工集团工程机械股份有限公司道路机械分公司 | A kind of paver screed attitude control system and method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110042733A (en) | 2019-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110042733B (en) | Attitude control method and control system for screed of paver | |
| CN101310077B (en) | Road-making machine, levelling device and method of controlling the cutting depth or cutting inclination in a road-making machine | |
| CN101391599B (en) | Method for leveling leg and automatic leveling apparatus by using said method | |
| CN109914203B (en) | Road finishing machine and method for automatically controlling the pull point height of a levelling cylinder of a road finishing machine | |
| KR102029109B1 (en) | Operation support device of working machine | |
| CN102681553B (en) | Control method and control system for withdrawing boom of pump truck and pump truck | |
| US10508410B2 (en) | Automatic vibration device of work machine | |
| CN102632872A (en) | Outrigger type engineering machinery, outrigger controlling system and outrigger controlling method | |
| US20180245304A1 (en) | Method of operating a mobile work machine with a ground pressure limitation | |
| WO2019093424A1 (en) | Construction machine | |
| WO2019021123A1 (en) | A levelling system for work machines | |
| KR20190112084A (en) | Working machine and control method of working machine | |
| CN105040557A (en) | Paving thickness measurement system, paving machine and paving thickness measurement method | |
| CN103693572B (en) | A kind of method and system of levelness of the platform for adjusting engineering mechanical device | |
| CN104594165B (en) | Leveling system, paver and leveling method | |
| CN102514551A (en) | Vehicle outrigger leveling method, vehicle outrigger leveling device and vehicle | |
| CN106017964B (en) | A kind of paver automatic horizontal control system analogue experiment installation and experimental method | |
| CN108978768A (en) | The automatic identifying method and loading machine of scraper bowl insertion material shovel dress control method automatically | |
| JPH11311203A (en) | Method and device for controlling hydraulic circuit | |
| CN102337719A (en) | Paver as well as control method, device and system thereof | |
| CN111677284A (en) | Material distributor, building construction system and control method thereof | |
| CN106013817A (en) | Integral hoisting detection device for large-area steel structure and use method of integral hoisting detection device for large-area steel structure | |
| CN107972689B (en) | The method of adjustment of subway vehicle bogie air spring | |
| CN209293085U (en) | It is a kind of suitable for meticulous process when can quick levelling Measurement of Bulldozer | |
| WO2021131546A1 (en) | Work machine, weighing method, and system including work machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |