CN110593336A - Method, device and system for controlling engineering machinery tunneling and engineering machinery - Google Patents
Method, device and system for controlling engineering machinery tunneling and engineering machinery Download PDFInfo
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- CN110593336A CN110593336A CN201910803414.0A CN201910803414A CN110593336A CN 110593336 A CN110593336 A CN 110593336A CN 201910803414 A CN201910803414 A CN 201910803414A CN 110593336 A CN110593336 A CN 110593336A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/02—Dredgers or soil-shifting machines for special purposes for digging trenches or ditches
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- 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
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Abstract
The embodiment of the invention provides a method, a device and a system for controlling engineering machinery tunneling and engineering machinery, and belongs to the technical field of engineering machinery. The method comprises the following steps: receiving the set target tonnage; applying an output current to a main winch tensioning proportion overflow valve according to the target tonnage; applying an initial output current to the main hoisting speed and flow rate regulating proportional valve; determining the actual grounding tonnage of the engineering machinery; determining a difference between the actual ground tonnage and the target tonnage; and under the condition that the difference value is not in the preset range, adjusting the rope releasing speed of the main hoisting steel wire rope so as to enable the difference value to be in the preset range. Therefore, the adjustment of the difference value between the actual grounding tonnage and the target grounding tonnage is realized, the control of the grounding tonnage and the control of the feeding speed are effectively combined, the control is more accurate, and the construction efficiency is improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a method, a device and a system for controlling engineering machinery tunneling and engineering machinery.
Background
The double-wheel slot milling machine is used for construction of underground ultra-deep and rock-entering underground diaphragm walls, the tunneling efficiency is related to the grounding tonnage and the tunneling speed, and stratums with different geological conditions correspond to different grounding tonnage and different feeding speeds. The double-wheel milling working device is suspended by a hydraulic winch, the existing control of the grounding tonnage and the feeding speed is in an open loop type, the control is realized by controlling the rope unwinding speed of the hydraulic winch and the dragging force on the rope, as shown in figure 1, when a manipulator operating device is used for tunneling, a tonnage adjusting knob and a speed adjusting knob are manually adjusted according to geological conditions and experience, and a proportional valve YV is controlledPAnd YVSThe current of the device reaches the set target tonnage and speed. Due to the change of geological conditions, the actual tonnage and the target tonnage have difference values, the existing control system belongs to an open-loop control system, and the secondary difference value is not adjusted.
Disclosure of Invention
The invention aims to provide a method, a device and a system for controlling engineering machinery and the engineering machinery, which can realize the adjustment of the difference value between the actual grounding tonnage and the target grounding tonnage.
In order to achieve the above object, an aspect of the present invention provides a method for controlling the heading of a construction machine, the method comprising: receiving the set target tonnage; applying an output current to a main winch tensioning proportion overflow valve according to the target tonnage; applying an initial output current to the main hoisting speed and flow rate regulating proportional valve; determining the actual grounding tonnage of the engineering machinery; determining a difference between the actual ground tonnage and the target tonnage; and under the condition that the difference value is not in the preset range, adjusting the rope releasing speed of the main hoisting steel wire rope so as to enable the difference value to be in the preset range.
Optionally, adjusting the rope unwinding speed of the main hoisting rope so that the difference is within the preset range when the difference is not within the preset range includes: accelerating the rope releasing speed under the condition that the difference value is smaller than the lower limit of the preset range; and slowing down the rope releasing speed under the condition that the difference value is larger than the upper limit of the preset range.
Optionally, the method further comprises: receiving a set maximum feed speed; and determining a maximum limit value of an output current applied to the main winding speed flow rate adjustment proportional valve based on the maximum feeding speed, wherein the rope unwinding speed is adjusted by adjusting the output current applied to the main winding speed flow rate adjustment proportional valve, and the initial output current and the output current applied to the main winding speed flow rate adjustment proportional valve in the process of adjusting the rope unwinding speed are less than the maximum limit values.
Optionally, the adjusting the output current applied to the main winding speed and flow rate adjusting proportional valve is based on a PID closed loop.
Optionally, the determining an actual ground tonnage of the work machine comprises: and determining the actual grounding tonnage based on the weight of the tool rest of the engineering machinery, the buoyancy force borne by the tool rest and the pulling force of the main hoisting steel wire rope.
Accordingly, another aspect of the present invention provides a control apparatus for controlling the heading of a construction machine, the control apparatus comprising: the target tonnage receiving module is used for receiving the set target tonnage; the first output current applying module is used for applying an output current to the main winch tensioning proportional overflow valve according to the target tonnage; the second output current applying module is used for applying an initial output current to the main hoisting speed and flow regulating proportional valve; the actual grounding tonnage determining module is used for determining the actual grounding tonnage of the engineering machinery; a difference value determining module for determining a difference value between the actual ground tonnage and the target tonnage; and the adjusting module is used for adjusting the rope releasing speed of the main hoisting steel wire rope under the condition that the difference value is not in the preset range, so that the difference value is in the preset range.
Optionally, the adjusting module adjusts the rope releasing speed of the main hoisting rope so that the difference is within a preset range when the difference is not within the preset range includes: accelerating the rope releasing speed under the condition that the difference value is smaller than the lower limit of the preset range; and slowing down the rope releasing speed under the condition that the difference value is larger than the upper limit of the preset range.
Optionally, the control device further comprises: the feeding speed receiving module is used for receiving the set maximum feeding speed; and an output current maximum limit value determining module for determining a maximum limit value of an output current applied to the main winding speed flow rate adjustment proportional valve based on the maximum feeding speed, wherein the rope unwinding speed is adjusted by adjusting the output current applied to the main winding speed flow rate adjustment proportional valve, and the initial output current and the output current applied to the main winding speed flow rate adjustment proportional valve in the process of adjusting the rope unwinding speed are both less than the maximum limit value.
Optionally, the adjusting the output current applied to the main winding speed and flow rate adjusting proportional valve is based on a PID closed loop.
Optionally, the determining the actual ground tonnage of the work machine by the actual ground tonnage determining module comprises: and determining the actual grounding tonnage based on the weight of the tool rest of the engineering machinery, the buoyancy force borne by the tool rest and the pulling force of the main hoisting steel wire rope.
In addition, another aspect of the present invention provides a control system for controlling the heading of a construction machine, the control system including: the control device described above; the tension acquisition module is used for acquiring the tension of the main hoisting steel wire rope;
in addition, the invention also provides a construction machine, and the construction machine comprises the control system.
According to the technical scheme, the rope releasing speed of the main winch steel wire rope is adjusted based on the difference value between the actual grounding tonnage and the target tonnage, so that the difference value is controlled within a preset range, and thus the adjustment of the difference value between the actual grounding tonnage and the target grounding tonnage is realized. In addition, the rope releasing speed of the main hoisting steel wire rope is adjusted to control the feeding speed, the difference value is controlled within a preset range by adjusting the rope releasing speed of the main hoisting steel wire rope, namely the grounding tonnage is controlled, so that the control of the grounding tonnage and the feeding speed is effectively combined, the control is more accurate, and the construction efficiency is improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of ground tonnage and feed rate control in the prior art;
fig. 2 is a flowchart of a method for controlling the tunneling of a construction machine according to an embodiment of the present invention;
FIG. 3 is a logic diagram of a method for controlling the tunneling of a construction machine according to another embodiment of the invention;
fig. 4 is a block diagram of a control device for controlling the tunneling of a construction machine according to another embodiment of the present invention; and
fig. 5 is a schematic diagram of a control system for controlling the heading of a construction machine according to another embodiment of the present invention.
Description of the reference numerals
1 target tonnage receiving module 2 first output current applying module
3 actual grounding tonnage determination module of second output current applying module 4
5 difference value determining module 6 adjusting module
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
One aspect of an embodiment of the present invention provides a method for controlling the heading of a construction machine. Fig. 2 is a flowchart of a method for controlling the heading of a construction machine according to an embodiment of the present invention. As shown in fig. 2, the method includes the following.
In step S20, the set target tonnage is received. Wherein, the set target tonnage can be the grounding tonnage set by geological conditions. The set grounding tonnage can be set through a tonnage adjusting button or a touch screen, and the method is not limited to this.
In step S21, an output current is applied to the main winch expansion proportional relief valve according to the set target tonnage.
In step S22, an initial output current is applied to the main winding speed flow rate adjustment proportional valve.
In step S23, the actual ground tonnage of the work machine is determined. For example, the actual ground tonnage can be determined from the weight of the tool head of the construction machine, the buoyancy force experienced by the tool head, and the tension of the main hoisting cable. Specifically, the actual ground tonnage is the weight of the tool rest, the buoyancy force applied to the tool rest, and the pulling force of the main hoisting steel wire rope.
In step S24, a difference between the actual ground tonnage and the target ground tonnage is determined.
In step S25, it is determined whether the difference is within a preset range; if yes, go to step S27; if not, step S26 is executed. The preset range is an error range between the actual grounding tonnage and the target grounding tonnage, and can be set according to actual conditions.
In step S26, the payout speed of the main hoisting rope is adjusted so that the difference is within a preset range.
For example, the rope unwinding speed of the main hoisting rope can be adjusted by adjusting the main hoisting speed flow rate adjustment proportional valve, and in particular, the rope unwinding speed of the main hoisting rope is adjusted by adjusting the output current applied to the main hoisting speed flow rate adjustment proportional valve.
In addition, under the condition that the difference value is not in the preset range, the rope releasing speed of the main hoisting steel wire rope is adjusted, so that the difference value is in the preset range, and the adjustment can be carried out according to the following contents. Accelerating the rope releasing speed under the condition that the difference value is smaller than the lower limit of the preset range; and slowing down the rope releasing speed under the condition that the difference value is larger than the upper limit of the preset range. Specifically, the output current applied to the main hoisting speed flow rate regulation proportional valve can be regulated according to whether the main hoisting speed flow rate regulation proportional valve is a direct proportional valve or an inverse proportional valve, so that the rope unwinding speed is accelerated or slowed down. Alternatively, in the embodiment of the present invention, the absolute values of the upper and lower limits of the preset range may be equal.
In step S27, the tonnage adjustment ends.
The rope releasing speed of the main hoisting steel wire rope is adjusted based on the difference value between the actual grounding tonnage and the target tonnage, so that the difference value is controlled within a preset range, and the adjustment of the difference value between the actual grounding tonnage and the target grounding tonnage is realized. In addition, the rope releasing speed of the main hoisting steel wire rope is adjusted to control the feeding speed, the difference value is controlled within a preset range by adjusting the rope releasing speed of the main hoisting steel wire rope, namely the grounding tonnage is controlled, so that the control of the grounding tonnage and the feeding speed is effectively combined, the control is more accurate, and the construction efficiency is improved.
Alternatively, in the embodiment of the present invention, the maximum feed speed may also be set. Specifically, the method for controlling the heading of the engineering machine further comprises the following contents. Receiving a set maximum feed speed; the maximum limit value of the output current applied to the main winding speed flow rate adjustment proportional valve is determined based on the set maximum feed speed. The rope unwinding speed is adjusted by adjusting the output current applied to the main winding speed flow adjusting proportional valve, and the initial output current and the output current applied to the main winding speed flow adjusting proportional valve in the process of adjusting the rope unwinding speed are smaller than the maximum limiting value.
Optionally, in an embodiment of the present invention, the output current applied to the main winding speed flow rate adjustment proportional valve is adjusted based on a PID closed loop.
Fig. 3 is a logic diagram of a method for controlling the tunneling of a construction machine according to another embodiment of the present invention. An example of a method for controlling the heading of a construction machine according to an embodiment of the present invention is described below with reference to fig. 3. In this example, the working machine is exemplified as a double-wheel slot milling machine.
When the double-wheel slot milling machine is ready for tunneling, the target grounding tonnage T is set through the tonnage adjusting knobNWherein the target ground tonnage TNThe device can be set according to geological conditions, the maximum feeding speed v is set through a speed adjusting knob, and the tension of the main hoisting steel wire rope is measured based on a main hoisting steel wire rope tension sensor. It should be noted that, in the embodiment of the present invention, other devices besides the knob, such as a touch screen, etc., may be used to set the target ground tonnage and/or the maximum feeding speed. Based on target ground tonnage T that sets forNDetermining the proportional relief valve YV applied to the main winchPOutput current value APWherein a proportional relief valve YV is applied to the main winchPOutput current value APIs determined according to the following. Converting the target grounding tonnage into pressure according to a hydraulic pressure curve chart, and converting the pressure into output current, wherein the output current is the target grounding tonnage T based on the settingNDetermined proportional relief valve YV applied to main winch tensionPOutput current value AP. Determining a flow rate adjusting proportional valve YV applied to a main winding speed based on a set maximum feeding speed vSOf the maximum limit value A of the output currentS(1)Wherein the flow rate applied to the main winding speed adjusts the proportional valve YVSAre all less than the maximum limit value AS(1). Setting the flow rate regulating proportional valve YV applied to the main hoisting speedSInitial current value A ofS(0)Wherein the initial value AS(0)Can be any value, but must be less than AS(1). The main hoisting mechanism keeps a tensioning state, and a milling wheel of a slot milling machine performs tunneling work. In the actual construction process, the ground connection tonnage is mainly controlled. Determining the actual grounding tonnage based on the following formula: actual ground tonnage TS＝G0(weight of tool rest) -buoyancy (buoyancy force applied to tool rest) -tension of main hoisting steel wire rope; determining the error of the ground-connection tonnage,wherein, the error of the grounding tonnage is TN(target ground tonnage) -TS(actual ground tonnage).
During the working process, the error delta T of the grounding tonnage is compared with the error range, wherein the error range is [ -delta T [ ]0，ΔT0]，ΔT0And the set value represents the maximum error of the allowable grounding tonnage. When the error delta T of the grounding tonnage is within the error range, the tonnage regulation is finished; and when the error delta T of the grounding tonnage is not in the error range, adjusting. Specifically, the target ground tonnage T is comparedNTonnage T with actual groundingSIf Δ T > Δ T with an error Δ T0I.e. actual ground tonnage TSIs far less than target ground tonnage TNThen the proportional valve YV needs to be adjusted by the main winding speed and flowSThe rope releasing speed of the main hoisting steel wire rope is accelerated, namely, the flow regulating proportional valve YV is controlled to be applied to the main hoisting speedSOutput current ASTo accelerate the rope releasing speed of the main hoisting steel wire rope, wherein the current A is outputSIs regulated by PID in closed loop and outputs current AS＜AS(1)(ii) a If delta T < -delta T is found after a period of operation0I.e. actual ground tonnage TSIs far greater than the target grounding tonnage TNThen the proportional valve YV needs to be adjusted by the main winding speed and flowSThe rope releasing speed of the main hoisting steel wire rope is slowed down, namely the flow regulating proportional valve YV is controlled to be applied to the main hoisting speedSOutput current ASTo slow down the rope releasing speed of the main hoisting steel wire rope, wherein, the current A is outputSIs regulated by PID in closed loop and outputs current AS＜AS(1)。
According to the change of delta T, the YV applied to the main hoisting speed and flow rate regulation proportional valve is adjusted in real timeSOutput current A ofSThe control of the grounding tonnage and the feeding speed is realized, and the control of the grounding tonnage and the feeding speed are effectively combined, so that the matching of the grounding tonnage and the feeding speed reaches the optimal matching state as much as possible, and the construction efficiency is improved. In addition, the grounding tonnage can be set according to actual geological conditions, so that the grounding tonnage and the feeding are controlled according to different geological conditionsThe speed is high, accurate control is achieved, the working requirements of the milling wheel on tunneling in different stratums are met, and the construction efficiency is improved.
The method for controlling the tunneling of the engineering machinery provided by the embodiment of the invention is closed-loop control, the tension on the steel wire rope is monitored in real time, and the data (the actual grounding tonnage and the grounding tonnage error between the actual grounding tonnage and the target grounding tonnage are determined in real time) of the method is used for closed-loop control, so that the uncontrollable grounding tonnage error delta T caused by factors such as nonlinear error, temperature error and hysteresis characteristic of a valve is avoided. When there is an error Δ T, then it is applied to the solenoid valve YV by trimmingSCurrent A ofSTherefore, the error delta T is reduced, and the feeding control is more accurate and suitable.
In the method for controlling the tunneling of the engineering machine provided by the embodiment of the invention, a given proportion is applied to the solenoid valve YV according to the value set by the tonnage regulating knobPCurrent value A ofP(ii) a Given the value set to be applied to the proportional solenoid valve YV according to the speed adjustment knobSMaximum allowable control current limit AS(1)(ii) a According to tonnage error, PID closed loop regulation calculation, dynamic regulation is applied to the proportional solenoid valve YVSOutput current value A ofS(ii) a The underground pressure (namely the actual grounding tonnage) of the working device is converted by the tension of the steel wire rope, the underground pressure of the working device is set as a feeding closed-loop control target, and finally the underground pressure is controlled within an allowable error range.
Accordingly, another aspect of the embodiments of the present invention provides a control device for controlling the heading of a construction machine. Fig. 4 is a block diagram of a control device for controlling the tunneling of a construction machine according to another embodiment of the present invention. As shown in fig. 4, the control apparatus includes a target tonnage receiving module 1, a first output current applying module 2, a second output current applying module 3, an actual ground tonnage determining module 4, a difference value determining module 5, and an adjusting module 6. The target tonnage receiving module 1 is used for receiving the set target tonnage; the first output current applying module 2 is used for applying an output current to the main winch tensioning proportional overflow valve according to the target tonnage; the second output current applying module 3 is used for applying an initial output current to the main hoisting speed and flow regulating proportional valve; the actual grounding tonnage determining module 4 is used for determining the actual grounding tonnage of the engineering machinery; the difference value determining module 5 is used for determining the difference value between the actual grounding tonnage and the target tonnage; the adjusting module 6 is used for adjusting the rope releasing speed of the main hoisting steel wire rope under the condition that the difference value is not within the preset range, so that the difference value is within the preset range.
Optionally, in an embodiment of the present invention, the adjusting module adjusts a rope unwinding speed of the main hoisting rope so that the difference is within a preset range when the difference is not within the preset range includes: accelerating the rope releasing speed under the condition that the difference value is smaller than the lower limit of the preset range; and slowing down the rope releasing speed under the condition that the difference value is larger than the upper limit of the preset range.
Optionally, in an embodiment of the present invention, the control device further includes: the feeding speed receiving module is used for receiving the set maximum feeding speed; and an output current maximum limit value determining module for determining a maximum limit value of an output current applied to the main winding speed flow rate adjustment proportional valve based on the maximum feeding speed, wherein the rope unwinding speed is adjusted by adjusting the output current applied to the main winding speed flow rate adjustment proportional valve, and the initial output current and the output current applied to the main winding speed flow rate adjustment proportional valve in the process of adjusting the rope unwinding speed are both less than the maximum limit value.
Optionally, in an embodiment of the present invention, the output current applied to the main winding speed flow rate adjustment proportional valve is adjusted based on a PID closed loop.
Optionally, in an embodiment of the present invention, the determining the actual ground tonnage of the construction machine by the actual ground tonnage determining module includes: and determining the actual grounding tonnage based on the weight of a tool rest of the engineering machinery, the buoyancy force borne by the tool rest and the pulling force of a main hoisting steel wire rope.
The specific working principle and the benefits of the control device for controlling engineering machinery tunneling provided by the embodiment of the invention are similar to those of the method for controlling engineering machinery tunneling provided by the embodiment of the invention, and are not described again here.
The control device for controlling the engineering machinery tunneling comprises a processor and a memory, wherein the target tonnage receiving module, the first output current applying module, the second output current applying module, the actual grounding tonnage determining module, the difference value determining module, the adjusting module and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the adjustment of the difference value between the actual grounding tonnage and the target grounding tonnage is realized by adjusting the kernel parameters.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
In addition, the embodiment of the invention also provides a control system for controlling the tunneling of the engineering machinery. The control system comprises the control device and the tension obtaining module in the embodiment. The tension obtaining module is used for obtaining tension of the main hoisting steel wire rope. Alternatively, the tension acquiring module may be a tension sensor. Alternatively, the control device may be a PLC controller.
Optionally, in the embodiment of the invention, the control system may further comprise a target tonnage setting module and/or a feed speed setting module. The device comprises a target tonnage setting module and a feeding speed setting module, wherein the target tonnage setting module is used for setting a target tonnage, and the feeding speed setting module is used for setting a maximum feeding speed. Alternatively, the target tonnage setting module may be an adjustment knob. Alternatively, the feed speed setting module may be an adjustment knob.
Fig. 5 is a schematic diagram of a control system for controlling the heading of a construction machine according to another embodiment of the present invention. As shown in fig. 5, the control system mainly comprises a PLC controller, a tonnage adjusting knob, a speed adjusting knob, a main hoisting steel wire rope tension sensor, an electromagnetic valve, and other electrical components. The tonnage adjusting knob sets a target grounding tonnage, the speed adjusting knob sets a maximum feeding speed, and the main hoisting steel wire rope tension sensor measures the tension of the main hoisting steel wire rope. The feeding control is completed safely and reliably by acquiring signals and reading data through electrical elements (sensors and the like) and performing logic control on the action execution through a PLC (programmable logic controller).
In addition, another aspect of the embodiments of the present invention also provides a construction machine, which includes the control system described in the above embodiments.
An embodiment of the present invention further provides a storage medium, on which a program is stored, and the program implements the method described in the above embodiment when executed by a processor.
The embodiment of the invention also provides a processor, which is used for running the program, wherein the method in the embodiment is executed when the program runs.
The embodiment of the invention also provides equipment, which comprises a processor, a memory and a program which is stored on the memory and can be operated on the processor, wherein the processor executes the program and realizes the following steps: receiving the set target tonnage; applying an output current to a main winch tensioning proportion overflow valve according to the target tonnage; applying an initial output current to the main hoisting speed and flow rate regulating proportional valve; determining the actual grounding tonnage of the engineering machinery; determining a difference between the actual ground tonnage and the target tonnage; under the condition that the difference value is not in a preset range, adjusting the rope releasing speed of the main hoisting steel wire rope so as to enable the difference value to be in the preset range; adjusting the rope releasing speed of the main hoisting steel wire rope so that the difference value is within a preset range under the condition that the difference value is not within the preset range comprises the following steps: accelerating the rope releasing speed under the condition that the difference value is smaller than the lower limit of the preset range; and slowing down the rope unwinding speed under the condition that the difference value is larger than the upper limit of the preset range; receiving a set maximum feed speed; and determining a maximum limit value of an output current applied to the main winding speed flow rate adjustment proportional valve based on the maximum feeding speed, wherein the rope unwinding speed is adjusted by adjusting the output current applied to the main winding speed flow rate adjustment proportional valve, and the initial output current and the output current applied to the main winding speed flow rate adjustment proportional valve in the process of adjusting the rope unwinding speed are less than the maximum limit values; the output current applied to the main hoisting speed and flow rate regulating proportional valve is regulated based on a PID closed loop; the determining the actual ground tonnage of the engineering machine comprises: and determining the actual grounding tonnage based on the weight of the tool rest of the engineering machinery, the buoyancy force borne by the tool rest and the pulling force of the main hoisting steel wire rope. The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program for initializing the following method steps when executed on a data processing device: receiving the set target tonnage; applying an output current to a main winch tensioning proportion overflow valve according to the target tonnage; applying an initial output current to the main hoisting speed and flow rate regulating proportional valve; determining the actual grounding tonnage of the engineering machinery; determining a difference between the actual ground tonnage and the target tonnage; under the condition that the difference value is not in a preset range, adjusting the rope releasing speed of the main hoisting steel wire rope so as to enable the difference value to be in the preset range; adjusting the rope releasing speed of the main hoisting steel wire rope so that the difference value is within a preset range under the condition that the difference value is not within the preset range comprises the following steps: accelerating the rope releasing speed under the condition that the difference value is smaller than the lower limit of the preset range; and slowing down the rope unwinding speed under the condition that the difference value is larger than the upper limit of the preset range; receiving a set maximum feed speed; and determining a maximum limit value of an output current applied to the main winding speed flow rate adjustment proportional valve based on the maximum feeding speed, wherein the rope unwinding speed is adjusted by adjusting the output current applied to the main winding speed flow rate adjustment proportional valve, and the initial output current and the output current applied to the main winding speed flow rate adjustment proportional valve in the process of adjusting the rope unwinding speed are less than the maximum limit values; the output current applied to the main hoisting speed and flow rate regulating proportional valve is regulated based on a PID closed loop; the determining the actual ground tonnage of the engineering machine comprises: and determining the actual grounding tonnage based on the weight of the tool rest of the engineering machinery, the buoyancy force borne by the tool rest and the pulling force of the main hoisting steel wire rope.
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.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
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 above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for controlling the heading of a work machine, the method comprising:
receiving the set target tonnage;
applying an output current to a main winch tensioning proportion overflow valve according to the target tonnage;
applying an initial output current to the main hoisting speed and flow rate regulating proportional valve;
determining the actual grounding tonnage of the engineering machinery;
determining a difference between the actual ground tonnage and the target tonnage; and
and under the condition that the difference value is not in a preset range, adjusting the rope releasing speed of the main hoisting steel wire rope so as to enable the difference value to be in the preset range.
2. The method of claim 1, wherein adjusting the payout speed of the main hoisting rope so that the difference is within a preset range if the difference is not within the preset range comprises:
accelerating the rope releasing speed under the condition that the difference value is smaller than the lower limit of the preset range; and
and slowing down the rope releasing speed under the condition that the difference value is larger than the upper limit of the preset range.
3. The method of claim 1, further comprising:
receiving a set maximum feed speed; and
determining a maximum limit value of an output current applied to the main winding speed flow rate adjustment proportional valve based on the maximum feeding speed,
and adjusting the rope releasing speed by adjusting the output current applied to the main winding speed flow rate adjusting proportional valve, wherein the initial output current and the output current applied to the main winding speed flow rate adjusting proportional valve in the process of adjusting the rope releasing speed are smaller than the maximum limit value.
4. The method of any of claims 1-3, wherein the determining an actual ground tonnage of the work machine comprises: and determining the actual grounding tonnage based on the weight of the tool rest of the engineering machinery, the buoyancy force borne by the tool rest and the pulling force of the main hoisting steel wire rope.
5. A control device for controlling the driving of a construction machine, characterized in that the control device comprises:
the target tonnage receiving module is used for receiving the set target tonnage;
the first output current applying module is used for applying an output current to the main winch tensioning proportional overflow valve according to the target tonnage;
the second output current applying module is used for applying an initial output current to the main hoisting speed and flow regulating proportional valve;
the actual grounding tonnage determining module is used for determining the actual grounding tonnage of the engineering machinery;
a difference value determining module for determining a difference value between the actual ground tonnage and the target tonnage; and
and the adjusting module is used for adjusting the rope releasing speed of the main hoisting steel wire rope under the condition that the difference value is not in the preset range, so that the difference value is in the preset range.
6. The control device of claim 5, wherein the adjusting module adjusts the payout speed of the main hoisting rope so that the difference is within a preset range if the difference is not within the preset range comprises:
accelerating the rope releasing speed under the condition that the difference value is smaller than the lower limit of the preset range; and
and slowing down the rope releasing speed under the condition that the difference value is larger than the upper limit of the preset range.
7. The control device according to claim 5, characterized by further comprising: the feeding speed receiving module is used for receiving the set maximum feeding speed; and
an output current maximum limit value determination module for determining a maximum limit value of an output current applied to the main winding speed flow rate adjustment proportional valve based on the maximum feeding speed,
the rope releasing speed is adjusted by adjusting output current applied to the main winding speed flow rate adjusting proportional valve, and the initial output current and the output current applied to the main winding speed flow rate adjusting proportional valve in the process of adjusting the rope releasing speed are both smaller than the maximum limit value.
8. The control apparatus of any of claims 5-7, wherein the actual ground tonnage determining module determining the actual ground tonnage of the work machine comprises: and determining the actual grounding tonnage based on the weight of the tool rest of the engineering machinery, the buoyancy force borne by the tool rest and the pulling force of the main hoisting steel wire rope.
9. A control system for controlling the driving of a work machine, the control system comprising:
the control device of any one of claims 5-8; and
and the tension acquisition module is used for acquiring the tension of the main hoisting steel wire rope.
10. A working machine, characterized in that the working machine comprises a control system according to claim 9.
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| CN201910803414.0A CN110593336A (en) | 2019-08-28 | 2019-08-28 | Method, device and system for controlling engineering machinery tunneling and engineering machinery |
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| CN201910803414.0A CN110593336A (en) | 2019-08-28 | 2019-08-28 | Method, device and system for controlling engineering machinery tunneling and engineering machinery |
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| CN113137238A (en) * | 2021-04-27 | 2021-07-20 | 中交天和机械设备制造有限公司 | Method, device, medium and equipment for adjusting proportional valve of shield tunneling machine |
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Application publication date: 20191220 |