CN110905021A - Automatic adjustment control method and system for operation posture of land leveler working device - Google Patents
Automatic adjustment control method and system for operation posture of land leveler working device Download PDFInfo
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- CN110905021A CN110905021A CN201911223838.6A CN201911223838A CN110905021A CN 110905021 A CN110905021 A CN 110905021A CN 201911223838 A CN201911223838 A CN 201911223838A CN 110905021 A CN110905021 A CN 110905021A
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/841—Devices for controlling and guiding the whole machine, e.g. by feeler elements and reference lines placed exteriorly of the machine
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
- E02F3/80—Component parts
- E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
- E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
- E02F3/845—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
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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
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention provides a method and a system for automatically adjusting and controlling the operation posture of a grader working device, wherein the method comprises the following steps: after the grader starts to work, acquiring an initial attitude value of a grader working device; acquiring an attitude measurement value of the grader working device in real time after the attitude initial value is acquired; calculating the difference value between the attitude measurement value and the attitude initial value of the grader working device in real time, and generating a control signal of the grader working device according to the difference value; and adjusting the posture of the grader working device in real time according to the control signal, so that the posture change of the grader working device is kept within a preset range. The invention can adjust the posture of the working device of the land leveler in real time according to the change of the running road surface of the land leveler, so that the land leveler keeps the following control of the angle of the working device on the road surface jolt in the running process, and the influence of the road surface jolt on the posture of the working device is counteracted.
Description
Technical Field
The invention relates to the technical field of land leveler control, in particular to a land leveler working device operation posture automatic adjustment control method and a land leveler working device operation posture automatic adjustment control system.
Background
A land leveler is an earthwork machine used for leveling loose materials, leveling land and roads, repairing slopes and other occasions, and the working device of the land leveler comprises a scraper knife, a driving oil cylinder, accessories and the like.
Under the working condition of the land leveler, due to uneven jolting of the running road surface, the scraper knife jolts along with the whole vehicle, so that the working surface of the scraper knife fluctuates, the working efficiency of the land leveler is influenced, and the working quality of the land leveler is also influenced.
However, in the prior art, a set of feasible control scheme is not available, so that the posture of a working device of the land leveler can be actively controlled in real time, the influence of road surface jolt on a land leveler blade is counteracted, particularly the influence of the road surface jolt on the angle of the land leveler blade is counteracted, and the problem that the whole land leveler, particularly the blade jolts along with the running road surface in the working process is solved.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method and a system for automatically adjusting and controlling the operation posture of a working device of a land leveler, which solve the problem that the whole machine, especially a scraper, jolts along with the running road surface in the working process of the land leveler, realize the active real-time control of the posture of the working device of the land leveler, so as to counteract the influence of the jolt on the scraper of the land leveler, especially counteract the influence of the jolt on the angle of the scraper of the land leveler.
In order to solve the technical problems, the invention provides the following technical scheme:
a method for automatically adjusting and controlling the operation posture of a grader working device comprises the following steps:
after the grader starts to work, acquiring an initial attitude value of a grader working device; acquiring an attitude measurement value of the grader working device in real time after the attitude initial value is acquired;
calculating the difference value between the attitude measurement value and the attitude initial value of the grader working device in real time, and generating a control signal of the grader working device according to the difference value;
and adjusting the posture of the land scraper working device in real time according to the control signal, so that the posture change of the land scraper working device is kept within a preset range.
Wherein, acquire leveler equipment's gesture initial value, specifically do:
when the direct or indirect driving oil cylinder of the land scraper working device does not act, the land scraper runs or turns, and the preset time is kept, the initial attitude value of the land scraper working device is obtained.
Wherein generating a control signal for the grader working device based on the difference comprises:
comparing the absolute value of the difference value with a preset threshold value;
when the absolute value of the difference value is not greater than a preset threshold value, generating a control signal with the size of zero;
when the absolute value of the difference is greater than a preset threshold, generating a control signal according to the following formula:
S＝C×U(ΔA)；
U(ΔA)＝P×ΔA；
wherein S represents a control signal, C is a preset constant, Delta A represents the difference value between the attitude measurement value and the attitude initial value of the grader working device, and P is a preset control parameter.
Wherein Δ a is a discrete quantity, denoted as Δ a (k);
the calculation formula of the U (delta A) is discretized as follows:
U(ΔA(k))＝P×ΔA(k)；
wherein k is a sampling number.
Accordingly, in order to solve the above technical problems, the present invention further provides the following technical solutions:
an automatic adjustment control system for the working attitude of a grader working device, comprising:
the detection module is used for acquiring an initial attitude value of a working device of the land leveler after the land leveler starts working; acquiring an attitude measurement value of the grader working device in real time after the attitude initial value is acquired;
the control module is used for calculating the difference value between the attitude measurement value and the attitude initial value of the land scraper working device in real time and generating a control signal of the land scraper working device according to the difference value;
and the executing mechanism is used for adjusting the posture of the land scraper working device in real time according to the control signal so that the posture change of the land scraper working device is kept within a preset range.
The detection module comprises a scraper knife angle sensor or a scraper knife oil cylinder length sensor.
Wherein the control module comprises a centralized controller, a distributed controller, or a remote controller.
The actuating mechanism comprises a scraper blade oil cylinder or a movable arm oil cylinder.
Wherein the control module is specifically configured to:
comparing the absolute value of the difference value with a preset threshold value;
when the absolute value of the difference value is not greater than a preset threshold value, generating a control signal with the size of zero;
when the absolute value of the difference is greater than a preset threshold, generating a control signal according to the following formula:
S＝C×U(ΔA)；
U(ΔA)＝P×ΔA；
wherein S represents a control signal, C is a preset constant, Delta A represents the difference value between the attitude measurement value and the attitude initial value of the grader working device, and P is a preset control parameter.
The technical scheme of the invention has the following beneficial effects:
the automatic adjustment control method and the system can adjust the posture of the working device of the land leveler in real time according to the change of the running road surface of the land leveler, so that the land leveler keeps the following control of the blade angle on the road surface jolt in the running process. The problem that the whole grader, especially the scraper, jolts along with the driving road surface in the working process of the grader is solved, the active real-time control of the posture of a working device of the grader is realized, the influence of the jolt of the road surface on the scraper of the grader is counteracted, and the influence of the jolt of the road surface on the angle of the scraper of the grader is counteracted.
Drawings
FIG. 1 is a flow chart of a method of the present invention for automatically adjusting and controlling the operational attitude of a grader work implement;
fig. 2 is a block diagram of an automatic adjustment control system for the work attitude of a grader working apparatus according to the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
First embodiment
The embodiment provides a method for automatically adjusting and controlling the operation posture of a grader working device, and as shown in fig. 1, the method for automatically adjusting and controlling the operation posture of the grader working device comprises the following steps:
s1, after the grader starts to work, acquiring an attitude initial value A0 of the grader working device; acquiring an attitude measurement value A of the grader working device in real time after acquiring an attitude initial value A0;
the storage conditions of the attitude initial value a0 of the grader work apparatus are: the direct or indirect driving oil cylinder of the grader working device has no action (no output of a controller), the grader has running or steering action, and the preset time is kept; specifically, in the present embodiment, the preset time is 3 seconds.
The attitude of the grader working device may include the blade angle or the blade cylinder length; the posture of the scraper knife is directly or indirectly calculated by collecting the angle of the scraper knife or the length of the scraper knife oil cylinder.
The grader begins to transport after it has started working, and the angle of the blade should remain constant during transport to prevent the blade working surface from fluctuating. However, in the actual running process of the land leveller, due to the reasons of uneven running road surface, up-down slope and the like, the whole land leveller is difficult to avoid jolting along with the road surface, and the jolting causes the fluctuation of the working surface of the scraper blade. In practice, the main component of grader jolt is from the rotation of the grader machine about a horizontal axis perpendicular to the direction of travel, which results in a change in the blade inclination and thus in the spillage of material. Therefore, in the present embodiment, the inclination information of the blade is mainly acquired.
S2, calculating the difference value delta A between the attitude measurement value A of the land scraper working device and the attitude initial value A0 in real time, and generating a control signal S of the land scraper working device according to the difference value delta A between the attitude measurement value and the attitude initial value;
it should be noted that, although all the actuators controlling the inclination angle of the blade do not act during the running of the grader, the rough road surface causes the whole grader to bump and changes the actual inclination angle of the blade, so that the difference between the actual inclination angle and the initial inclination angle occurs during the running of the grader. The scheme of the embodiment aims to eliminate the difference of the inclination angles of the cutting blades, so that the actual inclination angle of the cutting blade is kept stable in the running process of the land scraper;
specifically, S2 in the present embodiment includes:
s21, calculating the difference value delta A between the attitude measurement value A of the grader working device and the attitude initial value A0; when the Δ a fluctuates in a small range, the influence on the blade is small, and at this time, it is not necessary to control this, so a preset threshold a1 needs to be preset; specifically, in the present embodiment, a1 is 3 °.
S22, judging whether the absolute value of the delta A is larger than a preset threshold A1;
s23, when the absolute value of Δ a is not greater than a1, let U (Δ a) be 0;
s24, when the absolute value of the delta A is larger than A1, the fact that the angle deviation of the scraper knife is obvious at the moment is shown, and active control is needed;
at this time, U (Δ a) ═ P × Δ a; specifically, P-P1-2;
and S25, calculating an electromagnetic valve control signal S of the working device driving oil cylinder according to U (delta A):
S＝C×U(ΔA)；
where C is a preset constant, specifically, in this embodiment, C is 1.
It should be noted that, for Δ a, in actual operation, the measured value a is a discrete quantity because it is data sampled by the controller. Δ A, calculated from A, is also a discrete quantity, denoted Δ A (k). Therefore, the above formula of U (Δ a) is discretized in practical application by the following formula:
U(ΔA(k))＝P×ΔA(k)；
wherein k is a sampling number.
And S3, adjusting the posture of the grader working device in real time according to the control signal, so that the posture change of the grader working device is kept within a preset range.
It should be noted that, in the above steps, the output control is performed on the actuating mechanism (including the blade cylinder) of the blade through the control signal, and the influence of the road surface jolt on the blade inclination angle is counteracted through the active control on the blade inclination angle, so as to realize the stability of the actual blade inclination angle in the driving process.
The automatic adjustment control method of the embodiment can adjust the posture of the working device of the land leveler in real time according to the change of the running road surface of the land leveler, so that the land leveler keeps the following control of the blade angle to the road surface jolt in the running process. The problem that the whole grader, especially the scraper, jolts along with the driving road surface in the working process of the grader is solved, the active real-time control of the posture of a working device of the grader is realized, the influence of the jolt of the road surface on the scraper of the grader is counteracted, and the influence of the jolt of the road surface on the angle of the scraper of the grader is counteracted.
Second embodiment
The present embodiment provides a system for automatically adjusting and controlling the operation posture of a grader working device, as shown in fig. 2, the system for automatically adjusting and controlling the operation posture of a grader working device includes:
the detection module is used for acquiring an attitude initial value A0 of a grader working device after the grader starts working; acquiring an attitude measurement value A of the grader working device in real time after the A0 is acquired;
the control module is used for calculating the difference value delta A between the attitude measurement value A of the land leveler working device and the attitude initial value A0 in real time and generating a control signal S of the land leveler working device according to the delta A;
and the executing mechanism is used for adjusting the posture of the land leveler working device in real time according to the control signal S so that the posture change of the land leveler working device is kept within a preset range.
Specifically, in this embodiment, the detection module is a working device position sensor, and may include a blade angle sensor or a blade cylinder length sensor. The posture of the scraper knife is directly or indirectly calculated by measuring the inclination angle of the scraper knife or the positions of all scraper knife driving oil cylinders;
the storage conditions of the attitude initial value a0 of the grader work apparatus are as follows: the direct or indirect driving oil cylinder of the grader working device does not act (no signal output is generated by a controller), the grader has running or steering action, and the preset time is kept; specifically, in the present embodiment, the preset time is 3 seconds.
In view of the fact that in practice the major component of grader jolt results from the rotation of the grader machine about a horizontal axis perpendicular to the direction of travel, which rotation results in a change in the inclination of the blade and thus in material spillage. Therefore, the present embodiment obtains the inclination information of the blade using the blade angle sensor.
The control module may include a centralized controller, a distributed controller, or a remote controller, and the embodiment employs the centralized controller, which is specifically configured to:
calculating a difference value delta A between an attitude measurement value A of the grader working device and an attitude initial value A0; when the Δ a fluctuates in a small range, the influence on the blade is small, and at this time, it is not necessary to control this, so a preset threshold a1 needs to be preset; specifically, in the present embodiment, a1 is 3 °.
Judging whether the absolute value of the delta A is larger than a preset threshold value A1;
when the absolute value of Δ a is not greater than a1, let U (Δ a) be 0;
when the absolute value of the delta A is larger than A1, the angle deviation of the scraper knife is obvious at the moment, and active control is needed;
at this time, U (Δ a) ═ P × Δ a; specifically, P-P1-2;
and according to U (delta A), calculating a solenoid valve control signal S of the driving oil cylinder of the working device:
S＝C×U(ΔA)；
where C is a preset constant, specifically, in this embodiment, C is 1.
The executing mechanism is a working device driving oil cylinder and is used for directly or indirectly driving the cutting blade of the grader to act, and the executing mechanism can comprise a cutting blade oil cylinder and the like.
The automatic adjustment control system of the embodiment can adjust the posture of the working device of the land leveler in real time according to the change of the running road surface of the land leveler, so that the land leveler keeps the following control of the blade angle on the road surface jolt in the running process. The problem that the whole grader, especially the scraper, jolts along with the driving road surface in the working process of the grader is solved, the active real-time control of the posture of a working device of the grader is realized, the influence of the jolt of the road surface on the scraper of the grader is counteracted, and the influence of the jolt of the road surface on the angle of the scraper of the grader is counteracted.
Moreover, it is noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
It should also be apparent to those skilled in the art that embodiments of the present invention may be provided as a method, apparatus, or computer program product. Furthermore, embodiments of the present invention 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.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. 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, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, 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 terminal 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 terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While there has been described what are considered to be preferred embodiments of the present invention, it will be understood by those skilled in the art that, in light of the foregoing description, numerous modifications and enhancements which fall within the spirit and scope of the invention are possible without departing from the principles of the present invention. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Claims (7)
1. A method for automatically adjusting and controlling the operation posture of a grader working device is characterized by comprising the following steps:
after the grader starts to work, acquiring an initial attitude value of a grader working device; acquiring an attitude measurement value of the grader working device in real time after the attitude initial value is acquired;
calculating the difference value between the attitude measurement value and the attitude initial value of the grader working device in real time, and generating a control signal of the grader working device according to the difference value;
adjusting the posture of the land scraper working device in real time according to the control signal so that the posture change of the land scraper working device is kept within a preset range;
generating a control signal for the grader work implement based on the difference, comprising:
comparing the absolute value of the difference value with a preset threshold value;
when the absolute value of the difference value is not greater than a preset threshold value, generating a control signal with the size of zero;
when the absolute value of the difference is greater than a preset threshold, generating a control signal according to the following formula:
S＝C×U(ΔA)；
U(ΔA)＝P×ΔA；
wherein S represents a control signal, C is a preset constant, Delta A represents the difference value between the attitude measurement value and the attitude initial value of the grader working device, and P is a preset control parameter.
2. The method for automatically adjusting and controlling the working attitude of the grader working device according to claim 1, wherein the acquiring of the initial attitude value of the grader working device specifically comprises:
when the direct or indirect driving oil cylinder of the land scraper working device does not act, the land scraper runs or turns, and the preset time is kept, the initial attitude value of the land scraper working device is obtained.
3. The automatic adjustment control method for the working attitude of a grader working implement according to claim 1,
Δ a is a discrete quantity, denoted Δ a (k);
the calculation formula of the U (delta A) is discretized as follows:
U(ΔA(k))＝P×ΔA(k)；
wherein k is a sampling number.
4. A land leveler working device operation attitude automatic adjustment control system, comprising:
the detection module is used for acquiring an initial attitude value of a working device of the land leveler after the land leveler starts working; acquiring an attitude measurement value of the grader working device in real time after the attitude initial value is acquired;
the control module is used for calculating the difference value between the attitude measurement value and the attitude initial value of the land scraper working device in real time and generating a control signal of the land scraper working device according to the difference value;
and the executing mechanism is used for adjusting the posture of the land scraper working device in real time according to the control signal so that the posture change of the land scraper working device is kept within a preset range.
The control module is specifically configured to:
comparing the absolute value of the difference value with a preset threshold value;
when the absolute value of the difference value is not greater than a preset threshold value, generating a control signal with the size of zero;
when the absolute value of the difference is greater than a preset threshold, generating a control signal according to the following formula:
S＝C×U(ΔA)；
U(ΔA)＝P×ΔA；
wherein S represents a control signal, C is a preset constant, Delta A represents the difference value between the attitude measurement value and the attitude initial value of the grader working device, and P is a preset control parameter.
5. The motor grader work implement attitude automatic adjustment control system of claim 4, wherein the detection module comprises a blade angle sensor or a blade cylinder length sensor.
6. The motor grader work implement work attitude automation control system of claim 4, wherein the control module comprises a centralized controller, a distributed controller, or a remote controller.
7. The motor grader work implement attitude automatic adjustment control system of claim 4, wherein the actuator comprises a blade cylinder or a boom cylinder.
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| WO2022227590A1 (en) * | 2021-04-27 | 2022-11-03 | 广东博智林机器人有限公司 | Control method, control apparatus, control system, and computer device |
| CN115467387A (en) * | 2022-05-24 | 2022-12-13 | 中联重科土方机械有限公司 | Auxiliary control system and method for engineering machinery and engineering machinery |
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