CN110905021B - Automatic adjustment control method and system for working posture of land leveler working device - Google Patents
Automatic adjustment control method and system for working posture of land leveler working device Download PDFInfo
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- CN110905021B CN110905021B CN201911223838.6A CN201911223838A CN110905021B CN 110905021 B CN110905021 B CN 110905021B CN 201911223838 A CN201911223838 A CN 201911223838A CN 110905021 B CN110905021 B CN 110905021B
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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
-
- 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
-
- 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 gesture of a land leveler working device, wherein the method comprises the following steps: after the grader starts working, acquiring an initial attitude value of a working device of the grader; acquiring an attitude measurement value of the land leveler working device in real time after acquiring the attitude initial value; calculating a difference value between a posture measured value and a posture initial value of the land leveler working device in real time, and generating a control signal of the land leveler working device according to the difference value; and adjusting the posture of the working device of the land leveler in real time according to the control signal, so that the posture change of the working device of the land leveler is kept within a preset range. According to the invention, the posture of the working device of the land leveler can be adjusted in real time according to the change of the running road surface of the land leveler, so that the land leveler can maintain the following control of the angle of the working device on the road surface bump in the running process, and the influence of the road surface bump on the posture of the working device can be offset.
Description
Technical Field
The invention relates to the technical field of land leveler control, in particular to a method and a system for automatically adjusting and controlling the working posture of a land leveler working device.
Background
The land leveler is one kind of earth machinery and is used in leveling loose material, leveling land and road, trimming slope and other fields, and its work equipment includes scraper knife, driving cylinder, accessories, etc.
Under the working condition, the land leveler is bumpy on the running road surface, so that the shovel blade is bumpy along with the whole vehicle, and the working surface of the shovel blade is fluctuated, thereby influencing the working efficiency of the land leveler and the working quality of the land leveler.
In the prior art, a set of feasible control scheme does not exist, and the gesture of a working device of the land leveller can be actively controlled in real time so as to offset the influence of road surface jolt on a shovel blade of the land leveller, especially offset the influence of road surface jolt on the angle of the shovel blade of the land leveller, thereby solving the problem that the whole machine, especially the shovel blade jolt along with a travelling road surface in the working process of the land leveller.
Disclosure of Invention
The invention aims to solve the technical problem of providing a method and a system for automatically adjusting and controlling the working posture of a land leveler working device, which solve the problem that a complete machine, particularly a shovel blade, jolts along with a travelling road surface in the working process of the land leveler, realize active real-time control on the posture of the land leveler working device so as to offset the influence of road surface jolts on the shovel blade of the land leveler, particularly offset the influence of the road surface jolts on the angle of the shovel blade of the land leveler.
In order to solve the technical problems, the invention provides the following technical scheme:
a working posture automatic adjustment control method of a land leveler working device comprises the following steps:
after the grader starts working, acquiring an initial attitude value of a working device of the grader; acquiring an attitude measurement value of the land leveler working device in real time after acquiring the attitude initial value;
calculating a difference value between a posture measured value and a posture initial value of the land leveler working device in real time, and generating a control signal of the land leveler working device according to the difference value;
and adjusting the posture of the land leveler working device in real time according to the control signal, so that the posture change of the land leveler working device is kept within a preset range.
The method comprises the steps of obtaining an initial attitude value of a land leveler working device, and specifically comprises the following steps:
when the direct or indirect driving oil cylinder of the land leveler working device does not act, the land leveler has running or steering action, and the preset time is kept, the initial attitude value of the land leveler working device is obtained.
Wherein generating a control signal for the grader operating apparatus 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 value is larger than a preset threshold value, generating a control signal according to the following formula:
S＝C×U(ΔA)；
U(ΔA)＝P×ΔA；
wherein S represents a control signal, C represents a preset constant, delta A represents a difference value between a posture measured value and a posture initial value of the land leveler working device, and P represents a preset control parameter.
Wherein ΔA is a discrete quantity denoted ΔA (k);
the discretized formula of the formula of U (delta A) is as follows:
U(ΔA(k))＝P×ΔA(k)；
where k is the sampling sequence number.
Correspondingly, in order to solve the technical problems, the invention also provides the following technical scheme:
an automatic adjustment control system for the working posture of a land leveler working device, comprising:
the detection module is used for acquiring an initial attitude value of the land leveler working device after the land leveler begins to work; acquiring an attitude measurement value of the land leveler working device in real time after acquiring the attitude initial value;
the control module is used for calculating the difference value between the attitude measurement value and the attitude initial value of the land leveler working device in real time and generating a control signal of the land leveler working device according to the difference value;
and the actuating mechanism is used for adjusting the posture of the land leveler working device in real time according to the control signal so that the posture change of the land leveler working device is kept within a preset range.
The detection module comprises a shovel blade angle sensor or a shovel blade oil cylinder length sensor.
Wherein the control module comprises a centralized controller, a distributed controller or a remote controller.
Wherein the actuating mechanism comprises a shovel blade oil cylinder or a movable arm oil cylinder.
Wherein, the control module is specifically used for:
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 value is larger than a preset threshold value, generating a control signal according to the following formula:
S＝C×U(ΔA)；
U(ΔA)＝P×ΔA；
wherein S represents a control signal, C represents a preset constant, delta A represents a difference value between a posture measured value and a posture initial value of the land leveler working device, and P represents a preset control parameter.
The technical scheme of the invention has the following beneficial effects:
the automatic adjustment control method and the automatic adjustment control 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 can keep the following control of the angle of the shovel blade on the bump of the road surface in the running process. The problem that the whole machine, particularly the shovel blade jolts along with the travelling road surface in the working process of the land leveller is solved, the active real-time control of the gesture of the working device of the land leveller is realized, the influence of the road jolts on the shovel blade of the land leveller is counteracted, and particularly the influence of the road jolts on the angle of the shovel blade of the land leveller is counteracted.
Drawings
FIG. 1 is a flow chart of a method for automatically adjusting and controlling the working posture of a grader work apparatus according to the present invention;
fig. 2 is a block diagram of an automatic adjustment control system for the working posture of the grader working apparatus of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved more apparent, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
First embodiment
The embodiment provides a method for automatically adjusting and controlling the working posture of a land leveler working device, as shown in fig. 1, comprising the following steps:
s1, after a land leveler starts to work, acquiring an initial attitude value A0 of a land leveler working device; the attitude measurement value A of the land leveler working device is acquired in real time after the attitude initial value A0 is acquired;
the storage conditions of the initial attitude value A0 of the land leveler working device are as follows: the direct or indirect driving oil cylinder of the land leveler working device does not act (the controller does not output), the land leveler 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 a blade angle or a blade cylinder length; and the attitude of the shovel blade is directly or indirectly calculated by collecting the angle of the shovel blade or the length of a shovel blade oil cylinder.
The grader starts to transport after starting to work, and the angle of the shovel blade should be kept unchanged during the transport process so as to prevent the fluctuation of the working surface of the shovel blade. However, in the actual running process of the land leveler, the whole land leveler is difficult to avoid jolting along with the road surface due to uneven running road surface, ascending and descending slopes and the like, and the surface fluctuation of the scraper knife operation is caused by jolting. In actual operation, the main component of land leveler jolt comes from the rotation of the entire land leveler around the horizontal axis perpendicular to the running direction, and the rotation causes the change of the inclination angle of the shovel blade, thereby causing the material to be scattered. Therefore, in this embodiment, the inclination information of the blade is mainly acquired.
S2, calculating a difference value delta A between a posture measured value A and a posture initial value A0 of the land leveler working device in real time, and generating a control signal S of the land leveler working device according to the difference value delta A between the posture measured value and the posture initial value;
it should be noted that, in the running process of the land leveler, although all the actuating mechanisms for controlling the inclination angle of the shovel blade do not act, the actual inclination angle of the shovel blade is changed due to the fact that the whole machine jolts due to uneven road surface, so that a difference value exists between the actual inclination angle and the initial inclination angle of the land leveler in the running process. The aim of the scheme of the embodiment is to eliminate the difference value of the inclination angle of the shovel blade, so that the actual inclination angle of the shovel blade is kept stable in the running process of the land leveler;
specifically, S2 in the present embodiment includes:
s21, calculating a difference value delta A between a posture measured value A and a posture initial value A0 of the land leveler working device; when Δa fluctuates within a small range, the influence on the blade is small, and this may not be necessarily controlled at this time, and therefore, a preset threshold A1 needs to be preset; specifically, in the present embodiment, a1=3°.
S22, judging whether the absolute value of delta A is larger than a preset threshold A1;
s23, when the absolute value of Δa is not greater than A1, let U (Δa) =0;
s24, when the absolute value of delta A is larger than A1, the angle deviation of the shovel blade is obvious, and the shovel blade needs to be actively controlled;
at this time, U (Δa) =p×Δa; specifically, p=p1=2;
s25, calculating a solenoid valve control signal S of a 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=1 is taken.
Note that, in the actual calculation of Δa, the measured value a is a discrete value because it is data sampled by the controller. Δa calculated from a is also a discrete quantity, denoted Δa (k). Therefore, the above formula of U (Δa) is discretized in practical application as follows:
U(ΔA(k))＝P×ΔA(k)；
where k is the sampling sequence number.
S3, adjusting the posture of the land leveler working device in real time according to the control signal, so that the posture change of the land leveler working device is kept within a preset range.
The method comprises the steps of outputting and controlling an actuating mechanism (comprising a shovel blade oil cylinder) of the shovel blade through a control signal, and counteracting the influence of road surface jolting on the shovel blade inclination angle through active control on the shovel blade inclination angle, so that the stability of the actual inclination angle of the shovel blade in the running process is realized.
According to the automatic adjustment control method, the posture of the working device of the land leveler can be adjusted in real time according to the change of the running road surface of the land leveler, so that the land leveler can keep the following control of the angle of the shovel blade on the bump of the road surface in the running process. The problem that the whole machine, particularly the shovel blade jolts along with the travelling road surface in the working process of the land leveller is solved, the active real-time control of the gesture of the working device of the land leveller is realized, the influence of the road jolts on the shovel blade of the land leveller is counteracted, and particularly the influence of the road jolts on the angle of the shovel blade of the land leveller is counteracted.
Second embodiment
The present embodiment provides an automatic adjustment control system for the working posture of a land leveler, as shown in fig. 2, comprising:
the detection module is used for acquiring an initial attitude value A0 of a working device of the land leveler after the land leveler starts to work; and acquiring an attitude measurement value A of the land leveler working device in real time after the A0 is acquired;
the control module is used for calculating a difference value delta A between a posture measurement value A and a posture initial value A0 of the land leveller working device in real time and generating a control signal S of the land leveller working device according to the delta A;
the actuating 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 shovel blade is directly or indirectly calculated by measuring the inclination angle of the shovel blade or the positions of all shovel blade driving oil cylinders;
the preservation condition of the attitude initial value A0 of the land leveler working device is as follows: the direct or indirect driving oil cylinder of the land leveler working device does not act (the controller does not output a signal), the land leveler has running or steering action, and the preset time is kept; specifically, in the present embodiment, the preset time is 3 seconds.
Considering that in actual operation, the main component of land leveler jolts comes from the rotation of the entire land leveler about a horizontal axis perpendicular to the running direction, which results in a change in the inclination of the blade and thus in the material falling. Therefore, the present embodiment obtains the inclination angle 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 present embodiment adopts a centralized controller, which is specifically used for:
calculating a difference delta A between a posture measurement value A and a posture initial value A0 of the land leveler working device; when Δa fluctuates within a small range, the influence on the blade is small, and this may not be necessarily controlled at this time, and therefore, a preset threshold A1 needs to be preset; specifically, in the present embodiment, a1=3°.
Judging whether the absolute value of delta A is larger than a preset threshold A1 or not;
let U (Δa) =0 when the absolute value of Δa is not greater than A1;
when the absolute value of delta A is larger than A1, the angle deviation of the shovel blade is obvious, and the control is required actively;
at this time, U (Δa) =p×Δa; specifically, p=p1=2;
from U (Δa), a solenoid valve control signal S for the work implement drive cylinder is calculated:
S＝C×U(ΔA)；
where C is a preset constant, specifically, in this embodiment, c=1 is taken.
The actuating mechanism is a working device driving oil cylinder and is used for directly or indirectly driving the land leveler shovel blade to act, and can comprise a shovel 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 can keep the following control of the angle of the shovel blade on the bump of the road surface in the running process. The problem that the whole machine, particularly the shovel blade jolts along with the travelling road surface in the working process of the land leveller is solved, the active real-time control of the gesture of the working device of the land leveller is realized, the influence of the road jolts on the shovel blade of the land leveller is counteracted, and particularly the influence of the road jolts on the angle of the shovel blade of the land leveller is counteracted.
Moreover, it should be 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.
Moreover, 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 one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
It should also be appreciated that embodiments of the present invention may be provided as a method, apparatus, or computer program product, as will be appreciated by those skilled in the art. Furthermore, embodiments of the invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, 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.
While the preferred embodiments of the present invention have been described, it should be noted that, once the basic inventive concepts of the present invention are known, numerous modifications and adaptations can be made by those skilled in the art without departing from the principles of the present invention, and such modifications and adaptations are intended to be within the scope of the present invention. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Claims (7)
1. The automatic adjustment control method for the working posture of the land leveler is characterized by comprising the following steps:
after the grader starts working, acquiring an initial attitude value of a working device of the grader; acquiring an attitude measurement value of the land leveler working device in real time after acquiring the attitude initial value;
calculating a difference value between a posture measured value and a posture initial value of the land leveler working device in real time, and generating a control signal of the land leveler working device according to the difference value;
the gesture of the land leveler working device is adjusted in real time according to the control signal, so that the gesture change of the land leveler working device is kept within a preset range;
generating a control signal for the grader working device according to the difference value, including:
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 value is larger than a preset threshold value, generating a control signal according to the following formula:
S=C×U(ΔA)；
U(ΔA)=P×ΔA；
wherein S represents a control signal, C represents a preset constant, delta A represents a difference value between a posture measured value and a posture initial value of the land leveler working device, and P represents a preset control parameter.
2. The automatic adjustment control method for the working posture of the land leveler according to claim 1, wherein the acquiring of the initial posture value of the land leveler is specifically:
when the direct or indirect driving oil cylinder of the land leveler working device does not act, the land leveler has running or steering action, and the preset time is kept, the initial attitude value of the land leveler working device is obtained.
3. The automatic adjustment control method for the working posture of a grader working device according to claim 1, characterized in that,
the delta A is a discrete quantity, denoted delta A (k);
the discretized formula of the formula of U (delta A) is as follows:
U(ΔA(k))=P×ΔA(k)；
where k is the sampling sequence number.
4. An automatic adjustment control system for the working posture of a land leveler working device, comprising:
the detection module is used for acquiring an initial attitude value of the land leveler working device after the land leveler begins to work; acquiring an attitude measurement value of the land leveler working device in real time after acquiring the attitude initial value;
the control module is used for calculating the difference value between the attitude measurement value and the attitude initial value of the land leveler working device in real time and generating a control signal of the land leveler working device according to the difference value;
the actuating mechanism is used for adjusting the posture of the land leveler working device in real time according to the control signal so that the posture change of the land leveler working device is kept within a preset range;
the control module is specifically used for:
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 value is larger than a preset threshold value, generating a control signal according to the following formula:
S=C×U(ΔA)；
U(ΔA)=P×ΔA；
wherein S represents a control signal, C represents a preset constant, delta A represents a difference value between a posture measured value and a posture initial value of the land leveler working device, and P represents a preset control parameter.
5. The automatic adjustment control system for the working posture of a grader working device according to claim 4, wherein the detection module includes a blade angle sensor or a blade cylinder length sensor.
6. The automatic adjustment control system for the working posture of a grader working device of claim 4, wherein the control module includes a centralized controller, a distributed controller, or a remote controller.
7. The automatic adjustment control system for the working posture of a grader working device according to claim 4, wherein the actuator includes a blade cylinder or a boom cylinder.
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| US20160273196A1 (en) * | 2015-03-18 | 2016-09-22 | Benjamin Jesse Funk | Automatic leveling control system |
| CN105706630A (en) * | 2016-03-22 | 2016-06-29 | 济南大学 | Novel vehicle body leveling device applied to corn harvester |
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