CN110905031B - Automatic adjustment control method and system for operation posture of excavator working device - Google Patents
Automatic adjustment control method and system for operation posture of excavator working device Download PDFInfo
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- CN110905031B CN110905031B CN201911223836.7A CN201911223836A CN110905031B CN 110905031 B CN110905031 B CN 110905031B CN 201911223836 A CN201911223836 A CN 201911223836A CN 110905031 B CN110905031 B CN 110905031B
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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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- 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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- 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
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
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- Operation Control Of Excavators (AREA)
Abstract
The invention provides an automatic adjustment control method and system for the operation posture of an excavator working device, wherein the method comprises the following steps: after the excavator finishes material collection, acquiring an initial attitude value of the excavator working device; acquiring a posture measurement value of the excavator working device in real time after the posture initial value is acquired; calculating a difference value between an attitude measurement value and an attitude initial value of the excavator working device in real time, and generating a control signal of the excavator working device according to the difference value; and adjusting the posture of the excavator working device in real time according to the control signal, so that the posture change of the excavator working device is kept within a preset range. The invention can adjust the posture of the working device of the excavator in real time according to the change of the running road surface of the excavator, so that the excavator 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 excavator control, in particular to an automatic adjustment control method and system for an operation posture of an excavator working device.
Background
The excavator is an earthwork machine and is used for occasions of earthwork excavation, loading, leveling, slope repairing, shoveling and collecting of loose materials and the like in a field, and working devices of the excavator comprise an arm support, a bucket rod, a bucket, a driving oil cylinder, accessories and the like.
Under the working condition of belt-load transportation, due to uneven jolting of a running road surface, the bucket jolts along with the whole vehicle, so that materials in the bucket are scattered, the working efficiency of the excavator is influenced, and the cleaning and operation safety of a working site of the excavator is also influenced.
However, in the prior art, a set of feasible control scheme is not available, and the posture of a working device of the excavator can be actively controlled in real time, so that the influence of road jolt on an excavator bucket is counteracted, particularly the influence of road jolt on the angle of the excavator bucket is counteracted, and the problem that the whole excavator, particularly the bucket jolts along with a running road in the working process of the excavator is solved.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an automatic adjustment and control method and system for the operation posture of a working device of an excavator, which solve the problem that the whole excavator, especially a bucket, jolts along with the running road surface in the working process of the excavator, and realize the active real-time control on the posture of the working device of the excavator so as to counteract the influence of the jolt on the road surface to the bucket of the excavator, especially counteract the influence of the jolt on the road surface to the angle of the bucket of the excavator.
In order to solve the technical problems, the invention provides the following technical scheme:
an automatic adjustment control method for the operation posture of an excavator working device comprises the following steps:
after the excavator finishes material collection, acquiring an initial attitude value of the excavator working device; acquiring a posture measurement value of the excavator working device in real time after the posture initial value is acquired;
calculating a difference value between an attitude measurement value and an attitude initial value of the excavator working device in real time, and generating a control signal of the excavator working device according to the difference value;
and adjusting the posture of the excavator working device in real time according to the control signal, so that the posture change of the excavator working device is kept within a preset range.
Wherein, acquire excavator equipment's gesture initial value, specifically do:
and when the direct or indirect driving oil cylinder of the excavator working device does not act, the excavator has running or steering action and the preset time is kept, acquiring an initial attitude value of the excavator working device.
Generating a control signal of the excavator working device according to the difference value:
S＝C×U(ΔA)；
U(ΔA)＝P×ΔA+D×dΔA/dt；
the method comprises the following steps that S represents a control signal, C is a preset constant, delta A represents a difference value between a posture measurement value and an initial posture value of the excavator working device, P, D is a preset control parameter, d delta A/dt is a difference value change rate, and t is a time difference between the acquisition of the posture measurement value of the excavator working device and the acquisition of the initial posture value of the excavator working device;
comparing the absolute value of the rate of change of the difference with a first preset threshold;
when the absolute value of the difference change rate is not greater than the first preset threshold, assigning a value to P according to a second control scheme, wherein D is 0, calculating U (delta A) according to an assignment result, and calculating a control signal according to U (delta A);
and when the absolute value of the difference change rate is larger than the first preset threshold value, assigning P, D according to a first control scheme, calculating U (delta A) according to the assignment result, and calculating a control signal according to U (delta A).
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 an excavator working device, comprising:
the detection module is used for acquiring an initial attitude value of the working device of the excavator after the excavator finishes material collection; acquiring a posture measurement value of the excavator working device in real time after the posture 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 excavator working device in real time and generating a control signal of the excavator working device according to the difference value;
and the executing mechanism is used for adjusting the posture of the excavator working device in real time according to the control signal so that the posture change of the excavator working device is kept within a preset range.
The detection module comprises a bucket angle sensor or a bucket cylinder length sensor.
Wherein the control module comprises a centralized controller, a distributed controller, or a remote controller.
Wherein the actuating mechanism comprises a bucket cylinder or a boom cylinder.
Wherein the control module is specifically configured to:
generating a control signal of the excavator working device according to the difference value:
S＝C×U(ΔA)；
U(ΔA)＝P×ΔA+D×dΔA/dt；
the method comprises the following steps that S represents a control signal, C is a preset constant, delta A represents a difference value between a posture measurement value and an initial posture value of the excavator working device, P, D is a preset control parameter, d delta A/dt is a difference value change rate, and t is a time difference between the acquisition of the posture measurement value of the excavator working device and the acquisition of the initial posture value of the excavator working device;
comparing the absolute value of the rate of change of the difference with a first preset threshold;
when the absolute value of the difference change rate is not greater than the first preset threshold, assigning a value to P according to a second control scheme, wherein D is 0, calculating U (delta A) according to an assignment result, and calculating a control signal according to U (delta A);
and when the absolute value of the difference change rate is larger than the first preset threshold value, assigning P, D according to a first control scheme, calculating U (delta A) according to the assignment result, and calculating a control signal according to U (delta A).
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 excavator in real time according to the change of the running road surface of the excavator, so that the excavator keeps the following control of the bucket angle on the road surface bump in the running process. The problem that the whole excavator, especially the bucket jolts along with the driving road surface in the working process of the excavator is solved, the active real-time control over the posture of the working device of the excavator is achieved, the influence of road jolt on the excavator bucket is offset, and especially the influence of road jolt on the angle of the excavator bucket is offset.
Drawings
FIG. 1 is a flow chart of an automatic adjustment control method for the working attitude of an excavator working device according to the present invention;
fig. 2 is a block diagram of an automatic work attitude adjustment control system for an excavator working device 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 present embodiment provides an automatic adjustment control method for an operation posture of an excavator working device, as shown in fig. 1, the automatic adjustment control method for an operation posture of an excavator working device includes:
s1, after the excavator finishes material collection, obtaining an initial attitude value A0 of the excavator working device; acquiring an attitude measurement value A of the excavator working device in real time after acquiring an attitude initial value A0;
the storage conditions of the attitude initial value a0 of the excavator work implement are: the direct or indirect driving oil cylinder of the excavator working device does not act (no output of a controller), the excavator 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 excavator work device may include a bucket angle or a bucket cylinder length; the posture of the bucket is directly or indirectly calculated by collecting the angle of the bucket or the length of a bucket oil cylinder.
The excavator starts to transport after completing material collection, and in the transportation process, the angle of the bucket should be kept unchanged to prevent the materials in the bucket from spilling out. However, in the actual running process of the excavator, due to the reasons of uneven running road surface, up-down slope and the like, the whole excavator jolts along with the road surface and is difficult to avoid, and the jolt causes the materials in the bucket to be scattered. In practice, the major component of the pitching of the excavator results from the rotation of the excavator machine about a horizontal axis perpendicular to the direction of travel, which results in a change in the inclination of the bucket, which in turn results in the spilling of material. Therefore, in the present embodiment, the tilt angle information of the bucket is mainly acquired.
S2, calculating the difference value delta A between the attitude measurement value A of the excavator working device and the attitude initial value A0 in real time, and generating a control signal S of the excavator working device according to the difference value delta A between the attitude measurement value and the attitude initial value;
it should be noted that, during the driving process of the excavator, although all the actuators for controlling the inclination angle of the bucket do not act, the uneven road surface causes the overall machine to bump, and the actual inclination angle of the bucket is changed, so that a difference occurs between the actual inclination angle and the initial inclination angle during the driving process of the excavator. The scheme of the embodiment aims to eliminate the difference of the inclination angles of the bucket, so that the actual inclination angle of the bucket is kept stable in the running process of the excavator;
specifically, S2 in the present embodiment includes:
s21, calculating a difference value delta A between the attitude measurement value A of the excavator working device and the attitude initial value A0;
s22, judging whether the absolute value of the difference change rate d delta A/dt is larger than a first preset threshold A1; specifically, in the present embodiment, a1 is 3 °.
S23, when the absolute value of D Δ a/dt is not greater than a1, using a second set of control parameters (P2, D2 ═ 0), specifically, in this embodiment, P2 ═ 2;
at this time, U (Δ a) ═ P2 × Δ a;
s24, when the absolute value of D Δ a/dt is greater than a1, using a first set of control parameters (P1, D1), specifically, in this embodiment, P1 is 3, and D1 is 1;
at this time, U (Δ a) ═ P1 × Δ a + D1 × D Δ a/dt;
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.
And S3, adjusting the posture of the excavator working device in real time according to the control signal, so that the posture change of the excavator working device is kept within a preset range.
In the above steps, the output of the actuating mechanism (including a bucket cylinder or a boom cylinder, etc.) of the bucket is controlled by the control signal, and the influence of the road surface bump on the inclination of the bucket is counteracted by actively controlling the inclination of the bucket, so as to stabilize the actual inclination of the bucket during the driving process.
The automatic adjustment control method can adjust the posture of the excavator working device in real time according to the change of the running road surface of the excavator, so that the excavator keeps the following control of the bucket angle on the road surface jolt in the running process. The problem that the whole excavator, especially the bucket jolts along with the driving road surface in the working process of the excavator is solved, the active real-time control over the posture of the working device of the excavator is achieved, the influence of road jolt on the excavator bucket is offset, and especially the influence of road jolt on the angle of the excavator bucket is offset.
Second embodiment
The present embodiment provides an automatic adjustment control system for work attitude of an excavator working device, as shown in fig. 2, the automatic adjustment control system for work attitude of an excavator working device includes:
the detection module is used for acquiring an initial attitude value A0 of the working device of the excavator after the excavator finishes material collection; acquiring an attitude measurement value A of the excavator working device in real time after the A0 is obtained;
the control module is used for calculating a difference value delta A between an attitude measurement value A of the excavator working device and an attitude initial value A0 in real time and generating a control signal S of the excavator working device according to the delta A;
and the executing mechanism is used for adjusting the posture of the excavator working device in real time according to the control signal S so that the posture change of the excavator working device is kept within a preset range.
Specifically, in this embodiment, the detection module is a work device position sensor, and may include a bucket angle sensor or a bucket cylinder length sensor. The posture of the bucket is directly or indirectly calculated by measuring the inclination angle of the bucket or the positions of all bucket driving oil cylinders.
The storage conditions of the attitude initial value a0 of the excavator work device are as follows: the direct or indirect driving oil cylinder of the excavator working device does not act (no signal output is generated by a controller), the excavator has running or steering action, and the preset time is kept; specifically, in the present embodiment, the preset time is 3 seconds.
In consideration of the fact that in actual work, the main component of the bumping of the excavator is the rotation of the whole excavator around a horizontal axis perpendicular to the driving direction, the rotation causes the inclination angle of the bucket to change, and further causes the materials to be scattered. Therefore, the present embodiment obtains the tilt angle information of the bucket using the bucket 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 excavator working device and an attitude initial value A0;
judging whether the absolute value of d delta A/dt is larger than a first preset threshold value A1; specifically, in the present embodiment, a1 is 3 °.
When the absolute value of D Δ a/dt is not greater than a1, a second set of control parameters (P2, D2 ═ 0) is used, specifically, in this embodiment, P2 ═ 2;
at this time, U (Δ a) ═ P2 × Δ a;
when the absolute value of D Δ a/dt is greater than a1, a first set of control parameters (P1, D1) is used, specifically, in this embodiment, P1 is 3, and D1 is 1;
at this time, U (Δ a) ═ P1 × Δ a + D1 × D Δ a/dt;
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 excavator bucket to move, and the executing mechanism can comprise a bucket oil cylinder, a boom oil cylinder and the like.
The automatic adjustment control system can adjust the posture of the excavator working device in real time according to the change of the running road surface of the excavator, so that the excavator keeps the following control of the bucket angle on the road surface jolt in the running process. The problem that the whole excavator, especially the bucket jolts along with the driving road surface in the working process of the excavator is solved, the active real-time control over the posture of the working device of the excavator is achieved, the influence of road jolt on the excavator bucket is offset, and especially the influence of road jolt on the angle of the excavator bucket is offset.
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 (6)
1. An automatic adjustment control method for the operation posture of an excavator working device is characterized by comprising the following steps:
after the excavator finishes material collection, acquiring an initial attitude value of the excavator working device; acquiring a posture measurement value of the excavator working device in real time after the posture initial value is acquired;
calculating a difference value between an attitude measurement value and an attitude initial value of the excavator working device in real time, and generating a control signal of the excavator working device according to the difference value;
adjusting the posture of the excavator working device in real time according to the control signal, so that the posture change of the excavator working device is kept within a preset range;
generating a control signal of the excavator working device according to the difference value:
S＝C×U(ΔA)；
U(ΔA)＝P×ΔA+D×dΔA/dt；
the method comprises the following steps that S represents a control signal, C is a preset constant, delta A represents a difference value between a posture measurement value and an initial posture value of the excavator working device, P, D is a preset control parameter, d delta A/dt is a difference value change rate, and t is a time difference between the acquisition of the posture measurement value of the excavator working device and the acquisition of the initial posture value of the excavator working device;
comparing the absolute value of the rate of change of the difference with a first preset threshold;
when the absolute value of the difference change rate is not greater than the first preset threshold, assigning a value to P according to a second control scheme, wherein D is 0, calculating U (delta A) according to an assignment result, and calculating a control signal according to U (delta A);
and when the absolute value of the difference change rate is larger than the first preset threshold value, assigning P, D according to a first control scheme, calculating U (delta A) according to the assignment result, and calculating a control signal according to U (delta A).
2. The method for automatically adjusting and controlling the operation attitude of the excavator working device according to claim 1, wherein the obtaining of the initial attitude value of the excavator working device specifically comprises:
and when the direct or indirect driving oil cylinder of the excavator working device does not act, the excavator has running or steering action and the preset time is kept, acquiring an initial attitude value of the excavator working device.
3. The utility model provides an excavator work device operation gesture automatic adjustment control system which characterized in that includes:
the detection module is used for acquiring an initial attitude value of the working device of the excavator after the excavator finishes material collection; acquiring a posture measurement value of the excavator working device in real time after the posture 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 excavator working device in real time and generating a control signal of the excavator working device according to the difference value;
the executing mechanism is used for adjusting the posture of the excavator working device in real time according to the control signal so that the posture change of the excavator working device is kept within a preset range;
the control module is specifically configured to:
generating a control signal of the excavator working device according to the difference value:
S＝C×U(ΔA)：
U(ΔA)＝P×ΔA+D×dΔA/dt；
the method comprises the following steps that S represents a control signal, C is a preset constant, delta A represents a difference value between a posture measurement value and an initial posture value of the excavator working device, P, D is a preset control parameter, d delta A/dt is a difference value change rate, and t is a time difference between the acquisition of the posture measurement value of the excavator working device and the acquisition of the initial posture value of the excavator working device;
comparing the absolute value of the rate of change of the difference with a first preset threshold;
when the absolute value of the difference change rate is not greater than the first preset threshold, assigning a value to P according to a second control scheme, wherein D is 0, calculating U (delta A) according to an assignment result, and calculating a control signal according to U (delta A);
and when the absolute value of the difference change rate is larger than the first preset threshold value, assigning P, D according to a first control scheme, calculating U (delta A) according to the assignment result, and calculating a control signal according to U (delta A).
4. The system of claim 3, wherein the detection module comprises a bucket angle sensor or a bucket cylinder length sensor.
5. The system of claim 3, wherein the control module comprises a centralized controller, a distributed controller, or a remote controller.
6. The automatic work attitude adjustment control system for an excavator working apparatus according to claim 3, wherein the actuator includes a bucket cylinder or a boom cylinder.
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| CN112160361A (en) * | 2020-09-21 | 2021-01-01 | 徐州徐工铁路装备有限公司 | Automatic posture adjustment control method for scraper working device |
| CN112127400B (en) * | 2020-10-09 | 2022-06-14 | 南京工程学院 | Excavator bucket follow-up control system and method |
| CN113279449B (en) * | 2020-12-29 | 2023-07-18 | 徐州徐工基础工程机械有限公司 | One-key tracking control method for specific gesture of scraper working device |
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