CN111775648A - Semi-active hydro-pneumatic suspension control system and control method for mining dump truck - Google Patents
Semi-active hydro-pneumatic suspension control system and control method for mining dump truck Download PDFInfo
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- CN111775648A CN111775648A CN202010708184.2A CN202010708184A CN111775648A CN 111775648 A CN111775648 A CN 111775648A CN 202010708184 A CN202010708184 A CN 202010708184A CN 111775648 A CN111775648 A CN 111775648A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/0152—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit
- B60G17/0157—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the action on a particular type of suspension unit non-fluid unit, e.g. electric motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
- B60G17/01933—Velocity, e.g. relative velocity-displacement sensors
Abstract
The semi-active hydro-pneumatic suspension control system of the mining dump truck comprises a controller, wherein the input end of the controller is connected with a weighing sensor, a steering oil cylinder displacement sensor, a vehicle speed sensor, a container position sensor and a brake pressure sensor, the output end of the controller is connected with two groups of damping control systems through an electromagnetic directional valve I and an electromagnetic directional valve II, and each damping control system comprises a damping control oil cylinder, a multi-state damping device and a suspension oil cylinder. According to the semi-active hydro-pneumatic suspension control system and the control method for the mining dump truck, a vehicle-mounted controller changes signals of an electromagnetic valve for semi-active hydro-pneumatic suspension according to the traveling conditions and the loading conditions of various sensors such as vehicle load, steering and braking, and the damping of the hydro-pneumatic suspension is set to be one of three levels of softer, medium and harder, so that a comfortable driving environment is ensured, and the driving stability of a vehicle is improved.
Description
Technical Field
The invention relates to the technical field of engineering machinery electro-hydraulic control, in particular to a semi-active hydro-pneumatic suspension control system and a control method for a mining dump truck.
Background
The mining dump truck is a special load-carrying vehicle which is used for completing the tasks of rock earthwork stripping and ore transportation on special roads of surface mines or large civil engineering construction sites and the like and is used for short-distance transportation. The method is widely applied to various open mines, hydroelectric engineering, railway and highway construction engineering and large-scale building engineering. Because the mining dump truck has large load capacity and poor road condition conditions in a mining area, the mining dump truck is not suitable for damping by using a traditional plate spring or a traditional rubber pad, and in order to improve the reliability and the comfort of vehicle damping, the mining dump truck adopts an oil-gas mixed suspension oil cylinder as a damping device of a vehicle.
The hydro-pneumatic suspension is respectively connected with a frame and an axle of the mining dump truck, and impact generated when the truck runs is relieved through the hydro-pneumatic suspension. The hydro-pneumatic suspension uses inert gas-nitrogen as an elastic element, and uses oil liquid as an intermediate medium between the gas and a hydro-pneumatic suspension piston to play the roles of transmission, vibration attenuation and lubrication. The gas pressure in the hydro-pneumatic suspension determines the rigidity of the suspension, and the gas is compressible, so that the rigidity of the hydro-pneumatic suspension has the characteristics of nonlinearity and gradual increase and decrease, namely the rigidity changes along with the load, and the rigidity is higher when the load is larger, so that the hydro-pneumatic suspension is particularly suitable for the mining dump truck with large load change. The damping of hydro-pneumatic suspension is realized mainly through the damping that fluid flowed through damping hole and check valve production, and damping hole and check valve open and establish on hydro-pneumatic suspension's piston rod, and the definite value is finished once processing, and the damping that also is hydro-pneumatic suspension is the definite value, and this is the scheme that hydro-pneumatic suspension on the market at present, because the damping is fixed consequently hydro-pneumatic suspension can't initiatively adjust the damping of hydro-pneumatic suspension hydro-cylinder according to vehicle operating condition, also is the passive suspension in the traditional sense.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a semi-active hydro-pneumatic suspension control system and a semi-active hydro-pneumatic suspension control method for a mining dump truck, which are simple in structure and good in effect.
The invention is realized by the following technical scheme: the semi-active hydro-pneumatic suspension control system of the mining dump truck comprises a controller, wherein the input end of the controller is connected with a weighing sensor, a steering oil cylinder displacement sensor, a vehicle speed sensor, a container position sensor and a brake pressure sensor, the output end of the controller is connected with two sets of damping control systems through an electromagnetic directional valve I and an electromagnetic directional valve II, the two sets of damping control systems are respectively arranged on the left side and the right side of a vehicle, each damping control system comprises a damping control oil cylinder, a multi-state damping device and a suspension oil cylinder, two left oil cavities and two right oil cavities are arranged in the damping control oil cylinder in the horizontal direction, and a piston rod is arranged.
It further comprises the following steps: the electromagnetic directional valve I and the electromagnetic directional valve II are two-position four-way electromagnetic directional valves.
And the electromagnetic directional valve I and the electromagnetic directional valve II respectively control a left oil cavity and a right oil cavity of the two damping control oil cylinders.
A piston rod I and a piston rod II are arranged in the damping control oil cylinder, an oil inlet A and an oil inlet B are respectively arranged on two sides of the piston rod I, and an oil inlet C and an oil inlet D are respectively arranged on two sides of the piston rod II.
The use method of the semi-active hydro-pneumatic suspension control system for the mining dump truck according to claim 1, wherein a piston rod I, a piston rod II, an oil inlet A, an oil inlet B, an oil inlet C and an oil inlet D are arranged in the damping control oil cylinder, and the use method further comprises the following steps:
step 1: the controller monitors state parameters of the weighing sensor, the steering oil cylinder displacement sensor, the vehicle speed sensor, the container position sensor and the brake pressure sensor in real time, and sends control signals to the electromagnetic directional valve I and the electromagnetic directional valve II according to parameter changes of the sensors;
step 2: the damping control oil cylinder realizes different extension strokes of long, medium and short gears according to the change of the flow direction of the hydraulic oil of the four oil ports;
step 3: the multi-state damping device changes the size of a damping hole according to the extending state of a piston rod of the damping control oil cylinder, and the damping hole is a non-damping hole, a middle damping hole and a large damping hole;
step 4: the damping size of the suspension oil cylinder is changed according to the difference of the damping hole size, and the three-gear damping is soft, medium and hard respectively.
In Step2, when oil enters from an oil port A and an oil port C, oil exits from an oil port B and an oil port D, a piston rod I and a piston rod II simultaneously extend out, the piston rod I and the piston rod II completely extend out, the extension stroke of a damping control oil cylinder is longest, a multi-state damping device completely closes a damping hole in the multi-state damping device under the traction action of the damping control oil cylinder, and the damping of a suspension oil cylinder is harder at this time;
when the oil port A is filled with oil, the oil port B is filled with oil, the oil port C is filled with oil, and the oil port D is filled with oil, the piston rod I is in an extending state, the piston rod II is in a retracting state, the piston rod II cannot be completely retracted due to the blocking of the piston rod I, the extending stroke of the damping control oil cylinder is medium, the multi-state damping device adjusts a damping hole in the multi-state damping device to be a middle damping hole under the traction action of the damping control oil cylinder, and the damping of the suspension oil cylinder is medium;
when the oil port A returns oil, the oil port B returns oil, the oil port C returns oil, the oil port D returns oil, the piston rod I and the piston rod II retract at the same time, and the piston rod II retracts at the same time without being limited by the piston rod I, so that the extension stroke of the damping control oil cylinder is shortest at the moment, the multi-state damping device adjusts the damping hole in the multi-state damping device into a large damping hole under the traction action of the damping control oil cylinder, and the damping of the suspension oil cylinder 7 is softer at the moment.
The invention has the following advantages: according to the semi-active hydro-pneumatic suspension control system and the control method for the mining dump truck, a vehicle-mounted controller changes signals of an electromagnetic valve for semi-active hydro-pneumatic suspension according to the traveling conditions and the loading conditions of various sensors such as vehicle load, steering and braking, and the damping of the hydro-pneumatic suspension is set to be one of three levels of softer, medium and harder, so that a comfortable driving environment is ensured, and the driving stability of a vehicle is improved. Since the change of the suspension damping occurs after the change of the vehicle state, such as load change, vehicle speed change, lifting state, etc., it is called semi-active suspension.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural diagram of a damping control cylinder according to the present invention;
in the figure: 1. the controller, 2, solenoid directional valve I, 3, solenoid directional valve II, 4, damping control hydro-cylinder I, 5, damping control hydro-cylinder II, 6, polymorphic damping device I, 7, hang hydro-cylinder I, 8, hang hydro-cylinder II, 9, polymorphic damping device II, 10, weighing sensor, 11, steering cylinder displacement sensor, 12, speed sensor, 13, packing box position sensor, 14, braking pressure sensor, 14, piston rod I, 15, piston rod II, 16, oil inlet A, 17, oil inlet B, 18, oil inlet C, 19, oil inlet D.
Detailed Description
The semi-active hydro-pneumatic suspension control system of the mining dump truck shown in the figures 1 to 2 comprises a controller 1, wherein an input end of the controller 1 is connected with a weighing sensor 10, a steering cylinder displacement sensor 11, a vehicle speed sensor 12, a container position sensor 13 and a brake pressure sensor 14, an output end of the controller 1 is connected with two groups of damping control systems through an electromagnetic directional valve I2 and an electromagnetic directional valve II 3, the two groups of damping control systems are respectively arranged on the left side and the right side of a vehicle, each damping control system comprises a damping control cylinder, a multi-state damping device and a suspension cylinder, a left oil cavity and a right oil cavity are arranged in the horizontal direction of the damping control cylinders, and a piston rod is arranged in each oil cavity. The semi-active hydro-pneumatic suspension control system of the mining dump truck is characterized in that a controller is connected with an input detection device and an output control device, the input detection device comprises a weighing sensor, a steering oil cylinder displacement sensor, a vehicle speed sensor, a container position sensor and a brake pressure sensor, the weighing sensor is used for monitoring the weight of a vehicle loaded with goods, the steering oil cylinder displacement sensor is used for monitoring the tire steering state of the vehicle, the vehicle speed sensor is used for monitoring the running speed of the vehicle, the container position sensor is used for monitoring the lifting state of the container, and the brake pressure sensor is used for monitoring the brake operation of the vehicle; the output control device comprises an electromagnetic directional valve, a damping control oil cylinder, a multi-state damping device and a suspension oil cylinder, wherein a damping control system consisting of the damping control oil cylinder, the multi-state damping device and the suspension oil cylinder is respectively arranged on the left side and the right side of the vehicle, all elements on the left side and the right side always keep synchronous action, namely the damping changes of the suspension oil cylinders I7 and II 8 on the two sides always keep synchronous; thereby polymorphic damping device changes the damping of suspension cylinder according to the piston rod state of stretching out of damping control cylinder and changes the damping hole size, and the damping control cylinder can realize the different stroke that stretches out of three grades, and according to the change of the stroke that stretches out of damping control cylinder, polymorphic damping device changes the damping hole size, and polymorphic damping device divide into three grades altogether: the damping-free hole, the middle damping hole and the big damping hole correspond to the damping holes, and the damping of the suspension oil cylinder is respectively as follows: softer, medium, harder.
In the semi-active hydro-pneumatic suspension control system of the mining dump truck shown in fig. 1 to 2, the electromagnetic directional valve i 2 and the electromagnetic directional valve ii 3 are two-position four-way electromagnetic directional valves. And the electromagnetic directional valve I2 and the electromagnetic directional valve II 3 respectively control a left oil cavity and a right oil cavity of the two damping control oil cylinders. A piston rod I14 and a piston rod II 15 are arranged in the damping control oil cylinder, an oil inlet A16 and an oil inlet B17 are respectively arranged on two sides of the piston rod I14, and an oil inlet C18 and an oil inlet D19 are respectively arranged on two sides of the piston rod II 15. The invention relates to an electromagnetic directional valve I2 and an electromagnetic directional valve II 3 which are two-position four-way electromagnetic directional valves, a damping control oil cylinder with a left oil chamber and a right oil chamber controls the oil inlet and outlet conditions of four oil inlets by the electromagnetic directional valve I2 and the electromagnetic directional valve II 3, an oil inlet A16 and an oil inlet B17 of a left oil chamber of the damping control oil cylinder I4 and the damping control oil cylinder II 5 are connected with the electromagnetic directional valve I2, an oil inlet C18 and an oil inlet D19 of a right oil chamber of the damping control oil cylinder I4 and the damping control oil cylinder II 5 are connected with the electromagnetic directional valve II 3, and three states of a piston rod I14 and a piston rod II 15, namely, the piston rod I14 extends and the piston rod II 15 extends, the piston rod I14 retracts and the piston rod I14 and the piston rod II 15 retracts can be realized by controlling the oil inlet and outlet directions of the oil inlets A16, the oil inlet B17, the oil inlet C18 and the oil inlet D19, and the damping holes of The control of pole II 15, consequently polymorphic damping device has no damping hole, well damping hole, three kinds of states in big damping hole, and it is corresponding with it, and the I7 and II 8 dampings of suspension cylinder are: softer, medium, harder.
Also comprises the following steps:
step 1: the controller 1 monitors state parameters of a weighing sensor 10, a steering cylinder displacement sensor 11, a vehicle speed sensor 12, a container position sensor 13 and a brake pressure sensor 14 in real time, and sends control signals to an electromagnetic directional valve I2 and an electromagnetic directional valve II 3 according to parameter changes of the sensors;
step 2: the damping control oil cylinder realizes different extension strokes of long, medium and short gears according to the change of the flow direction of the hydraulic oil of the four oil ports;
step 3: the multi-state damping device changes the size of a damping hole according to the extending state of a piston rod of the damping control oil cylinder, and the damping hole is a non-damping hole, a middle damping hole and a large damping hole;
step 4: the damping size of the suspension oil cylinder is changed according to the difference of the damping hole size, and the three-gear damping is soft, medium and hard respectively.
In Step2, when oil enters from an oil port A16 and an oil port C18, oil exits from an oil port B17 and an oil port D19, at the moment, a piston rod I14 and a piston rod II 15 extend out simultaneously, the piston rod I14 and the piston rod II 15 extend out completely, at the moment, the extension stroke of a damping control oil cylinder is longest, a multi-state damping device completely closes a damping hole in the multi-state damping device under the traction action of the damping control oil cylinder, and the damping of a suspension oil cylinder is harder at the moment;
when the oil port A16 is filled with oil, the oil port B17 is filled with oil, the oil port C18 is filled with oil, the oil port D19 is filled with oil, the piston rod I14 is in an extending state, the piston rod II 15 is in a retracting state, the piston rod II 15 cannot be completely retracted due to the blocking of the piston rod I14, the extending stroke of the damping control oil cylinder is medium, the multi-state damping device adjusts a damping hole in the multi-state damping device to be a middle damping hole under the traction action of the damping control oil cylinder, and the damping of the suspension oil cylinder is medium at this;
when the oil port A16 returns oil, the oil port B17 returns oil, the oil port C18 returns oil, the oil port D19 returns oil, the piston rod I14 and the piston rod II 15 retract at the same time, and the piston rod II 15 retracts at the same time without being limited by the piston rod I14, so that the extension stroke of the damping control oil cylinder is shortest, the damping holes in the multi-state damping device are adjusted to be large damping holes under the traction action of the damping control oil cylinder, and the damping of the suspension oil cylinder 7 is softer at the moment.
The control forms mainly include the following forms:
1. distinguishing no-load and load: when the mining dump truck is changed from no-load to loading, the hydro-pneumatic suspension damping is changed from soft to medium, namely, the damping hole of the hydro-pneumatic suspension is changed from big to small, so that the vehicle is prevented from seriously vibrating during loading.
2. Distinguishing steering from non-steering: when the mining dump truck is quickly steered, the hydro-pneumatic suspension adjusts damping according to the loading state of the truck. When the vehicle is unloaded, the hydro-pneumatic suspension damping keeps softer, namely the damping hole keeps larger; when the vehicle is loaded, the hydro-pneumatic suspension damping is changed from medium to hard, namely the damping hole is changed from small to completely closed, so that the vehicle is prevented from generating serious roll when turning rapidly.
3. Distinguishing constant-speed running and braking conditions: when the mining dump truck applies braking, the hydro-pneumatic suspension adjusts damping according to the loading state of the truck. When the vehicle is unloaded, the hydro-pneumatic suspension damping is changed from soft to medium, namely, the damping hole is changed from large to small; when the vehicle is loaded, the hydro-pneumatic suspension changes from medium to hard, i.e. the orifice changes from small to fully closed.
4. Distinguishing the lifting and the rest of a container on a frame: when the mining dump truck is lifted, the hydro-pneumatic suspension adjusts damping according to the loading state of the truck. When the vehicle is lifted in an idle load, the hydro-pneumatic suspension damping is changed from softer to harder, namely the damping hole is changed from big to completely closed; when the vehicle is loaded and lifted, the hydro-pneumatic suspension damping is changed from medium to hard, namely the damping hole is changed from small to completely closed.
5. Distinguishing high speed from low speed: when the vehicle is unloaded, the hydro-pneumatic suspension damping is kept soft all the time and is irrelevant to the vehicle speed; when the vehicle is loaded, if the vehicle speed reaches a set value, the hydro-pneumatic suspension damping is changed from medium to hard, namely the damping hole is changed from small to closed.
The control system works as follows:
A. vehicle loading state change: the controller 1 compares the parameters measured by the weighing sensor 10 with standard values stored in the controller 1 to judge the loading condition of the vehicle, the controller 1 is connected with the electromagnetic directional valves 2 and 3, and when the controller 1 judges that the vehicle is in an idle load state, the controller 1 sends out a control signal to enable the suspension oil cylinders 7 and 8 to work in a soft damping state; when the controller 1 judges that the vehicle is in the loading state, the controller 1 sends out a control signal to enable the suspension cylinders 7 and 8 to work in the damping medium state.
B. Vehicle steering state change: the controller 1 compares the parameter of the steering oil cylinder displacement sensor 11 with a standard value stored in the controller 1 to judge whether the vehicle has steering action, and when the vehicle is in an unloaded state, the controller 1 can enable the suspension oil cylinders 7 and 8 to always work in a soft damping state no matter whether the vehicle steers or not; when the vehicle is loaded and the vehicle does not have steering action, the controller 1 sends out a control signal to enable the suspension oil cylinders 7 and 8 to work in a damping medium state; when the vehicle is loaded and the steering operation is performed, the controller 1 sends out a control signal to make the suspension cylinders 7 and 8 work in a hard damping state.
C. Vehicle speed state change: the controller 1 compares the parameters of the vehicle speed sensor 12 with standard values stored in the controller 1, and when the vehicle is in an unloaded state in no load, no matter the vehicle speed is high or low, the controller 1 enables the suspension oil cylinders 7 and 8 to always work in a soft damping state; when the vehicle is loaded and the speed is below a standard value (low-speed running), the controller 1 enables the suspension cylinders 7 and 8 to work in a damping medium state; when the vehicle is loaded and the speed is above the standard value (high speed running), the controller 1 causes the suspension cylinders 7, 8 to operate in a damped hard state.
D. Vehicle lifting state change: the controller 1 judges the lifting state of the vehicle according to the parameters of the container position sensor 13, and when the vehicle is in no load and the container is in a floating working condition, the controller 1 enables the suspension oil cylinders 7 and 8 to work in a soft damping state; when the vehicle is in no-load and the container is in a non-floating working condition, the controller 1 enables the suspension oil cylinders 7 and 8 to work in a damping hard state; when the vehicle is loaded and the cargo box is in a floating working condition, the controller 1 enables the suspension oil cylinders 7 and 8 to work in a damping medium state; when the vehicle is loaded and the cargo box is in a non-floating condition, the controller 1 causes the suspension cylinders 7, 8 to operate in a damped hard state.
E. Vehicle braking state change: the controller 1 judges whether the vehicle carries out braking operation according to the parameters of the braking pressure sensor 14, and when the vehicle is unloaded and has no braking action, the controller 1 enables the suspension oil cylinders 7 and 8 to work in a soft damping state; when the vehicle is unloaded and performs braking action, the controller 1 enables the suspension oil cylinders 7 and 8 to work in a damping medium state; when the vehicle is loaded and has no braking action, the controller 1 enables the suspension oil cylinders 7 and 8 to work in a damping medium state; when the vehicle is loaded and the braking operation is performed, the controller 1 operates the suspension cylinders 7 and 8 in a hard damping state.
Claims (6)
1. Semi-active hydro-pneumatic suspension control system of mining dump truck, its characterized in that: including controller (1), the input of controller (1) is connected with weighing sensor (10), steering cylinder displacement sensor (11), speed sensor (12), packing box position sensor (13) and brake pressure sensor (14), the output of controller (1) is connected with two sets of damping control system through electromagnetic directional valve I (2) and electromagnetic directional valve II (3), and two sets of damping control system set up the left and right sides at the vehicle respectively, damping control system includes damping control hydro-cylinder, polymorphic damping device and suspension cylinder, two oil pockets about being equipped with on the damping control hydro-cylinder horizontal direction all are equipped with the piston rod in every oil pocket.
2. The semi-active hydro-pneumatic suspension control system for the mining dump truck as claimed in claim 1, wherein: the electromagnetic directional valve I (2) and the electromagnetic directional valve II (3) are two-position four-way electromagnetic directional valves.
3. The semi-active hydro-pneumatic suspension control system for the mining dump truck as claimed in claim 1, wherein: and the electromagnetic directional valve I (2) and the electromagnetic directional valve II (3) respectively control a left oil cavity and a right oil cavity of the two damping control oil cylinders.
4. The semi-active hydro-pneumatic suspension control system for the mining dump truck as claimed in claim 1, wherein: a piston rod I (14) and a piston rod II (15) are arranged in the damping control oil cylinder, an oil inlet A (16) and an oil inlet B (17) are respectively arranged on two sides of the piston rod I (14), and an oil inlet C (18) and an oil inlet D (19) are respectively arranged on two sides of the piston rod II (15).
5. The use method of the semi-active hydro-pneumatic suspension control system of the mining dump truck as defined in claim 1, characterized in that: the damping control oil cylinder is internally provided with a piston rod I (14), a piston rod II (15), an oil inlet A (16), an oil inlet B (17), an oil inlet C (18) and an oil inlet D (19), and the damping control oil cylinder further comprises the following steps:
step 1: the controller (1) monitors state parameters of a weighing sensor (10), a steering cylinder displacement sensor (11), a vehicle speed sensor (12), a container position sensor (13) and a brake pressure sensor (14) in real time, and sends control signals to the electromagnetic directional valve I (2) and the electromagnetic directional valve II (3) according to the parameter changes of the sensors;
step 2: the damping control oil cylinder realizes different extension strokes of long, medium and short gears according to the change of the flow direction of the hydraulic oil of the four oil ports;
step 3: the multi-state damping device changes the size of a damping hole according to the extending state of a piston rod of the damping control oil cylinder, and the damping hole is a non-damping hole, a middle damping hole and a large damping hole;
step 4: the damping size of the suspension oil cylinder is changed according to the difference of the damping hole size, and the three-gear damping is soft, medium and hard respectively.
6. The use method of the semi-active hydro-pneumatic suspension control system of the mining dump truck as defined in claim 5, wherein:
in Step2, when an oil port A (16) and an oil port C (18) feed oil, an oil port B (17) and an oil port D (19) discharge oil, at the moment, a piston rod I (14) and a piston rod II (15) extend out simultaneously, the piston rod I (14) and the piston rod II (15) extend out completely, at the moment, the extension stroke of a damping control oil cylinder is longest, a multi-state damping device completely closes a damping hole in the multi-state damping device under the traction action of the damping control oil cylinder, and a suspension oil cylinder has harder damping at the moment;
when an oil port A (16) is used for feeding oil, an oil port B (17) is used for feeding oil, an oil port C (18) is used for feeding oil, and an oil port D (19) is used for feeding oil, the piston rod I (14) is in an extending state at the moment, the piston rod II (15) is in a retracting state, the piston rod II (15) cannot be completely retracted due to the blocking of the piston rod I (14), the extending stroke of the damping control oil cylinder is medium at the moment, the multi-state damping device adjusts the damping hole in the multi-state damping device to be a middle damping hole under the traction action of the damping control oil cylinder, and;
when the oil port A (16) returns oil, the oil port B (17) returns oil, the oil port C (18) returns oil, the oil port D (19) returns oil, the piston rod I (14) and the piston rod II (15) retract simultaneously, and the piston rod II (15) retracts completely without being limited by the piston rod I (14), so that the extension stroke of the damping control oil cylinder is shortest at the moment, the multi-state damping device adjusts the damping hole in the multi-state damping device into a large damping hole under the traction action of the damping control oil cylinder, and the damping of the suspension oil cylinder 7 is softer at the moment.
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| CN202010708184.2A CN111775648B (en) | 2020-07-22 | 2020-07-22 | Semi-active hydro-pneumatic suspension control system and control method for mining dump truck |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113236617A (en) * | 2021-04-02 | 2021-08-10 | 燕山大学 | Hydraulic active suspension flow control system |
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| CN103057374A (en) * | 2012-12-27 | 2013-04-24 | 三一重工股份有限公司 | Hydro-pneumatic suspension system and engineering vehicle |
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| CN101837716A (en) * | 2010-03-31 | 2010-09-22 | 三一重机有限公司 | Suspension device for mining dump truck |
| CN102434528A (en) * | 2011-11-26 | 2012-05-02 | 内蒙古北方重型汽车股份有限公司 | Variable-damping oil gas suspension cylinder controlled by switch |
| CN103057374A (en) * | 2012-12-27 | 2013-04-24 | 三一重工股份有限公司 | Hydro-pneumatic suspension system and engineering vehicle |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236617A (en) * | 2021-04-02 | 2021-08-10 | 燕山大学 | Hydraulic active suspension flow control system |
| CN113236617B (en) * | 2021-04-02 | 2022-02-11 | 燕山大学 | Hydraulic active suspension flow control system |
| US11813914B2 (en) | 2021-04-02 | 2023-11-14 | Yanshan University | Hydraulic active suspension flow control system |
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|---|---|
| CN111775648B (en) | 2023-08-29 |
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