CN111775648B - 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
- Publication number
- CN111775648B CN111775648B CN202010708184.2A CN202010708184A CN111775648B CN 111775648 B CN111775648 B CN 111775648B CN 202010708184 A CN202010708184 A CN 202010708184A CN 111775648 B CN111775648 B CN 111775648B
- Authority
- CN
- China
- Prior art keywords
- damping
- piston rod
- oil
- oil cylinder
- cylinder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
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 cylinder displacement sensor, a vehicle speed sensor, a container position sensor and a brake pressure sensor, and the output end of the controller is connected with two groups of damping control systems through an electromagnetic reversing valve I and an electromagnetic reversing valve II, and the damping control systems comprise damping control cylinders, polymorphic damping devices and suspension cylinders. According to the semi-active hydro-pneumatic suspension control system and the control method of the mining dump truck, the vehicle-mounted controller changes signals of the electromagnetic valve for the semi-active hydro-pneumatic suspension according to the running conditions and the load conditions of the vehicle such as loading, steering and braking of the vehicle, and damping of the hydro-pneumatic suspension is set to one of three grades of softer, medium and harder, so that a comfortable driving environment is ensured, and the running stability of the vehicle is improved.
Description
Technical Field
The invention relates to the technical field of electro-hydraulic control of engineering machinery, in particular to a semi-active hydro-pneumatic suspension control system and a semi-active hydro-pneumatic suspension control method of a mining dump truck.
Background
The mining dump truck is a special load-carrying vehicle which is used for completing the tasks of rock and earth stripping and ore transportation on special roads such as surface mines or large-scale civil engineering sites and is used for short-distance transportation. The method is widely applied to various surface mines, hydroelectric engineering, railway and highway construction engineering and large-scale construction engineering. Because the mining dump truck has large carrying capacity and poor road conditions in mining areas, 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 the damping of the vehicle, the mining dump truck adopts an oil-gas mixed suspension cylinder as a damping device of the vehicle.
The hydro-pneumatic suspension is respectively connected with the frame and the axle of the mining dump truck, and the hydro-pneumatic suspension is used for relieving the impact generated when the vehicle runs. The hydro-pneumatic suspension uses inert gas-nitrogen as an elastic element, and uses oil liquid as an intermediate medium between the gas and hydro-pneumatic suspension pistons to play roles in transmitting force, damping vibration and lubricating. The air pressure in the hydro-pneumatic suspension determines the rigidity of the suspension, and the hydro-pneumatic suspension has the characteristics of nonlinearity and gradual reduction because the air is compressible, namely the rigidity is changed along with the load, and the larger the load is, the larger the rigidity is, so the hydro-pneumatic suspension is particularly suitable for the mining dump truck with large load capacity change. The damping of the hydro-pneumatic suspension is mainly realized through damping generated by the oil flowing through the damping hole and the one-way valve, the damping hole and the one-way valve are arranged on a piston rod of the hydro-pneumatic suspension, and once the hydro-pneumatic suspension is processed, the damping is fixed, namely the hydro-pneumatic suspension is fixed, which is a scheme of hydro-pneumatic suspension in the market at present, and the hydro-pneumatic suspension cannot actively adjust the damping of the hydro-pneumatic suspension cylinder according to the running condition of a vehicle due to the fixed damping, namely the passive suspension in the traditional sense.
Disclosure of Invention
The invention aims to solve the technical problems of overcoming the defects of the prior art and providing a semi-active hydro-pneumatic suspension control system and a control method for a mining dump truck, which have simple structure and good 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 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 reversing valve I and an electromagnetic reversing valve II, the two groups of damping control systems are respectively arranged on the left side and the right side of the vehicle, the damping control systems comprise a damping control cylinder, a polymorphic 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 cylinder, and a piston rod is arranged in each oil cavity.
It is further: 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 of 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:
step1: the controller monitors state parameters of a weighing sensor, a steering cylinder displacement sensor, a vehicle speed sensor, a container position sensor and a 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;
step2: the damping control oil cylinder changes according to the flow direction of hydraulic oil of the four oil ports, and realizes different extension strokes of long, medium and short gears;
step3: the polymorphic damping device changes the size of the damping hole according to the extending state of the piston rod of the damping control oil cylinder, and the damping hole is respectively a non-damping hole, a middle damping hole and a large damping hole;
step4: the size of the damping is changed according to the different sizes of the damping holes, and the three-gear damping is respectively softer, medium and harder.
In Step2, when the oil port A and the oil port C are filled with oil, the oil port B and the oil port D are filled with oil, at the moment, the piston rod I and the piston rod II are simultaneously extended, the piston rod I and the piston rod II are completely extended, at the moment, the extension stroke of the damping control oil cylinder is longest, the damping hole in the polymorphic damping device is completely closed under the traction action of the damping control oil cylinder, and the damping of the suspension oil cylinder is harder at the moment;
when the oil port A is used for oil feeding, the oil port B is used for oil returning, the oil port C is used for oil returning, the oil port D is used for oil feeding, 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 moderate at the moment, the damping holes in the multi-state damping device are adjusted to be middle damping holes under the traction action of the damping control oil cylinder, and the damping of the suspension oil cylinder is moderate at the moment;
when the oil port A returns, the oil port B returns, the oil port C returns, the oil port D returns, the piston rod I and the piston rod II retract simultaneously, and the piston rod II can retract completely due to the fact that the retraction of the piston rod II is not limited by the piston rod I, so that the extension stroke of the damping control oil cylinder is shortest, the damping hole in the multi-state damping device is adjusted to be a large damping hole under the traction of the damping control oil cylinder, and the suspension oil cylinder 7 is softer.
The invention has the following advantages: according to the semi-active hydro-pneumatic suspension control system and the control method of the mining dump truck, the vehicle-mounted controller changes signals of the electromagnetic valve for the semi-active hydro-pneumatic suspension according to the running conditions and the load conditions of the vehicle such as loading, steering and braking of the vehicle, and damping of the hydro-pneumatic suspension is set to one of three grades of softer, medium and harder, so that a comfortable driving environment is ensured, and the running stability of the vehicle is improved. Since the change in suspension damping occurs after a change in vehicle condition, such as a load change, a change in vehicle speed, a lift state, etc., it is referred to as semi-active suspension.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the damping control cylinder of the present invention;
in the figure: 1. the hydraulic control system comprises a controller, 2, electromagnetic directional valves I and 3, electromagnetic directional valves II and 4, damping control cylinders I and 5, damping control cylinders II and 6, a multi-state damping device I and 7, a suspension cylinder I and 8, a suspension cylinder II and 9, a multi-state damping device II and 10, a weighing sensor 11, a steering cylinder displacement sensor 12, a vehicle speed sensor 13, a container position sensor 14, a piston rod I and 15, a piston rod II and 16, an oil inlet A and 17, an oil inlet B and 18, an oil inlet C and 19, an oil inlet D and 20 and a brake pressure sensor.
Description of the embodiments
The semi-active hydro-pneumatic suspension control system of the mining dump truck as shown in fig. 1-2 comprises a controller 1, wherein the 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 20, the output end of the controller 1 is connected with two groups of damping control systems through an electromagnetic reversing valve I2 and an electromagnetic reversing valve II 3, the two groups of damping control systems are respectively arranged on the left side and the right side of the vehicle, the damping control systems comprise a damping control cylinder, a polymorphic damping device and a suspension cylinder, a left oil cavity and a right oil cavity are arranged on the damping control cylinder in the horizontal direction, and piston rods are 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 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 cargoes loaded on a vehicle, the steering 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 a container, and the brake pressure sensor is used for monitoring the brake operation of the vehicle; the output control device comprises an electromagnetic reversing 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, and all elements on the left side and the right side always keep synchronous action, namely damping changes of the suspension oil cylinder I7 and the suspension oil cylinder II 8 on the two sides always keep synchronous; the polymorphic damping device changes the size of the damping hole according to the extending state of a piston rod of the damping control oil cylinder so as to change the damping of the suspension oil cylinder, the damping control oil cylinder can realize three different extending strokes, and the polymorphic damping device changes the size of the damping hole according to the extending stroke change of the damping control oil cylinder and is divided into three steps: the damping holes are not damped, the damping holes are medium damping holes and large damping holes, and the damping of the suspension cylinder is respectively as follows: softer, medium, harder.
The semi-active hydro-pneumatic suspension control system of the mining dump truck is shown in fig. 1 to 2, and the electromagnetic directional valve I2 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. The damping control oil cylinder is internally provided with a piston rod I14 and a piston rod II 15, two sides of the piston rod I14 are respectively provided with an oil inlet A16 and an oil inlet B17, and two sides of the piston rod II 15 are respectively provided with an oil inlet C18 and an oil inlet D19. According to the invention, the electromagnetic reversing valve I2 and the electromagnetic reversing valve II 3 are two-position four-way electromagnetic reversing valves, meanwhile, the damping control oil cylinders with left and right oil cavities are controlled by the electromagnetic reversing valve I2 and the electromagnetic reversing valve II 3 to control the oil inlet and outlet conditions of four oil inlets, the oil inlets A16 and B17 of the left oil cavities of the damping control oil cylinders I4 and II 5 are connected with the electromagnetic reversing valve I2, the oil inlets C18 and D19 of the right oil cavities of the damping control oil cylinders I4 and II 5 are connected with the electromagnetic reversing valve II 3, and three states of the piston rod I14 and the piston rod II 15, namely the extension of the piston rod I14 and the extension of the piston rod II 15, the extension of the piston rod I14 and the contraction of the piston rod II 15, and the contraction of the piston rod I14 and II 15, are realized by controlling the damping hole sizes of the polymorphic damping device I6 and the polymorphic damping device II 9 by the piston rod I14 and II 15, the polymorphic damping device I6 is provided with three states of a damping hole, a middle damping hole and a big hole, and the damping device II 8 are respectively hung by the suspension oil cylinders I and II 7 and II 8: softer, medium, harder.
The method also comprises the following steps:
step1: the controller 1 monitors state parameters of the weighing sensor 10, the steering cylinder displacement sensor 11, the vehicle speed sensor 12, the container position sensor 13 and the brake pressure sensor 20 in real time, and sends control signals to the electromagnetic directional valve I2 and the electromagnetic directional valve II 3 according to parameter changes of the sensors;
step2: the damping control oil cylinder changes according to the flow direction of hydraulic oil of the four oil ports, and realizes different extension strokes of long, medium and short gears;
step3: the polymorphic damping device changes the size of the damping hole according to the extending state of the piston rod of the damping control oil cylinder, and the damping hole is respectively a non-damping hole, a middle damping hole and a large damping hole;
step4: the size of the damping is changed according to the different sizes of the damping holes, and the three-gear damping is respectively softer, medium and harder.
In Step2, when the oil port A16 and the oil port C18 are filled, the oil port B17 and the oil port D19 are filled, at the moment, the piston rod I14 and the piston rod II 15 are simultaneously extended, the piston rod I14 and the piston rod II 15 are completely extended, at the moment, the extension stroke of the damping control oil cylinder is longest, the damping hole in the polymorphic damping device is completely closed under the traction effect of the damping control oil cylinder, and the suspension oil cylinder is hard at the moment;
when the oil port A16 is used for oil feeding, the oil port B17 is used for oil returning, the oil port C18 is used for oil returning, and the oil port D19 is used for oil feeding, at the moment, 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, at the moment, 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 medium damping hole under the traction effect of the damping control oil cylinder, and the damping of the suspension oil cylinder is medium at the moment;
when the oil port A16 returns, the oil port B17 returns, the oil port C18 returns and the oil port D19 returns, the piston rod I14 and the piston rod II 15 retract simultaneously, and the piston rod II 15 retracts completely without the limiting effect of the piston rod I14, so that the extension stroke of the damping control oil cylinder is shortest, the damping hole in the polymorphic damping device is adjusted to be a large damping hole under the traction effect of the damping control oil cylinder, and the suspension oil cylinder 7 is softer.
The control forms mainly include the following:
1. distinguishing between empty and loaded: when the mining dump truck is changed from no-load to loading, the hydro-pneumatic suspension damping is changed from softer to medium, namely, the hydro-pneumatic suspension damping hole is changed from large to small, so that serious vibration of the vehicle during loading is prevented.
2. Distinguishing steering from non-steering: when the mining dump truck turns rapidly, the hydro-pneumatic suspension adjusts damping according to the loading state of the vehicle. When the vehicle is empty, the hydro-pneumatic suspension damping is kept soft, i.e. the damping hole is kept large; when the vehicle is loaded, the hydro-pneumatic suspension damping is changed from medium to harder, namely the damping hole is changed from small to completely closed, so that the vehicle is prevented from being severely tilted when the vehicle is rapidly turned.
3. Distinguishing uniform-speed running and braking working conditions: when the mining dump truck applies the brake, the hydro-pneumatic suspension adjusts damping according to the loading state of the vehicle. When the vehicle is unloaded, the hydro-pneumatic suspension damping is changed from softer to medium, namely the damping hole is changed from big to small; the hydro-pneumatic suspension changes from medium to stiffer when the vehicle is loaded, i.e. the damping hole changes from small to fully closed.
4. Distinguishing cargo box lifting from resting on the frame: when the mining dump truck lifts, the hydro-pneumatic suspension adjusts damping according to the loading state of the vehicle. 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 harder, i.e. the damping hole is changed from small to completely closed.
5. High speed and low speed are distinguished: when the vehicle is empty, the hydro-pneumatic suspension damping is always kept softer 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 harder, i.e. the damping hole is changed from smaller to closed.
The working process of the control system is 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 state, the controller 1 sends out control signals to enable the suspension 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 cylinder displacement sensor 11 with the standard value stored in the controller 1 to judge whether the vehicle has steering action, and when the vehicle is in an empty state, the controller 1 can make the suspension cylinders 7 and 8 work in a soft damping state all the time no matter whether the vehicle steers or not; when the vehicle is loaded and the vehicle does not turn, the controller 1 sends out a control signal to enable the suspension cylinders 7 and 8 to work in a damping medium state; when the vehicle is loaded and steering is performed, the controller 1 sends out control signals to enable the suspension cylinders 7 and 8 to work in a damping harder 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 empty state when empty, the controller 1 can make the suspension cylinders 7 and 8 work in a soft damping state all the time no matter the vehicle speed is high or low; when the vehicle is loaded and the vehicle speed is below a standard value (low-speed running), the controller 1 can enable the suspension cylinders 7 and 8 to work in a damping medium state; when the vehicle is loaded and the vehicle speed is above a standard value (high-speed running), the controller 1 can enable the suspension cylinders 7, 8 to work in a hard damping state.
D. Vehicle lift 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 empty and the container is in a floating working condition, the controller 1 enables the suspension cylinders 7 and 8 to work in a soft damping state; when the vehicle is empty and the cargo box is in a non-floating working condition, the controller 1 enables the suspension cylinders 7 and 8 to work in a hard damping state; when the vehicle is loaded and the cargo box is in a floating working condition, the controller 1 enables the suspension 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 enables the suspension cylinders 7, 8 to operate in a stiffer damping state.
E. Vehicle braking state change: the controller 1 judges whether the vehicle is subjected to braking operation according to the parameters of the braking pressure sensor 20, and when the vehicle is empty and has no braking action, the controller 1 enables the suspension cylinders 7 and 8 to work in a soft damping state; when the vehicle is empty and the braking action is performed, the controller 1 enables the suspension cylinders 7 and 8 to work in a damping medium state; when the vehicle is loaded and no braking action is performed, the controller 1 enables the suspension cylinders 7 and 8 to work in a damping medium state; when the vehicle is loaded and a braking operation is performed, the controller 1 causes the suspension cylinders 7, 8 to operate in a damped harder state.
Claims (5)
1. Semi-active hydro-pneumatic suspension control system of mining dump truck, its characterized in that: the hydraulic control system comprises a controller (1), wherein the 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 (20), the output end of the controller (1) is connected with two groups of damping control systems through an electromagnetic reversing valve I (2) and an electromagnetic reversing valve II (3), the two groups of damping control systems are respectively arranged on the left side and the right side of a vehicle, the damping control systems comprise a damping control cylinder, a polymorphic 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 cylinder, and piston rods are arranged in each oil cavity;
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);
a piston rod II (15) at the outer side of the damping control oil cylinder is connected with a polymorphic damping device, and the polymorphic damping device is connected with an oil cylinder of the suspension oil cylinder;
when the piston rod I (14) and the piston rod II (15) are completely extended, the extension stroke of the damping control oil cylinder is longest, and the polymorphic damping device is in a damping hole-free state;
when the piston rod I (14) is in an extending state and 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), and at the moment, the extending stroke of the damping control oil cylinder is medium, and the polymorphic damping device is in a medium damping hole state;
the piston rod I (14) and the piston rod II (15) are retracted simultaneously, and the piston rod II (15) can be completely retracted without the limiting effect of the piston rod I (14) at the moment, so that the extension stroke of the damping control oil cylinder is shortest at the moment, and the polymorphic damping device is in a large damping hole state.
2. The mining dump truck semi-active hydro-pneumatic suspension control system of 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 mining dump truck semi-active hydro-pneumatic suspension control system of claim 1, wherein: the electromagnetic directional valve I (2) and the electromagnetic directional valve II (3) respectively control the left oil cavity and the right oil cavity of the two damping control oil cylinders.
4. The method for using the semi-active hydro-pneumatic suspension control system of the mining dump truck according to claim 1, wherein the method comprises the following steps: 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 further comprises the following steps:
step1: the controller (1) monitors state parameters of the weighing sensor (10), the steering cylinder displacement sensor (11), the vehicle speed sensor (12), the container position sensor (13) and the brake pressure sensor (20) in real time, and sends control signals to the electromagnetic directional valve I (2) and the electromagnetic directional valve II (3) according to parameter changes of the sensors;
step2: the damping control oil cylinder changes according to the flow direction of hydraulic oil of the four oil ports, and realizes different extension strokes of long, medium and short gears;
step3: the polymorphic damping device changes the size of the damping hole according to the extending state of the piston rod of the damping control oil cylinder, and the damping hole is respectively a non-damping hole, a middle damping hole and a large damping hole;
step4: the size of the damping is changed according to the different sizes of the damping holes, and the three-gear damping is respectively softer, medium and harder.
5. The method for using the semi-active hydro-pneumatic suspension control system of the mining dump truck according to claim 4, wherein the method comprises the following steps:
in Step2, when the oil port A (16) and the oil port C (18) are filled, the oil port B (17) and the oil port D (19) are filled, the piston rod I (14) and the piston rod II (15) are simultaneously extended, the piston rod I (14) and the piston rod II (15) are completely extended, the extension stroke of the damping control oil cylinder is longest, the damping hole in the polymorphic damping device is completely closed under the traction effect of the damping control oil cylinder, and the damping of the suspension oil cylinder is harder;
when the oil port A (16) is used for oil feeding, the oil port B (17) is used for oil feeding, the oil port C (18) is used for oil feeding, the oil port D (19) is used for oil feeding, the piston rod I (14) 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 I (14), the extending stroke of the damping control oil cylinder is moderate at the moment, the damping hole in the polymorphic damping device is adjusted to be a middle damping hole under the traction effect of the damping control oil cylinder by the polymorphic damping device, and the damping of the suspension oil cylinder is moderate at the moment;
when the oil port A (16) returns, the oil port B (17) returns, the oil port C (18) returns, the oil port D (19) returns, the piston rod I (14) and the piston rod II (15) simultaneously retract, and the piston rod II (15) does not retract completely under the limiting action of the piston rod I (14) at the moment, so that the extension stroke of the damping control oil cylinder is shortest at the moment, the damping hole in the polymorphic damping device is adjusted to be a large damping hole under the traction action of the damping control oil cylinder, and the suspension oil cylinder (7) is damped to be softer at the moment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010708184.2A CN111775648B (en) | 2020-07-22 | 2020-07-22 | Semi-active hydro-pneumatic suspension control system and control method for mining dump truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010708184.2A CN111775648B (en) | 2020-07-22 | 2020-07-22 | Semi-active hydro-pneumatic suspension control system and control method for mining dump truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111775648A CN111775648A (en) | 2020-10-16 |
| CN111775648B true CN111775648B (en) | 2023-08-29 |
Family
ID=72764717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010708184.2A Active CN111775648B (en) | 2020-07-22 | 2020-07-22 | Semi-active hydro-pneumatic suspension control system and control method for mining dump truck |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111775648B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236617B (en) * | 2021-04-02 | 2022-02-11 | 燕山大学 | Hydraulic active suspension flow control system |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10236306A (en) * | 1997-02-28 | 1998-09-08 | Kayaba Ind Co Ltd | Damper device |
| CN201202702Y (en) * | 2008-06-05 | 2009-03-04 | 张宏如 | Empty / full load self-adapting oil gas hanging cylinder |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10261591B4 (en) * | 2002-12-24 | 2017-02-09 | Grass Gmbh | damping device |
-
2020
- 2020-07-22 CN CN202010708184.2A patent/CN111775648B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10236306A (en) * | 1997-02-28 | 1998-09-08 | Kayaba Ind Co Ltd | Damper device |
| CN201202702Y (en) * | 2008-06-05 | 2009-03-04 | 张宏如 | Empty / full load self-adapting oil gas hanging cylinder |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111775648A (en) | 2020-10-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU746811B2 (en) | Roll-resistant hydraulic suspension system, kit and method for load handling vehicles | |
| CN103057374A (en) | Hydro-pneumatic suspension system and engineering vehicle | |
| CN103042893B (en) | Hydro-pneumatic suspension system and engineering truck | |
| EP1123894A2 (en) | Load handling apparatus | |
| CN107379910B (en) | Hydro-pneumatic suspension hydraulic system | |
| CN101765727B (en) | Interconnected suspension systems | |
| WO2009111826A1 (en) | Vehicle suspension arrangements & control | |
| CN111255843A (en) | Gas-liquid composite suspension cylinder, hydraulic system and transport vehicle | |
| CN111775648B (en) | Semi-active hydro-pneumatic suspension control system and control method for mining dump truck | |
| CN102490565A (en) | Demand-based active anti-rollover hydraulic inline suspension system for heavy truck | |
| CN107284174B (en) | Automatic side-tipping automobile suspension system | |
| CN103879257A (en) | Suspension valves, oil gas suspension control system and engineering vehicle | |
| CN101837716B (en) | Suspension device for mining dump truck | |
| CN103612549B (en) | Wheeled crane suspension adjusting control system, method and device and wheeled crane | |
| GB2358839A (en) | Working apparatus | |
| CN107053986B (en) | Hydraulic control system for oil-gas suspension of five-axis dumper | |
| WO2020077399A1 (en) | Pick and carry crane suspension | |
| CN103407916B (en) | A kind of cushioning device for luffing cylinder and crane | |
| CN207772822U (en) | A kind of multi-faceted quarry tipper vehicle body posture adjustment hydro-pneumatic suspension system | |
| CN203093658U (en) | Novel oil gas suspension system | |
| CN110847278B (en) | Loader vibration damper | |
| CN202389147U (en) | On-demand active anti-overturning hydraulic inline suspension system of heavy-duty truck | |
| CN201670154U (en) | Cushioning device for luffing cylinder of crane jib | |
| CN204196647U (en) | Suspension valve, hydro pneumatic suspension control system and engineering truck | |
| RU181966U1 (en) | HYDRAULIC HYDRAULIC SUSPENSION OF HIGH-LOAD VEHICLE |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |