CN112695832A - Control system and method for walking start-stop of excavator - Google Patents
Control system and method for walking start-stop of excavator Download PDFInfo
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- CN112695832A CN112695832A CN202011563709.4A CN202011563709A CN112695832A CN 112695832 A CN112695832 A CN 112695832A CN 202011563709 A CN202011563709 A CN 202011563709A CN 112695832 A CN112695832 A CN 112695832A
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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
- E02F9/22—Hydraulic or pneumatic drives
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention provides a control system and a control method for starting and stopping the walking of an excavator, and belongs to the field of engineering machinery. The control system includes: the pressure sensor is used for acquiring walking operation hydraulic pressure in real time; the vehicle control unit is used for determining the pressure state at the current moment according to the walking operation hydraulic pressure and obtaining the current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment; the vehicle control unit is also used for acquiring a vehicle operation instruction, and outputting a corresponding walking gear control signal and a walking oil pressure control signal according to the current pressure change state when the current vehicle operation instruction is determined to be a gear switching instruction; and the walking system is used for executing gear control according to the walking gear control signal and executing corresponding walking driving operation according to the walking operation hydraulic pressure and the walking oil pressure control signal. The invention reduces the oil circuit impact caused by improper operation of a user.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to a control system for walking start and stop of an excavator and a control method for walking start and stop of the excavator.
Background
The excavator is an engineering machine with wide application, a double-speed motor is generally adopted in the existing crawler excavator, the walking speed is manually switched through a display or a rocker switch, a controller monitors walking high-speed and low-speed instructions, and whether the output of a high-speed and low-speed switching electromagnetic valve is driven or not is judged so as to switch the walking gear of the excavator.
When a user selects a low-speed gear, the output of a walking high-speed and low-speed electromagnetic valve is forbidden, so that a walking motor works in a small displacement mode to drive the excavator to walk at the low-speed gear; when a user selects a high-speed gear, the controller outputs control voltage to drive the walking high-speed and low-speed electromagnetic valves, so that the walking motor works in a large-displacement working mode to drive the excavator to walk at the high-speed gear.
When a user selects a high gear, large impact is generated during walking starting or braking, driving comfort is affected, and meanwhile certain damage is caused to hydraulic elements.
Disclosure of Invention
The invention aims to provide a control system and a control method for the walking start and stop of an excavator, which aim to at least solve the problem that the excavator has overlarge impact when the excavator is started or braked during walking.
In order to achieve the above object, a first aspect of the present invention provides a control system for an excavator walking start-stop, the control system comprising:
the pressure sensor is used for acquiring walking operation hydraulic pressure in real time;
the vehicle control unit is used for determining the pressure state at the current moment according to the walking operation hydraulic pressure and obtaining the current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment;
the vehicle control unit is also used for acquiring a vehicle operation instruction, and outputting a corresponding walking gear control signal and a walking oil pressure control signal according to the current pressure change state when the current vehicle operation instruction is determined to be a gear switching instruction;
and the walking system is used for executing gear control according to the walking gear control signal and executing corresponding walking driving operation according to the walking operation hydraulic pressure and the walking oil pressure control signal.
Preferably, the walking operation hydraulic pressure includes: a left walking operation hydraulic pressure and a right walking operation hydraulic pressure; the pressure state includes: a walking stop state and a normal walking state; the vehicle control unit is further used for determining that the pressure state at the current moment is a normal walking state when the current left walking operation hydraulic pressure is larger than or equal to a first preset value or the current right walking operation hydraulic pressure is larger than or equal to the first preset value.
Preferably, the vehicle control unit is further configured to determine that the pressure state at the current moment is a walking stop state when the current left walking operation hydraulic pressure is smaller than the first preset value and the current right walking operation hydraulic pressure is smaller than the first preset value.
Preferably, the current pressure change state includes: a walking starting state and a walking braking state;
and the vehicle control unit is also used for determining that the current pressure change state is a walking starting state when the current pressure state is a walking stop state and the pressure state at the previous moment is a normal walking state.
Preferably, the current pressure change state is: comprises a walking starting state and a walking braking state;
and the vehicle control unit is also used for determining that the current pressure change state is a walking braking state when the current pressure state is a normal walking state and the pressure state at the previous moment is a walking stop state.
The invention provides a control method for walking start-stop of an excavator, which comprises the following steps:
acquiring walking operation hydraulic pressure in real time and acquiring vehicle operation instructions;
determining the pressure state at the current moment according to the walking operation hydraulic pressure; obtaining a current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment;
when the current vehicle operation instruction is determined to be a gear switching instruction, outputting a corresponding walking gear control signal and a walking oil pressure control signal according to the current pressure change state;
and executing gear control according to the walking gear control signal and executing corresponding walking driving operation according to the walking operation hydraulic pressure and the walking oil pressure control signal.
The current pressure change state walking starting state comprises the following steps: a walking braking state and a walking starting state;
when the current vehicle operation instruction is a gear switching instruction, outputting a corresponding walking gear control signal and a walking oil pressure control signal according to the current pressure change state;
when the current vehicle operation instruction is a gear switching instruction and the current pressure change state is a walking starting state, outputting a corresponding high gear stop output signal and a walking oil pressure low-speed control signal;
when the current vehicle operation instruction is a gear switching instruction and the current pressure change state is a walking braking state, outputting a corresponding high gear stop output signal, a corresponding low gear starting signal and a walking oil pressure low-speed control signal.
According to walking gear control signal execution gear control and according to walking operation hydraulic pressure with walking oil pressure control signal carries out corresponding walking drive operation, include:
continuing to maintain a low-speed gear according to the high-gear stop output signal, and executing corresponding low-speed walking driving operation according to the walking oil pressure low-speed control signal and the walking oil pressure control signal;
and switching to a low gear according to the high gear stop output signal and the low gear starting signal, and executing corresponding low-speed walking driving operation according to the walking oil pressure low-speed control signal and the walking oil pressure control signal.
Preferably, the walking operation hydraulic pressure includes: a left walking operation hydraulic pressure and a right walking operation hydraulic pressure; the pressure state includes: a walking stop state and a normal walking state;
the determining of the pressure state at the current moment according to the walking operation hydraulic pressure includes:
and if the current left walking operation hydraulic pressure is greater than or equal to a first preset value or the current right walking operation hydraulic pressure is greater than or equal to the first preset value, determining that the pressure state at the current moment is a normal walking state.
Preferably, the determining the pressure state at the current moment according to the walking operation hydraulic pressure includes: and if the current left walking operation hydraulic pressure is smaller than the first preset value and the current right walking operation hydraulic pressure is smaller than the first preset value, determining that the pressure state at the current moment is a walking stop state.
Preferably, the obtaining the current pressure change state according to the pressure state at the current time and the pressure state at the previous time of the current time includes:
and if the current pressure state is a walking stop state and the pressure state at the previous moment of the current moment is a normal walking state, determining that the current pressure change state is a walking starting state.
Preferably, the obtaining the current pressure change state according to the pressure state at the current time and the pressure state at the previous time of the current time includes:
and if the current pressure state is the normal walking state and the pressure state at the previous moment of the current moment is the walking stop state, determining that the current pressure change state is the walking brake state.
According to the technical scheme, when the vehicle control unit determines that the current vehicle operation instruction is a gear switching instruction, the vehicle control unit outputs the corresponding walking gear control signal and walking oil pressure control signal according to the current pressure change state of the obtained vehicle operation instruction; when a user selects a vehicle operation instruction, the controller can actively judge the walking braking state and the walking starting state, so that corresponding walking gear control signals and walking oil pressure control signals are output to control the walking system to operate, and oil circuit impact caused by improper operation of the user is reduced.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic diagram of a control system for start and stop of excavator walking according to one embodiment of the present invention;
fig. 2 is a logic diagram for determining a pressure change state for starting and stopping the excavator during walking according to an embodiment of the present invention.
Description of the reference numerals
A left walking footrest 101; a right walking footrest 102; a left travel motor 103;
a right travel motor 104; a left travel spool 105; a right travel spool 106;
a left main pump 107; right main pump 108; a display 201;
a vehicle control unit 202; a left-travel pilot pressure sensor 203;
a right travel pilot pressure sensor 204; the high-low speed switching solenoid valve 205 is operated.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
One embodiment of the present invention provides a control system for start and stop of excavator walking, comprising: the system comprises a pressure sensor, a vehicle control unit and a traveling system; the pressure sensor is used for acquiring walking operation hydraulic pressure in real time;
the vehicle control unit is used for determining the pressure state at the current moment according to the walking operation hydraulic pressure and obtaining the current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment;
the vehicle control unit is also used for acquiring a vehicle operation instruction, and outputting a corresponding walking gear control signal and a walking oil pressure control signal according to the current pressure change state when the current vehicle operation instruction is determined to be a gear switching instruction;
and the walking system is used for executing gear control according to the walking gear control signal and executing corresponding walking driving operation according to the walking operation hydraulic pressure and the walking oil pressure control signal.
As shown in fig. 1, the pressure sensors may be a travel pilot pressure sensor 203 and a right travel pilot pressure sensor 204, which are respectively disposed in brake oil passages of the left travel pedal 101 and the right travel pedal 102, and thus the travel operation hydraulic pressure includes: a left walking operation hydraulic pressure and a right walking operation hydraulic pressure.
The traveling system comprises a left traveling motor 103, a right traveling motor 104, a left traveling valve core 105, a right traveling valve core 106, a left main pump 107, a right main pump 108 and a traveling high-low speed switching electromagnetic valve 205; the left traveling valve core 105 and the right traveling valve core 106 are used for receiving traveling operation hydraulic pressure control oil path output generated by the left traveling pedal 101 and the right traveling pedal 102; the left main pump 107 and the right main pump 108 receive the control of the whole vehicle controller and correspondingly provide the traveling power of the left traveling motor 103 and the right traveling motor 104; the left travel motor 103 and the right travel motor 104 receive the travel high-low speed switching solenoid valve 205 to execute the shift control.
The vehicle control unit 202 is connected with the display 201 through the CAN bus to obtain vehicle operation instructions. The user selects the high-low speed gear through the display 201 and transmits this information to the vehicle control unit 202 through the CAN bus. The vehicle control unit 202 monitors the left walking pilot pressure sensor 203 and the right walking pilot pressure sensor 204 to determine the walking state, so as to integrate the user selection and the walking state decision to determine whether to drive the walking high-low speed switching electromagnetic valve 205, and then change the gears of the left walking motor 103 and the right walking motor 104.
Specifically, as shown in fig. 2, the pressure state includes: a walking stop state and a normal walking state; the vehicle controller 202 is further configured to determine that the pressure state at the current time is the normal walking state when the current hydraulic pressure for the left walking operation is greater than or equal to a first preset value (e.g., 5bar) or the current hydraulic pressure for the right walking operation is greater than or equal to the first preset value (e.g., 5 bar). And when any one of the left walking pilot pressure and the right walking pilot pressure is more than or equal to 5bar, judging that the excavator is in a walking state, and recording the state as 1.
Preferably, the vehicle control unit 202 is further configured to determine that the pressure state at the current time is a walking stop state when the current hydraulic pressure for the left walking operation is smaller than the first preset value and the current hydraulic pressure for the right walking operation is smaller than the first preset value (e.g., 5 bar). And when the two pressure values are both less than 5bar, judging that the excavator is in a static state, and recording the state as 0.
The current pressure change state includes: a walking starting state and a walking braking state; the vehicle control unit 202 is further configured to determine that the current pressure change state is a walking start state when the current pressure state is a walking stop state and the pressure state at the time immediately before the current time is a normal walking state. That is, when the state changes from 0 to 1, the vehicle control unit 202 monitors the rising edge and determines it as the walk-start state.
The vehicle control unit 202 is further configured to determine that the current pressure change state is a walking braking state when the current pressure state is a normal walking state and the pressure state at the time immediately before the current time is a walking stop state. That is, when the state changes from 1 to 0, the vehicle control unit 202 monitors the falling edge and determines it as the walking brake.
The invention provides a control method for the walking start-stop of the excavator, which adopts the parameters and the logic and comprises the following steps:
acquiring walking operation hydraulic pressure in real time and acquiring vehicle operation instructions;
determining the pressure state at the current moment according to the walking operation hydraulic pressure; obtaining a current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment;
when the current vehicle operation instruction is determined to be a gear switching instruction, outputting a corresponding walking gear control signal and a walking oil pressure control signal according to the current pressure change state;
and executing gear control according to the walking gear control signal and executing corresponding walking driving operation according to the walking operation hydraulic pressure and the walking oil pressure control signal.
Preferably, the walking operation hydraulic pressure includes left walking operation hydraulic pressure and right walking operation hydraulic pressure; the pressure state includes: a walking stop state and a normal walking state;
the determining of the pressure state at the current moment according to the walking operation hydraulic pressure includes:
and if the current left walking operation hydraulic pressure is greater than or equal to a first preset value or the current right walking operation hydraulic pressure is greater than or equal to the first preset value, determining that the pressure state at the current moment is a normal walking state.
Preferably, the determining the pressure state at the current moment according to the walking operation hydraulic pressure includes: and if the current left walking operation hydraulic pressure is smaller than the first preset value and the current right walking operation hydraulic pressure is smaller than the first preset value, determining that the pressure state at the current moment is a walking stop state.
Preferably, the current pressure change state comprises a walking starting state and a walking braking state;
the obtaining of the current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment at the current moment includes:
and if the current pressure state is a walking stop state and the pressure state at the previous moment of the current moment is a normal walking state, determining that the current pressure change state is a walking starting state.
And if the current pressure state is the normal walking state and the pressure state at the previous moment of the current moment is the walking stop state, determining that the current pressure change state is the walking brake state.
Therefore, when the user selects the low gear or the high gear as the input instruction through the display 201, the display 201 transmits the low gear instruction to the vehicle controller 202 through the CAN bus; the vehicle control unit 202 determines that the current vehicle operation command is a gear switching command, and outputs a corresponding walking gear control signal and a walking oil pressure control signal according to the current pressure change state;
when it is determined that the pressure change state at the time when the user inputs the instruction is the walking start state through the above determination, the vehicle control unit 202 outputs a high-range stop output signal, such as a power signal cutoff signal of a high-range solenoid valve in the high-low speed switching solenoid valve 205, and prohibits the high-range output of the walking high-low speed switching solenoid valve 205; the vehicle control unit 202 also outputs a low-speed control signal of the walking oil pressure to control the main pump 107 to generate low-gear walking oil pressure;
when the user pushes the left and right travel pedals 101 and 102, oil flows to the left and right travel motors 103 and 104 through the left and right travel spools 105 and 106, and drives the excavator to travel at a low speed by the left and right travel motors 103 and 104.
When it is determined that the pressure change state at the time when the user inputs the instruction is the walking braking state through the above determination, the vehicle control unit 202 outputs a high-range stop output signal, such as a power signal cutoff signal of a high-range solenoid valve in the high-low speed switching solenoid valve 205, and cuts off the high-range output of the walking high-low speed switching solenoid valve 205; the vehicle control unit 202 outputs a low-gear starting signal to control the traveling high-low speed switching solenoid valve 205 to switch to low-gear output; the left walking motor 103 and the right walking motor 104 drive the excavator to brake at a low gear; the vehicle control unit 202 outputs a low-speed control signal of the walking oil pressure to control the main pump 107 to generate low-gear walking oil pressure; when the user pushes the left and right travel pedals 101 and 102, oil flows to the left and right travel motors 103 and 104 through the left and right travel spools 105 and 106, and drives the excavator to travel at a low speed by the left and right travel motors 103 and 104.
Certainly, if the current pressure state is a walking state and the pressure state at the previous moment is a walking state, determining that the pressure change state at the moment when the user inputs the instruction is a normal operation state; that is, when the walking state at the time when the user inputs the instruction is maintained at 1, the vehicle control unit 20 switches the normal high-speed gear of the walking high-speed and low-speed switching solenoid valve 205 to control the left walking motor 103 and the right walking motor 104 to drive the excavator to walk at the high-speed gear.
By the scheme, when a user selects a high-speed gear, the controller can actively judge the starting and braking states of walking, so that the walking high-speed and low-speed electromagnetic valves are driven to start at a low-speed gear; when the walking is stable, the excavator can still normally walk by selecting a gear by a user, and when the excavator is braked, the excavator is automatically switched to a low-speed gear; the problem of impact in the moment of walking starting or braking in the high-speed gear is effectively reduced, driving comfort is improved, and damage to a hydraulic element caused by impact in the moment of walking starting or braking in the high-speed gear can be effectively reduced.
While the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solution of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications are within the scope of the embodiments of the present invention. It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention will not be described separately for the various possible combinations.
In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as disclosed in the embodiments of the present invention as long as it does not depart from the spirit of the embodiments of the present invention.
Claims (12)
1. A control system for an excavator walking start-stop, the control system comprising:
the pressure sensor is used for acquiring walking operation hydraulic pressure in real time;
the vehicle control unit is used for determining the pressure state at the current moment according to the walking operation hydraulic pressure and obtaining the current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment;
the vehicle control unit is also used for acquiring a vehicle operation instruction, and outputting a corresponding walking gear control signal and a walking oil pressure control signal according to the current pressure change state when the current vehicle operation instruction is determined to be a gear switching instruction;
and the walking system is used for executing gear control according to the walking gear control signal and executing corresponding walking driving operation according to the walking operation hydraulic pressure and the walking oil pressure control signal.
2. The walking start-stop control system according to claim 1, wherein the walking operation hydraulic pressure comprises: a left walking operation hydraulic pressure and a right walking operation hydraulic pressure; the pressure state includes: a walking stop state and a normal walking state; the vehicle control unit is further used for determining that the pressure state at the current moment is a normal walking state when the current left walking operation hydraulic pressure is larger than or equal to a first preset value or the current right walking operation hydraulic pressure is larger than or equal to the first preset value.
3. The walking start-stop control system according to claim 2, wherein the vehicle control unit is further configured to determine that the pressure state at the current time is the walking stop state when the current left walking operation hydraulic pressure is smaller than the first preset value and the current right walking operation hydraulic pressure is smaller than the first preset value.
4. The walking start-stop control system of claim 3, wherein the current pressure change state comprises: a walking starting state and a walking braking state;
and the vehicle control unit is also used for determining that the current pressure change state is a walking starting state when the current pressure state is a walking stop state and the pressure state at the previous moment is a normal walking state.
5. The walking start-stop control system according to claim 3, wherein the current pressure change state is: comprises a walking starting state and a walking braking state;
and the vehicle control unit is also used for determining that the current pressure change state is a walking braking state when the current pressure state is a normal walking state and the pressure state at the previous moment is a walking stop state.
6. A control method for walking start-stop of an excavator is characterized by comprising the following steps:
acquiring walking operation hydraulic pressure in real time and acquiring vehicle operation instructions;
determining the pressure state at the current moment according to the walking operation hydraulic pressure; obtaining a current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment;
when the current vehicle operation instruction is a gear switching instruction, outputting a corresponding walking gear control signal and a walking oil pressure control signal according to the current pressure change state;
and executing gear control according to the walking gear control signal and executing corresponding walking driving operation according to the walking operation hydraulic pressure and the walking oil pressure control signal.
7. The method of controlling walking start-stop according to claim 6,
the current pressure change state includes: a walking starting state;
present vehicle operation instruction is gear switching instruction, according to current pressure change state, outputs corresponding walking gear control signal and walking oil pressure control signal, includes:
when the current vehicle operation instruction is a gear switching instruction and the current pressure change state is a walking starting state, outputting a corresponding high gear stop output signal and a walking oil pressure low-speed control signal;
according to walking gear control signal execution gear control and according to walking operation hydraulic pressure with walking oil pressure control signal carries out corresponding walking drive operation, include:
and continuously keeping a low-speed gear according to the high-gear stop output signal, and executing corresponding low-speed walking driving operation according to the walking oil pressure low-speed control signal and the walking oil pressure control signal.
8. The method of controlling walking start-stop according to claim 6,
the current pressure change state includes: a walking braking state;
when present vehicle operation instruction is gear switching instruction, according to current pressure change state, output corresponding walking gear control signal and walking oil pressure control signal, include:
when the current vehicle operation instruction is a gear switching instruction and the current pressure change state is a walking braking state, outputting a corresponding high gear stop output signal, a corresponding low gear starting signal and a walking oil pressure low-speed control signal;
according to walking gear control signal execution gear control and according to walking operation hydraulic pressure with walking oil pressure control signal carries out corresponding walking drive operation, include:
and switching to a low gear according to the high gear stop output signal and the low gear starting signal, and executing corresponding low-speed walking driving operation according to the walking oil pressure low-speed control signal and the walking oil pressure control signal.
9. The method for controlling start and stop of walking according to claim 7 or 8,
the walking operation hydraulic pressure includes: a left walking operation hydraulic pressure and a right walking operation hydraulic pressure; the pressure state includes: a walking stop state and a normal walking state;
the determining of the pressure state at the current moment according to the walking operation hydraulic pressure includes:
and if the current left walking operation hydraulic pressure is greater than or equal to a first preset value or the current right walking operation hydraulic pressure is greater than or equal to the first preset value, determining that the pressure state at the current moment is a normal walking state.
10. The method of controlling walking start-stop according to claim 9,
the determining of the pressure state at the current moment according to the walking operation hydraulic pressure includes:
and if the current left walking operation hydraulic pressure is smaller than the first preset value and the current right walking operation hydraulic pressure is smaller than the first preset value, determining that the pressure state at the current moment is a walking stop state.
11. The method for controlling start and stop of walking according to claim 10,
the current pressure change state includes: a walking starting state and a walking braking state;
the obtaining of the current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment at the current moment includes:
and if the current pressure state is a walking stop state and the pressure state at the previous moment of the current moment is a normal walking state, determining that the current pressure change state is a walking starting state.
12. The method of controlling walking start-stop according to claim 10, wherein the current pressure change state includes a walking start state and a walking brake state;
the obtaining of the current pressure change state according to the pressure state at the current moment and the pressure state at the previous moment at the current moment includes:
and if the current pressure state is the normal walking state and the pressure state at the previous moment of the current moment is the walking stop state, determining that the current pressure change state is the walking brake state.
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| CN202011563709.4A CN112695832B (en) | 2020-12-25 | 2020-12-25 | Control system and method for walking start-stop of excavator |
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| CN202011563709.4A CN112695832B (en) | 2020-12-25 | 2020-12-25 | Control system and method for walking start-stop of excavator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114215803A (en) * | 2021-12-23 | 2022-03-22 | 山河智能装备股份有限公司 | Engineering machine, walking system and control method |
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| CN111075922A (en) * | 2019-11-19 | 2020-04-28 | 贵州詹阳动力重工有限公司 | Walking automatic gear shifting control method of wheel excavator |
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2020
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| JP2011245948A (en) * | 2010-05-25 | 2011-12-08 | Kawasaki Heavy Ind Ltd | Construction machine and control method thereof |
| CN107574861A (en) * | 2017-09-07 | 2018-01-12 | 贵州詹阳动力重工有限公司 | A kind of start-stop control system and control method for excavator mechanical engine |
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| CN114215803A (en) * | 2021-12-23 | 2022-03-22 | 山河智能装备股份有限公司 | Engineering machine, walking system and control method |
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