CN112731794A - Excavator redundancy control system and method - Google Patents
Excavator redundancy control system and method Download PDFInfo
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Abstract
The invention provides an excavator redundancy control system and an excavator redundancy control method, and belongs to the field of mechanical engineering. The redundant control system includes: the system comprises a controller, an engine ECU, a control device, a switching unit and a hydraulic system; the control device is further configured to, in response to receiving a control signal, output a first control signal corresponding to the received control signal to control the hydraulic system, and output a second control signal corresponding to the received control signal to control the engine ECU, in a case where the control device establishes a communication connection with the engine ECU and a line connection with the hydraulic system and the engine ECU. The invention realizes the purpose of continuously executing the control operation of the excavator under the condition that the excavator controller has a fault, such as starting the excavator to move to a safe place.
Description
Technical Field
The invention relates to the field of engineering machinery, in particular to an excavator redundancy control system and an excavator redundancy control method.
Background
The crawler type hydraulic excavator is a widely-used engineering machine. Along with the technical progress, the engine of the excavator is more and more widely used in an electric spraying mode, the whole vehicle is greatly provided with a CAN bus technology, the electric control technology is higher and higher, the mechanical control points of the whole vehicle are reduced, and the reliability and the safety are improved. The excavator controller is used as a control core component of the whole excavator, controls the whole excavator component, and achieves the purposes of energy conservation and efficiency improvement by matching and controlling the rotating speed of an engine and the power of a hydraulic pump. However, when the excavator controller fails, the operation of the engine and the hydraulic pump cannot be controlled, so that the excavator cannot continue to travel, and the emergency service time of the excavator is reduced.
Disclosure of Invention
The invention aims to provide an excavator redundancy control system and an excavator redundancy control method, and at least solves the problem of how to control an excavator when the controller fails.
In order to achieve the above object, a first aspect of the present invention provides an excavator redundant control system including a controller, an engine ECU, a control device, a switching unit, and a hydraulic system;
the control device is used for establishing communication connection with the engine ECU when the communication between the controller and the control device is determined to be in fault, and controlling the switching unit to perform line switching by outputting a switching signal so as to establish line connection between the control device and the hydraulic system and between the control device and the engine ECU;
the control device is further configured to, in response to receiving a control signal, output a first control signal corresponding to the received control signal to control the hydraulic system, and output a second control signal corresponding to the received control signal to control the engine ECU, in a case where the control device establishes a communication connection with the engine ECU and a line connection with the hydraulic system and the engine ECU.
Optionally, the control signal includes a start-stop control signal of an engine ECU;
the control device is further used for recording the running time and/or the starting and stopping times of the control device under the condition of receiving a starting and stopping control signal of the engine ECU.
Optionally, the control device is further configured to stop outputting the first control signal and the second control signal corresponding to the start-stop control signal of the engine ECU until receiving and confirming the input verification information when the recorded operation time of the control device reaches a preset time and/or the recorded number of start-stop times reaches a preset value.
Optionally, the control device is configured to, when the received verification information is true, confirm that the verification is passed, set the currently recorded start-stop times and/or running time to zero, and output a first control signal and a second control signal corresponding to the start-stop control signal of the engine ECU.
Optionally, the control device is further configured to establish a communication connection with the controller when it is determined that the communication between the controller and the control device is recovered, and control the switching unit to perform line switching by outputting a switching signal to establish a line connection between the controller and the hydraulic system and to establish a line connection between the controller and the engine ECU;
the control device is also used for sending the received control signal to the controller under the conditions that the controller is in communication connection with the engine ECU and the controller is in line connection with the hydraulic system and the engine ECU;
the controller is configured to output a first control signal corresponding to the received control signal to control the hydraulic system and output a second control signal corresponding to the received control signal to control the engine ECU, in a case where a communication connection is established with the engine ECU and a line connection is established with the hydraulic system and the engine ECU.
The invention also provides an excavator redundancy control method, which comprises the following steps:
determining that communication between the controller and the control device is faulty, the control device establishing a communication connection of the control device with an engine ECU, and performing line switching by a switching unit to establish a line connection between the control device and the hydraulic system and to establish a line connection between the control device and the engine ECU; and
in the case where the control device establishes a communication connection with the engine ECU and the control device establishes a line connection with the hydraulic system and the engine ECU, the control device outputs a first control signal corresponding to the received control signal to control the hydraulic system and outputs a second control signal corresponding to the received control signal to control the engine ECU in response to receiving the control signal.
Optionally, the control signal includes a start-stop control signal of an engine ECU;
the method further comprises the following steps: and the control device records the running time and/or the starting and stopping times of the control device under the condition of receiving a starting and stopping control signal of the engine ECU.
Optionally, the method further includes:
and when the recorded running time of the control device reaches a preset time and/or the recorded starting and stopping times reach a preset value, the control device stops outputting a first control signal and a second control signal corresponding to the starting and stopping control signals of the engine ECU until receiving and confirming the input verification information.
Optionally, the control method further includes:
and when the received verification information is true, the control device confirms that the verification is passed, sets the currently recorded start-stop times and/or running time to zero, and outputs a first control signal and a second control signal corresponding to the start-stop control signal of the engine ECU. .
Optionally, the control method further includes:
the control device establishes communication connection with the controller when determining that communication between the controller and the control device is recovered, and controls the switching unit to perform line switching by outputting a switching signal to establish line connection between the controller and the hydraulic system and between the controller and the engine ECU;
the control device is also used for sending the received control signal to the controller under the conditions that the controller is in communication connection with the engine ECU and the controller is in line connection with the hydraulic system and the engine ECU;
the controller outputs a first control signal corresponding to the received control signal to control the hydraulic system and outputs a second control signal corresponding to the received control signal to control the engine ECU, in a case where the controller establishes a communication connection with the engine ECU and a line connection with the hydraulic system and the engine ECU.
According to the technical scheme, under the condition that communication between the excavator controller and the control device is failed, the control device is in communication connection with the engine ECU and is in line connection with the hydraulic system and the engine ECU, under the condition that the connection is established, the control device responds to the received control signal and replaces the control function of the original controller to execute corresponding control operation, and the effect that the excavator controller has the function of continuously executing the control operation under the condition that the excavator controller is failed is achieved, for example, the excavator can be started to move to a safe place.
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 block diagram of an excavator redundancy control system according to an embodiment of the present invention.
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.
The embodiment of the invention provides a redundancy control system of an excavator, which comprises a controller, an engine ECU, a control device, a switching unit and a hydraulic system, wherein the engine ECU is connected with the controller;
the control device is used for establishing communication connection with the engine ECU when the communication between the controller and the control device is determined to be in fault, and controlling the switching unit to perform line switching by outputting a switching signal so as to establish line connection between the control device and the hydraulic system and between the control device and the engine ECU;
the control device is further configured to, in response to receiving a control signal, output a first control signal corresponding to the received control signal to control the hydraulic system, and output a second control signal corresponding to the received control signal to control the engine ECU, in a case where the control device establishes a communication connection with the engine ECU and a line connection with the hydraulic system and the engine ECU. The first control signal and the second control signal correspond to the control requirement of the received control signal, and are output correspondingly according to the existing logic, which is not described herein.
As shown in fig. 1, the control panel S2 is used for inputting control signals, and is connected to the controller D1 and the controller C1 via the CAN2, and the controller D1 is connected to the controller C1 via the CAN1 bus.
The switching unit is preferably an electronic control switch S1, such as a contactor or a relay, and is in a normal I-bit connection relation with the electronic control switch S1 when no communication fault occurs or the communication fault is recovered between the controller and the control device; the normal I-bit connection relation of the electric control switch S1 is as follows: a pair of normally closed auxiliary contacts of the electric control switch S1 are respectively connected with the control end 30W of a main pump proportional electromagnetic valve Y1 of the hydraulic system and the control IO port 10W of the controller C1; the other pair of normally closed contacts of the electronic control switch S1 are respectively connected with a control IO port 11W of the controller C1 and an flameout signal end 31W of the engine ECU; when communication between the controller and the control device fails, the normal II-bit connection relation of the electric control switch is established; the normal II-bit connection relation of the electric control switch S1 is as follows: a pair of normally open auxiliary contacts of the electric control switch S1 are respectively connected with the control end 30W of a main pump proportional solenoid valve Y1 of the hydraulic system and the control IO port 20W of a control device D1; the other pair of normally open contacts of the electronic control switch S1 are connected to the control IO port 21W of the controller C1 and the key-off signal terminal 31W of the engine ECU, respectively.
The channel switching signal of the control device D1 controls the opening and closing of the electric control switch S1 to realize the connection of a main pump proportional solenoid valve Y1 of the hydraulic system and the connection of the engine ECU with the control device D1 or the connection with the controller C1. The control device D1 periodically sends heartbeat packet data through the real-time monitoring controller C1, and if the set time t1 (set according to requirements) is exceeded, the control device D1 does not receive heartbeat packet data of the controller C1, it is determined that the communication of the controller C1 is abnormal. If the control device D1 receives the controller C1 heartbeat packet data within a set time, it is determined that the communication between the controller and the control device is restored.
Optionally, the control signal comprises a start-stop control signal of an engine ECU.
The control device D1 is further configured to record an operating time and/or a number of start-stop times of the control device D1 upon receiving a start-stop control signal of the engine ECU.
When the recorded running time of the control device D1 reaches a preset time (e.g., 2 hours) and/or when the recorded number of times of start-stop reaches a preset value (e.g., 5 times), the output of the first control signal and the second control signal corresponding to the start-stop control signal of the engine ECU is stopped until the input authentication information is received and confirmed. The design is to prevent the excavator from working in a long-time fault, according to the embodiment, at the control stage of the control device D1, the excavator can work for 2 hours at most each time, the excavator can start and stop 5 times at most when one fault occurs, the password is released after the excavator is restarted, the excavator is prevented from working in a fault for a long time, and quick repair is urged to prevent the fault from expanding. The running of the excavator controls the rotating speed of the engine through the second control signal, and the first control signal controls a main pump proportional electromagnetic valve Y1 of the hydraulic system to coordinate control, so that the purposes of energy conservation and efficiency improvement are achieved.
Optionally, the control device D1 is configured to, when the received verification information is true, confirm that the verification is passed, set the currently recorded start-stop times and/or running time to zero, and output a first control signal and a second control signal corresponding to the start-stop control signal of the engine ECU. According to an embodiment, the control device D1 includes a touch display, the control device D1 controls the touch display to display an input prompt window when the recorded running time of the control device D1 reaches a preset time (e.g., 2 hours) and/or when the recorded number of times of start and stop reaches a preset value (e.g., 5 times), the operator inputs authentication information (e.g., password or fingerprint information) through the input prompt window, the control device D1 compares the received authentication information with the preset authentication information, and if the received authentication information is consistent, it is determined that the received authentication information is true.
Optionally, the control device D1 is further configured to establish a communication connection with the controller C1 when it is determined that the communication between the controller C1 and the control device D1 is restored, and to control the switching unit to perform line switching by outputting a switching signal to establish a line connection between the controller C1 and the hydraulic system and to establish a line connection between the controller C1 and the engine ECU;
the control device D1 is also used for sending the received control signal to the controller C1 under the condition that the controller C1 establishes communication connection with the engine ECU and the controller C1 establishes line connection with the hydraulic system and the engine ECU;
the controller C1 is configured to output a first control signal corresponding to the received control signal to control the hydraulic system and output a second control signal corresponding to the received control signal to control the engine ECU, in a case where a communication connection is established with the engine ECU and a line connection is established with the hydraulic system and the engine ECU.
The invention also provides an excavator redundancy control method, which comprises the following steps:
determining that communication between the controller C1 and the control device D1 is faulty, the control device D1 establishing a communication connection of the control device D1 with an engine ECU, and performing line switching by a switching unit to establish a line connection between the control device D1 and the hydraulic system and to establish a line connection between the control device D1 and the engine ECU; and
in the case where the control device D1 establishes a communication connection with the engine ECU and the control device D1 establishes a line connection with the hydraulic system and the engine ECU, the control device D1 outputs a first control signal corresponding to the received control signal to control the hydraulic system and outputs a second control signal corresponding to the received control signal to control the engine ECU in response to the reception of the control signal.
Optionally, the control signal includes a start-stop control signal of an engine ECU;
the method further comprises the following steps: when receiving the start-stop control signal of the engine ECU, the control device D1 records the operation time and/or the number of start-stops of the control device D1.
Optionally, the method further includes:
and when the recorded running time of the control device D1 reaches a preset time and/or the recorded starting and stopping times reach a preset value, the control device D1 stops outputting the first control signal and the second control signal corresponding to the starting and stopping control signal of the engine ECU until receiving and confirming the input verification information.
Optionally, the control method further includes:
and when the received verification information is true, the control device D1 confirms that the verification is passed, sets the currently recorded start-stop times and/or running time to zero, and outputs a first control signal and a second control signal corresponding to the start-stop control signal of the engine ECU. .
Optionally, the control method further includes:
the control device D1 establishes a communication connection with the controller C1 upon determining that the communication between the controller C1 and the control device D1 is restored, and controls the switching unit to perform line switching by outputting a switching signal to establish a line connection between the controller C1 and the hydraulic system and to establish a line connection between the controller C1 and the engine ECU;
the control device D1 is also used for sending the received control signal to the controller C1 under the condition that the controller C1 establishes communication connection with the engine ECU and the controller C1 establishes line connection with the hydraulic system and the engine ECU;
in the case where the controller C1 establishes a communication connection with the engine ECU and a line connection with the hydraulic system and the engine ECU, the controller C1 outputs a first control signal corresponding to the received control signal to control the hydraulic system, and outputs a second control signal corresponding to the received control signal to control the engine ECU.
The communication connection between the control device D1 and the controller C1 or the communication between the control device D1 and the engine ECU can be established by the existing communication of sending a preset confirmation character string and receiving a feedback character.
Specifically, under the normal condition that the control device D1 communicates with the controller C1, the control logic is as follows: the control device D1 receives control signals such as an accelerator gear signal input by a control panel S2 through a CAN2, the control device D1 forwards the accelerator gear signal to a controller C1 through a CAN1, after calculation, the controller C1 sends a second control signal such as a rotating speed instruction to control the rotating speed of an engine ECU through the CAN1, and sends a first control signal such as a PWM wave to control the current of a proportional solenoid valve Y1 through 10W, an electric control switch S1 and 30W; therefore, the rotating speed of the excavator and the power of the main pump work normally.
If the control signal received by the control device D1 through the CAN2 and input by the control panel S2 is a flameout command, the control device D1 sends the flameout command to the controller C1 through the CAN1, after calculation, the controller C1 sends a second control signal such as a flameout signal and a power supply low level signal to stop the rotating speed of the engine ECU, and simultaneously sends a first control signal such as a stop signal to control the current of the main pump proportional solenoid valve Y1 to be reduced to 0 through 10W and the electric control switches S1 and 30W, so that the excavator is controlled to stop. Wherein the controller C1 sends out a flameout signal and sends the flameout signal to the engine ECU by the CAN1, and the power low level signal (without power) stops the flameout valve of the engine ECU by 11W and the electric control switches S1 and 31W, so that the engine is flameout.
In the event of an abnormal communication between the control device D1 and the controller C1 or a failure of the controller C1, the control logic is as follows: the control device D1 does not receive heartbeat packet data sent by the controller C1 within set time to determine that CAN1 communication between the controllers C1 is abnormal, and when the control device D1 and the engine ECU complete establishing communication connection through the CAN1, the control device D1 and the engine ECU confirm that CAN1 between the controllers D1 and the engine ECU is normal, the control device controls the touch display screen to prompt the controller to have abnormal communication, controls the electric control switch S1 to be switched from I position to II position, and selects a 'controller C1 fault' from a page menu in the touch display screen of the control device to be switched to an 'S1 _ II position control' option. The control device D1 receives control signals such as an accelerator gear signal input by a control panel S2 through a CAN2, after the control device D1 is calculated, the CAN1 sends second control signals such as a rotating speed instruction to control the rotating speed of an engine ECU, and simultaneously sends first control signals such as PWM waves to control the current of a main pump proportional electromagnetic valve Y1 through 20W and electric control switches S1 and 30W, so that the rotating speed of the excavator and the power of a main pump work normally.
If the control device D1 receives a control signal input by the control panel S2 through the CAN2 and is a flameout command, after calculation, the control device D1 sends a second control signal (such as a flameout signal and a power low level signal) to stop the engine ECU rotating speed, and simultaneously sends a first control signal (stop signal) to control the main pump proportional solenoid valve Y1 to stop through 20W and electric control switches S1 and 30W, so that the excavator rotating speed and the main pump power stop working;
the control device D1 sends out a flameout signal to the engine ECU through the CAN1, and a power low level signal (without power) stops the flameout valve of the engine ECU through 21W and the electric control switches S1 and 31W, so that the engine is flameout.
In order to prevent long-time work with faults, the CAN1 CAN work for 2h at most each time in a redundancy control stage (controlled by a control device D1), the starting and stopping CAN be realized for 5 times at most when one fault occurs, the password is released when the fault is restarted, and the vehicle CAN be moved to a safe area. After the fault is processed, the controller C1 is prompted to have no fault on the control device, and the electric control switch S1 is switched from the II position to the I position. The technical solution of the above scheme can be provided for continuously executing control operation, such as starting a moving vehicle to a safe place, in case of failure of the excavator controller.
The embodiment of the invention also provides a machine-readable storage medium, wherein computer program instructions are stored on the machine-readable storage medium, and when the computer program instructions are executed by a processor, the computer program instructions realize the excavator redundancy control method.
Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
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 (10)
1. The excavator redundancy control system is characterized by comprising a controller, an engine ECU, a control device, a switching unit and a hydraulic system;
the control device is used for establishing communication connection with the engine ECU when the communication between the controller and the control device is determined to be in fault, and controlling the switching unit to perform line switching by outputting a switching signal so as to establish line connection between the control device and the hydraulic system and between the control device and the engine ECU;
the control device is further configured to, in response to receiving a control signal, output a first control signal corresponding to the received control signal to control the hydraulic system, and output a second control signal corresponding to the received control signal to control the engine ECU, in a case where the control device establishes a communication connection with the engine ECU and a line connection with the hydraulic system and the engine ECU.
2. The excavator redundancy control system of claim 1, wherein the control signal comprises a start-stop control signal of an engine ECU;
the control device is further used for recording the running time and/or the starting and stopping times of the control device under the condition of receiving a starting and stopping control signal of the engine ECU.
3. The excavator redundancy control system of claim 2, wherein the control unit is further configured to stop outputting the first control signal and the second control signal corresponding to the start/stop control signal of the engine ECU until receiving and confirming the inputted authentication information when the recorded operation time of the control unit reaches a preset time and/or the recorded number of times of start/stop reaches a preset value.
4. The excavator redundancy control system of claim 3, wherein the control device is configured to, when the received verification information is true, confirm that the verification is passed, set the currently recorded start-stop times and/or operation time to zero, and output a first control signal and a second control signal corresponding to the start-stop control signal of the engine ECU.
5. The excavator redundant control system of claim 1 wherein,
the control device is also used for establishing communication connection with the controller when communication between the controller and the control device is determined to be recovered, and controlling the switching unit to perform line switching by outputting a switching signal so as to establish line connection between the controller and the hydraulic system and between the controller and the engine ECU;
the control device is also used for sending the received control signal to the controller under the conditions that the controller is in communication connection with the engine ECU and the controller is in line connection with the hydraulic system and the engine ECU;
the controller is configured to output a first control signal corresponding to the received control signal to control the hydraulic system and output a second control signal corresponding to the received control signal to control the engine ECU, in a case where a communication connection is established with the engine ECU and a line connection is established with the hydraulic system and the engine ECU.
6. A redundancy control method for an excavator is characterized by comprising the following steps:
determining that communication between a controller and a control device fails, the control device establishing communication connection between the control device and an engine ECU, and performing line switching through a switching unit to establish line connection between the control device and a hydraulic system and to establish line connection between the control device and the engine ECU; and
in the case where the control device establishes a communication connection with the engine ECU and the control device establishes a line connection with the hydraulic system and the engine ECU, the control device outputs a first control signal corresponding to the received control signal to control the hydraulic system and outputs a second control signal corresponding to the received control signal to control the engine ECU in response to receiving the control signal.
7. The control method according to claim 6, characterized in that the control signal includes a start-stop control signal of an engine ECU;
the method further comprises the following steps: and the control device records the running time and/or the starting and stopping times of the control device under the condition of receiving a starting and stopping control signal of the engine ECU.
8. The control method according to claim 7, characterized in that the method further comprises:
and when the recorded running time of the control device reaches a preset time and/or the recorded starting and stopping times reach a preset value, the control device stops outputting a first control signal and a second control signal corresponding to the starting and stopping control signals of the engine ECU until receiving and confirming the input verification information.
9. The control method according to claim 8, characterized by further comprising:
and when the received verification information is true, the control device confirms that the verification is passed, sets the currently recorded start-stop times and/or running time to zero, and outputs a first control signal and a second control signal corresponding to the start-stop control signal of the engine ECU.
10. The control method according to claim 6, characterized by further comprising:
the control device establishes communication connection with the controller when determining that communication between the controller and the control device is recovered, and controls the switching unit to perform line switching by outputting a switching signal to establish line connection between the controller and the hydraulic system and between the controller and the engine ECU;
the control device is also used for sending the received control signal to the controller under the conditions that the controller is in communication connection with the engine ECU and the controller is in line connection with the hydraulic system and the engine ECU;
the controller outputs a first control signal corresponding to the received control signal to control the hydraulic system and outputs a second control signal corresponding to the received control signal to control the engine ECU, in a case where the controller establishes a communication connection with the engine ECU and a line connection with the hydraulic system and the engine ECU.
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