CN113026502B - Anti-slip method for milling machine and milling machine - Google Patents
Anti-slip method for milling machine and milling machine Download PDFInfo
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- CN113026502B CN113026502B CN202110282129.6A CN202110282129A CN113026502B CN 113026502 B CN113026502 B CN 113026502B CN 202110282129 A CN202110282129 A CN 202110282129A CN 113026502 B CN113026502 B CN 113026502B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
- E01C23/12—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for taking-up, tearing-up, or full-depth breaking-up paving, e.g. sett extractor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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 discloses an anti-slip method for a milling machine and the milling machine. The anti-slip method for the milling machine comprises the following steps: calculating the theoretical required rotating speed of the motor according to the operating state of the operating handle; correcting the theoretical required rotating speed to obtain an actual required rotating speed; acquiring the instant rotating speed of a motor; determining whether a driving wheel driven by the motor slips according to the error of the difference value between the instant rotating speed and the actual required rotating speed of the motor; if it is determined that the drive wheels are slipping, control reduces the displacement of the motor corresponding to the slipping drive wheels. The method and the device can accurately judge whether the vehicle slips, improve the anti-slip effect, enhance the control stability of the milling machine walking system, avoid the power loss caused by slipping of the milling machine walking hydraulic system, and enable the milling machine to always maintain higher operation efficiency during working.
Description
Technical Field
The embodiment of the invention relates to a milling machine control technology, in particular to an anti-skidding method of a milling machine and the milling machine.
Background
When the vehicle walks on uneven road surfaces, the grip force of the wheels is reduced, and the phenomenon of skidding is easy to occur, particularly, the four driving wheels of the milling machine are crawler wheels which do not have the elasticity of rubber tires, so that the phenomenon of skidding is easy to occur.
At present, a vehicle anti-slip method is to determine a slip phenomenon, obtain a reference value according to an average value of instant rotational speeds of four track wheels, compare the instant rotational speeds of the four track wheels with the reference value to determine the slip phenomenon, and adjust a motor displacement when the slip phenomenon occurs, so as to achieve anti-slip.
However, in the conventional slip phenomenon determination method, when the crawler wheel slips, the number of revolutions of one crawler wheel increases, meanwhile, the average rotating speed of the four crawler wheels is changed, and the average rotating speed is continuously changed in the adjusting process of the controller, so that the reference value is continuously changed, the anti-slip phenomenon cannot be accurately judged, the adjusting process becomes unstable, in order to avoid the situation, the judging condition is often widened, namely, the allowable difference value between the instant rotating speed of the crawler wheel and the reference value is increased, and the controller can adjust only when the severe slip phenomenon occurs, so that the anti-slip effect is greatly reduced.
Disclosure of Invention
The invention provides a milling machine anti-skidding method and a milling machine, which can accurately judge whether a vehicle skids or not, improve the anti-skidding effect, enhance the control stability of a milling machine walking system and avoid power loss caused by skidding of a milling machine walking hydraulic system.
In a first aspect, an embodiment of the present invention provides an anti-slip method for a milling machine, where the anti-slip method for a milling machine includes:
calculating the theoretical required rotating speed of the motor according to the operating state of the operating handle;
correcting the theoretical required rotating speed to obtain an actual required rotating speed;
acquiring the instant rotating speed of the motor;
determining whether a drive wheel driven by a motor slips according to an error of a difference between the instant rotational speed and an actual required rotational speed of the motor;
if it is determined that the drive wheel is slipping, controlling to reduce the displacement of the motor corresponding to the drive wheel that is slipping.
Optionally, the determining whether the motor-driven drive wheel is slipping according to an error value of a difference between the instant rotational speed and an actual required rotational speed of the motor includes:
if V J -V S >δ 1, determining the motor driven drive wheel slip; wherein, V J Representing said instantaneous speed, V S Represents the actual demanded rotation speed, and δ 1 represents a first error coefficient.
Optionally, the anti-slip method for the milling machine further comprises:
and if the driving wheels are determined to be slipped, controlling to reduce the displacement of the hydraulic electrically controlled variable pump.
Optionally, after controlling to reduce the displacement of the hydraulic electrically-controlled variable pump, the method further comprises:
if V S -V J >And delta 2, increasing the displacement of the motor corresponding to the slipping driving wheel, and increasing the displacement of the hydraulic electrically controlled variable pump, wherein the delta 2 represents a second error coefficient.
Optionally, the first error coefficient and the second error coefficient are obtained by setting an operation interface on the milling machine.
Optionally, the anti-slip method for the milling machine further comprises:
after the displacement of the hydraulic electrically controlled variable pump is increased, if the displacement of the motor and the hydraulic electrically controlled variable pump are all restored to the level before the slip, the control display displays the information that the slip phenomenon disappears.
Optionally, before calculating the theoretical required rotation speed of the motor according to the operating state of the operating handle, the method further comprises:
controlling the milling machine to move to a flat and clean road surface;
calculating a first theoretical rotating speed of the motor of the operating handle in each operating state according to different operating states of the operating handle;
the control sensor detects a first instant rotating speed of the motor in each operating state;
calculating a first difference value between a first theoretical rotating speed and a first instant rotating speed in each operating state;
and performing curve fitting on all the first theoretical rotating speeds and the first difference values, and calculating a correction value for correcting the theoretical required rotating speed by using a straight line interpolation method.
Optionally, the calculating the theoretical required rotation speed of the motor according to the operation state of the operation handle includes:
converting the position of the operating handle into an electrical signal;
judging the operating state of the operating handle according to the electric signal;
calculating the required speed and the required direction of the milling machine according to the operation state;
and calculating the theoretical required rotating speed of the motor according to the required speed and the required direction.
Optionally, the anti-slip method for the milling machine further comprises:
and controlling a display to display a slip message if it is determined that the drive wheel is slipping.
In a second aspect, embodiments of the present invention also provide a milling machine, including: the device comprises a controller, an operating handle, a motor and a driving wheel;
the controller is used for calculating the theoretical required rotating speed of the motor according to the operating state of the operating handle and correcting the theoretical required rotating speed to obtain the actual required rotating speed;
the controller is further configured to obtain an instant rotational speed of the motor, determine whether a driving wheel driven by the motor slips according to a first error value of a difference between the instant rotational speed of the motor and an actual required rotational speed, and if it is determined that the driving wheel slips, control to reduce a displacement of the motor corresponding to the slipped driving wheel.
The method comprises the steps of calculating the theoretical required rotating speed of the motor according to the operating state of the operating handle, correcting the theoretical required rotating speed to obtain the actual required rotating speed of the motor, detecting the instant rotating speed of the motor in real time through the rotating speed sensor, determining whether a driving wheel driven by the motor slips according to the difference between the instant rotating speed of the motor and the actual required rotating speed by calculating the difference between the instant rotating speed of the motor and the actual required rotating speed, and if the difference between the instant rotating speed of the motor and the actual required rotating speed is larger than a preset error value, determining that the slipping phenomenon occurs, controlling and reducing the displacement of the motor corresponding to the slipping driving wheel, so that the instant rotating speed of the motor is reduced, and the slipping phenomenon is improved. Obtain actual demand rotational speed through revising theoretical demand rotational speed after, can compensate theoretical demand rotational speed, the self hydraulic system situation and the road surface situation of avoiding milling machine in the reality arouse calculation error, make the motor move according to actual demand rotational speed, improve the control accuracy to the motor, can improve the accuracy that the phenomenon of skidding was judged, and the instant rotational speed of real-time detection motor, can in time learn the phenomenon of skidding, thereby in time carry out the regulation of motor rotational speed, in time improve the phenomenon of skidding, promote the anti-skidding effect. The invention solves the problem that the judgment of the slipping phenomenon by using the average rotating speed of the driving wheel as a reference in the prior art is inaccurate, achieves the purpose of timely and accurately judging whether the vehicle slips or not, can judge the slipping phenomenon under the condition that the slipping phenomenon is very small or even invisible to the naked eye, can timely adjust the rotating speed of the motor, timely improves the slipping phenomenon and furthest avoids the slipping phenomenon. Thereby promoted the effect of preventing skidding, strengthened milling machine traveling system's control stability, avoided milling machine walking hydraulic system because of the power loss who skids and cause, made the milling machine can maintain higher operating efficiency all the time at the during operation.
Drawings
Fig. 1 is a flowchart of a method for preventing a milling machine from slipping according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a milling machine according to an embodiment of the present invention;
fig. 3 is a flowchart of another anti-slip method for a milling machine according to an embodiment of the present invention;
fig. 4 is a flowchart of another anti-slip method for a milling machine according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a flowchart of a method for preventing a milling machine from slipping according to an embodiment of the present invention, and fig. 2 is a schematic structural diagram of a milling machine according to an embodiment of the present invention, where the embodiment is applicable to a situation of preventing the milling machine from slipping, and referring to fig. 2, the milling machine includes: a controller 410, an operating handle 420, a motor 430, a drive wheel 440, a hydraulic electrically controlled variable pump 450, a sensor 460 and a display 470.
The milling machine is provided with four motors 430 and four driving wheels 440, the four motors 430 are connected with a hydraulic and electric control variable pump 450 through hydraulic pipelines, the hydraulic and electric control variable pump 450 provides flow for the four motors 430, and the four motors 430 provide driving force for the four driving wheels 440, namely the sum of the displacements of the four motors 430 is the displacement of the hydraulic and electric control variable pump 450. The controller 410 may adjust the displacement of the hydraulic electrically controlled variable pump 450 by adjusting the current of the hydraulic electrically controlled variable pump 450. The motor 430 is, for example, a hydraulic electrically controlled variable displacement motor, and the controller 410 may effect the adjustment of the displacement of the motor 430 by adjusting the current to the motor 430. By adjusting the displacement of the motor 430, the rotational speed of the motor 430 may be adjusted. Each motor 430 has a sensor 460 mounted thereon, and the sensor 460 can detect the instant rotational speed of the motor 430 and send it to the controller 410, so that the controller 410 can monitor the rotational speed of the motor 430.
The manipulation handle 420 may convert the manipulation intention of the user into an electric signal to be transmitted to the controller 410, so that the controller 410 controls the displacement of the motor 430 according to the electric signal of the manipulation handle 420. The operator may set the parameters via the display 470, and the display 470 may transmit the set parameters to the controller 410 and display the slip indication information transmitted by the controller 410.
Specifically, the controller 410 calculates an actual required rotation speed value required for each motor 430 according to the operation state of the operation handle 420, and controls the displacement of each motor 430 through the actual required rotation speed value, thereby controlling the rotation speed of each motor 430. For example, when the milling machine needs to walk straight, the operator controls the operation handle 420 to walk, the controller 410 calculates an actual required rotation speed of the motor 430 according to a walking signal of the operation handle, and controls the displacement of the motor 430 according to the actual required rotation speed, so that the milling machine can stably run. For example, when the milling machine needs to turn, the operator controls the operation handle 420 to turn, the controller 410 calculates the turning speed of the milling machine according to the turning signal of the operation handle 420, and when the milling machine needs to turn, the rotation speed of the inner motor 430 needs to be reduced, so that the actual required rotation speed of the inner motor 430 is changed according to the calculation result, the displacement of the inner motor 430 is reduced, and the displacement of the hydraulic and electrically controlled variable pump 450 is reduced, so that the displacement of the outer motor 430 is not changed, and the milling machine can stably turn.
Referring to fig. 1, the anti-slip method of the milling machine specifically comprises the following steps:
and S110, calculating the theoretical required rotating speed of the motor according to the operating state of the operating handle.
The milling machine is one of the main machines for pavement maintenance operation, and is mainly used for removing ruts, oil waves, cobwebbing, cracks and the like on asphalt concrete surface layers of highways, urban roads and the like. The damaged road surface is milled by a cutter head of the milling wheel, and the milled old materials are cleaned and recovered by a belt conveyor. The operating handle is for example automatically controlled universal handle, and the voltage signal of operating handle output can be discerned by the controller, carries out corresponding action, and the fore-and-aft direction promotes operating handle and can control the vehicle walking, and the left and right sides direction promotes operating handle and can control the vehicle and turn to, and the slant promotes operating handle and can control walking and turn to simultaneously to judge walking and turn to the speed according to operating handle's inclination.
Specifically, an operator controls the traveling of the milling machine, including the speed and the steering of the milling machine, through the operation handle, so that the speed and the steering intention of the operator can be known according to the operation state of the operation handle, for example, the traveling and steering speed required by the milling machine can be known according to the inclination angle of the operation handle, so that the traveling speed and the traveling direction required by the milling machine can be calculated, and then the theoretical required rotating speed of each motor can be calculated according to the structure of the milling machine.
And S120, correcting the theoretical required rotating speed to obtain the actual required rotating speed.
Specifically, the theoretical requirement rotating speed of the motor is corrected, the theoretical requirement rotating speed is compensated, the actual requirement rotating speed is obtained, calculation errors caused by the condition of a hydraulic system of the milling machine and the condition of the road surface in practice are avoided, and the accuracy of judgment of the slipping phenomenon is improved.
And S130, acquiring the instant rotating speed of the motor.
Specifically, each motor is provided with a sensor, which may be, for example, a rotation speed sensor, and the rotation speed sensor may detect the rotation speed of the motor, so as to obtain the instant rotation speed of the motor. The instant rotation speed of the motor may also be obtained in other manners, which are not limited herein. The instant rotating speed of the motor is acquired in real time, so that the rotating speed of the motor can be monitored in real time, the driving wheel or the motor can be timely known when the motor breaks down, and the slipping problem can be timely solved when the driving wheel slips.
And S140, determining whether the driving wheel driven by the motor slips according to the error of the difference value of the instant rotating speed and the actual required rotating speed of the motor.
Specifically, when the ground surface has a slippery condition such as uneven or slippery, the load of a certain driving wheel of the milling machine may be reduced due to insufficient grip, and the instant rotating speed of the motor of the driving wheel is greater than the calculated actual required rotating speed, so that the error of the difference between the instant rotating speed of the motor and the actual required rotating speed is relatively large. Therefore, the difference value between the instant rotating speed and the actual required rotating speed of the motor is obtained by subtracting the actual required rotating speed of the motor from the instant rotating speed of the motor, and if the error value between the instant rotating speed and the actual required rotating speed of the motor is larger than the preset error value, the driving wheel driven by the motor can be determined to skid. The preset error value may be determined according to an actual situation, and is not limited herein. Whether the milling machine slips is judged by utilizing the difference value of the instant rotating speed and the actual required rotating speed of the motor, the actual required rotating speed is only related to the operating state of an operating handle, the actual required rotating speed cannot change along with the instant rotating speed of the motor, so the actual required rotating speed is used as a reference, whether the milling machine slips can be judged timely and accurately, the slipping phenomenon can be judged under the condition that the slipping phenomenon is very small or even invisible by naked eyes, the adjusting of the rotating speed of the motor can be carried out timely, the slipping phenomenon is improved timely, and the slipping phenomenon is avoided to the maximum extent. Therefore, the judgment result is more reliable, the control stability of the milling machine walking system is enhanced, the power loss caused by the skidding of the milling machine walking hydraulic system is avoided, the milling machine can be restored to the state before skidding as soon as possible, and the milling machine can always maintain higher operation efficiency in operation.
Alternatively, the determining whether the motor-driven drive wheel is slipping according to the error of the difference between the instant rotational speed and the actual required rotational speed of the motor S140 includes:
if V J -V S >δ 1, determining motor-driven wheel slip; wherein, V J Indicating the instantaneous speed, V S Representing the actual demanded speed, δ 1 represents the first error coefficient.
In particular, by means of the instantaneous speed V of the motor J Minus the actual demanded speed V of the motor S Obtaining the difference value V between the instant rotating speed and the actual required rotating speed of the motor J -V S If V is J -V S >δ 1, the instant rotating speed of the motor is greater than the actual required rotating speed, and the difference between the instant rotating speed of the motor and the actual required rotating speed is greater than the first error coefficient, which indicates that the driving wheel corresponding to the motor slips. The first error coefficient determines the sensitivity of the controller to the slip condition determination, and a specific numerical value of the first error coefficient may be determined according to the actual condition, for example, may be set according to the required sensitivity, and is not limited herein.
And S150, if the driving wheels are determined to be slipped, controlling to reduce the displacement of the motor corresponding to the slipped driving wheels.
Specifically, when it is determined that the drive wheels are slipping, the displacement of the motor corresponding to the drive wheels that are less slipping is controlled, wherein the motor may be a hydraulic electrically controlled variable motor, and the displacement of the motor may be controlled by controlling the current. The displacement of the motor corresponding to the slipping driving wheel is reduced, so that the instant rotating speed of the motor is reduced, the difference value between the instant rotating speed of the motor and the actual required rotating speed is smaller than the preset error value, the instant rotating speed of the motor is controlled within the allowable error range, the error of the difference value between the instant rotating speed of the motor and the actual required rotating speed is smaller, and the slipping phenomenon is improved.
According to the technical scheme, the theoretical requirement rotating speed of the motor is calculated according to the operating state of the operating handle, the theoretical requirement rotating speed is corrected to obtain the actual requirement rotating speed of the motor, the instant rotating speed of the motor is detected in real time through the rotating speed sensor, the difference value between the instant rotating speed of the motor and the actual requirement rotating speed is calculated, whether the driving wheel driven by the motor slips or not is determined according to the error of the difference value between the instant rotating speed of the motor and the actual requirement rotating speed, if the error of the difference value between the instant rotating speed of the motor and the actual requirement rotating speed is larger than the preset error value, the slipping phenomenon is determined to occur, the displacement of the motor corresponding to the slipping driving wheel is controlled to be reduced, the instant rotating speed of the motor is reduced, and the slipping phenomenon is improved. Obtain actual demand rotational speed through revising theoretical demand rotational speed after, can compensate theoretical demand rotational speed, the self hydraulic system situation and the road surface situation of avoiding milling machine in the reality arouse calculation error, make the motor move according to actual demand rotational speed, improve the control accuracy to the motor, can improve the accuracy that the phenomenon of skidding was judged, and the instant rotational speed of real-time detection motor, can in time learn the phenomenon of skidding, thereby in time carry out the regulation of motor rotational speed, in time improve the phenomenon of skidding, promote the anti-skidding effect. The technical scheme of this embodiment has solved and has utilized the average rotational speed of drive wheel to judge the inaccurate problem of phenomenon of skidding as the benchmark among the prior art, has reached in time, accurate judgement vehicle whether the phenomenon of skidding appears, under the very little condition even that the naked eye is invisible of phenomenon of skidding, also can judge the phenomenon of skidding, can in time carry out the regulation of motor rotational speed, in time improve the phenomenon of skidding, furthest has avoided the emergence of the phenomenon of skidding. Thereby promoted the effect of preventing skidding, strengthened milling machine traveling system's control stability, avoided milling machine walking hydraulic system because of the power loss who skids and cause, made the milling machine can maintain higher operating efficiency all the time at the during operation.
Fig. 2 is a flowchart of another anti-slip method for a milling machine according to an embodiment of the present invention, where the embodiment is applicable to a situation of anti-slip of the milling machine, and optionally, referring to fig. 2, the anti-slip method for the milling machine specifically includes the following steps:
and S210, calculating the theoretical required rotating speed of the motor according to the operating state of the operating handle.
And S220, correcting the theoretical required rotating speed to obtain the actual required rotating speed.
And S230, acquiring the instant rotating speed of the motor.
And S240, determining whether the driving wheel driven by the motor slips according to the error of the difference value of the instant rotating speed and the actual required rotating speed of the motor.
And S250, if the driving wheel is determined to be slipped, controlling to reduce the displacement of the motor corresponding to the slipped driving wheel.
And S260, if the driving wheel is determined to be slipped, controlling the display to display slipping information.
Specifically, after confirming that the drive wheel skids, when the controller control reduces the discharge capacity of the motor that the drive wheel that skids corresponds, the controller sends the judged result to the display, and the control display shows information of skidding to remind operating personnel milling machine to skid, avoid operating personnel still to operate operating handle when skidding, thereby make milling machine's controller can adjust the motor, improve the phenomenon of skidding.
S260 is an optional step, and may be executed after S250, or S260 may be executed simultaneously with S250, and fig. 2 only shows a case where S260 is executed after S250, but is not limited thereto.
And S270, if the driving wheel is determined to be slipped, controlling to reduce the displacement of the hydraulic electrically controlled variable pump.
Specifically, because the displacement of the hydraulic electrically-controlled variable pump is the sum of the displacements of the four motors, if the driving wheels are determined to slip, after the displacement of the motor corresponding to the driving wheels is controlled to be reduced, if the displacement of the hydraulic electrically-controlled variable pump is not changed, the displacement of the motor corresponding to the non-slipping driving wheels is increased, therefore, after the displacement of the motor corresponding to the driving wheels is controlled to be reduced, the displacement of the hydraulic electrically-controlled variable pump is controlled to be reduced, the displacement of the motor corresponding to the non-slipping driving wheels is prevented from being increased, and therefore the displacement of the motor corresponding to the non-slipping driving wheels can be ensured to be unchanged, and the rotating speed is kept stable.
S280, if V S -V J >And delta 2, the displacement of the motor corresponding to the slipping driving wheel is increased, and the displacement of the hydraulic electrically controlled variable pump is increased, wherein the delta 2 represents a second error coefficient.
In particular, the actual required speed V of the motor is utilized S Minus the instantaneous speed V of the motor J Obtaining the actual required rotating speed V of the motor S With the instantaneous speed V of the motor J Difference value V of S -V J If V is S -V J >δ 2, the instant rotational speed of the motor is less than the actual required rotational speed, and the difference between the actual required rotational speed and the instant rotational speed of the motor is greater than the second error coefficient, which indicates that the slipping phenomenon of the driving wheel corresponding to the motor disappears or improves, and the load of the original slipping driving wheel partially or completely recovers to the level before slipping. The displacement of the motor corresponding to the slipping driving wheel can be increased, the instant rotating speed of the motor corresponding to the slipping driving wheel is improved, the difference value between the actual required rotating speed of the motor and the instant rotating speed is smaller than a second error coefficient, the displacement of the hydraulic electrically-controlled variable pump is increased, the displacement of the motor corresponding to the non-slipping driving wheel is ensured to be unchanged, and the rotating speed is kept stable. The actual demand rotating speed of the motor is only related to the operating state of the operating handle, whether the slipping phenomenon disappears is judged by taking the actual demand rotating speed of the motor as a reference, whether the slipping phenomenon disappears can be judged timely and accurately, and the judgment result is more accurate, so that the slipping phenomenon is improved without repeatedly adjusting the instant rotating speed of the motor, the milling machine can run more stably, the power loss of the milling machine can be reduced, and the operating efficiency of the milling machine is improved.
Optionally, the first error coefficient and the second error coefficient are obtained by using an operation interface on the milling machine.
Specifically, the first error coefficient and the second error coefficient may be set by an operator on an operation interface of the milling machine, where the operation interface may be a display of the milling machine, or may be another operation interface, which is not limited herein, and specific values of the first error coefficient and the second error coefficient may be set according to an actual situation, which is not limited herein. The first error coefficient and the second error coefficient determine the sensitivity of the controller for judging the slipping condition, and the first error coefficient and the second error coefficient are increased, so that the judgment of the slipping condition and the slipping disappearance condition is looser, and the controller can perform corresponding adjustment when the phenomenon of obvious slipping occurs; reduce first error coefficient and second error coefficient, then the judgement that the condition of skidding and the disappearance condition of skidding is comparatively strict, when the phenomenon of skidding that the naked eye can't distinguish even appears slightly skidding, the controller also can judge and take place the phenomenon of skidding, and the controller just carries out corresponding adjustment to can avoid appearing the serious accident of skidding.
In addition, the first error coefficient and the second error coefficient can compensate the correction value for correcting the theoretical required rotating speed, and correction value errors caused by the conditions of a hydraulic system of the milling machine, the road surface conditions and the like in practice are avoided, so that the calculation process of the correction value does not need to be carried out frequently, and theoretically, the calculation process only needs to be carried out once before the vehicle leaves a factory.
And S290, after the displacement of the hydraulic electric control variable pump is increased, if the displacement of the motor and the hydraulic electric control variable pump is completely restored to the level before the slippage, controlling the display to display the information that the slippage phenomenon disappears.
Specifically, after the displacement of the motor and the hydraulic electrically controlled variable pump is increased, if the displacement of the motor and the hydraulic electrically controlled variable pump is completely restored to the level before slipping, namely the instant rotating speed of all the motors is restored to the level before slipping, namely the difference value between the actual required rotating speed and the instant rotating speed of the motors is smaller than a second error coefficient, the display displays that the slipping phenomenon disappears, so that an operator is reminded, and the operator can operate the operating handle.
Fig. 3 is a flowchart of another anti-slip method for a milling machine according to an embodiment of the present invention, where the embodiment is applicable to a situation of anti-slip of the milling machine, and optionally, referring to fig. 3, the anti-slip method for the milling machine specifically includes the following steps:
s301, controlling the milling machine to move to a flat and clean road surface.
Specifically, the milling machine is moved to a flat and clean road surface at first, so that the phenomenon of skidding of the milling machine in the walking process is avoided, the situation of the road surface can be prevented from causing larger calculation errors, the calculation accuracy of the correction value is improved, and a foundation is laid for the accurate judgment of the phenomenon of skidding.
S302, calculating a first theoretical rotating speed of the motor under each operating state of the operating handle according to different operating states of the operating handle.
Specifically, a first theoretical rotating speed of the motor is calculated according to the operating state of the operating handle and the structure of the milling machine, the operating state of the operating handle is changed for multiple times, the first theoretical rotating speed of the motor under each operating state of the operating handle is obtained, and therefore n first theoretical rotating speeds are obtained, and n sampling points are obtained. The number of the first theoretical rotational speeds calculated specifically may be determined by actual conditions, and is not limited herein. The operating state of the operating handle can be changed by an operator, or the operating handle can trigger automatic calibration by the operator, so that the milling machine automatically runs for a certain distance, the operating state of the operating handle is automatically changed, and n first theoretical rotating speeds are obtained.
S303, the control sensor detects a first instantaneous rotation speed of the motor in each operating state.
Specifically, the sensor may be, for example, a rotation speed sensor, and the rotation speed sensor at the control motor detects a first instantaneous rotation speed of the motor each time the operation state of the operation handle is changed, so as to obtain the first instantaneous rotation speed of the motor in each operation state, and obtain first instantaneous rotation speeds corresponding to different first theoretical rotation speeds.
S304, calculating a first difference value between the first theoretical rotating speed and the first instant rotating speed in each operating state.
Specifically, a first difference between a first theoretical rotating speed and a first instant rotating speed in each operating state is calculated, so as to obtain a first difference corresponding to each first theoretical rotating speed, and the first theoretical rotating speed and the first difference are in a one-to-one correspondence relationship.
S305, performing curve fitting on all the first theoretical rotating speeds and the first difference values, and calculating a correction value for correcting the theoretical required rotating speed by using a straight line interpolation method.
Specifically, all the first theoretical rotating speeds and the first difference value are sampled to form a curveMethod of fitting to determine f (V) L )，f(V L ) As a function of the first difference with respect to the first theoretical rotational speed, then using a linear difference method, i.e. f (V) L ) The curve is divided into n-1 sections according to the number of sampling points, the curve is replaced by n-1 sections of straight lines, and then a correction value epsilon is calculated by utilizing a straight line interpolation method, namely epsilon = kV L The coefficients k and b in + b are formed by the two closest sample points (V) Li ,ε i ) And (V) Li+1 ,ε i+1 ) And (4) calculating. Thus, a correction value can be determined to correct the theoretical required rotation speed to obtain the actual required rotation speed of the motor. The correction value can be compensated by the first error coefficient and the second error coefficient, so that the correction value error caused by the condition of a hydraulic system of the milling machine, the condition of a road surface and the like in practice is avoided, the calculation process of the correction value does not need to be carried out frequently, and theoretically, the calculation process only needs to be carried out once before the vehicle leaves a factory.
And S306, calculating the theoretical required rotating speed of the motor according to the operating state of the operating handle.
Optionally, S306, calculating the theoretical required rotation speed of the motor according to the operation state of the operation handle, includes:
and S306a, converting the position of the operating handle into an electric signal.
Specifically, the operating handle may be, for example, an electrically controlled universal handle, and may convert a position of the operating handle in a front-back direction and a position of the operating handle in a left-right direction into a walking electrical signal and a steering electrical signal, respectively, where a magnitude of the electrical signal is positively correlated with the position of the operating handle.
S306b, judging the operation state of the operation handle according to the electric signal;
specifically, the position of the operating handle is in positive correlation with the magnitude of the electric signal, so that the operating state of the operating handle can be judged according to the magnitude of the walking electric signal and the steering electric signal, and the walking operation intention and the steering operation intention of the operator can be judged according to the magnitude of the electric signal.
S306c, calculating the required speed and the required direction of the milling machine according to the operation state;
specifically, a walking electric signal and a steering electric signal corresponding to the operating handle can be calculated according to the operating state of the operating handle, and the required speed and the required direction of the milling machine can be calculated according to the walking electric signal and the steering electric signal.
And S306d, calculating the theoretical required rotating speed of the motor according to the required speed and the required direction.
Specifically, according to the required speed and the required direction of the milling machine and the vehicle body structure of the milling machine, the theoretical required rotating speed corresponding to each motor can be calculated. So that the theoretical required rotating speed of the motor corresponding to the operation state of the operation handle can be calculated.
And S307, correcting the theoretical required rotating speed to obtain the actual required rotating speed.
And S308, acquiring the instant rotating speed of the motor.
And S309, determining whether the driving wheels driven by the motor skid or not according to the error of the difference value between the instant rotating speed and the actual required rotating speed of the motor.
And S310, if the driving wheels are determined to be slipped, controlling to reduce the displacement of the motor corresponding to the slipped driving wheels.
And S311, if the driving wheel is determined to be slipped, controlling the display to display slipping information.
And S312, if the driving wheels are determined to be slipped, controlling to reduce the displacement of the hydraulic electrically controlled variable pump.
S313, if V S -V J >And delta 2, increasing the displacement of the motor corresponding to the slipping driving wheel, and increasing the displacement of the hydraulic electrically controlled variable pump, wherein the delta 2 represents a second error coefficient.
And S314, after the displacement of the hydraulic electric control variable pump is increased, if the displacement of the motor and the displacement of the hydraulic electric control variable pump are all restored to the level before the slippage, controlling the display to display the information that the slippage phenomenon disappears.
Fig. 2 is a schematic structural diagram of a milling machine according to an embodiment of the present invention, and referring to fig. 2, the milling machine includes: a controller 410, an operating handle 420, a motor 430, and a drive wheel 440; the controller 410 is configured to calculate a theoretical required rotation speed of the motor 430 according to the operation state of the operation handle 420, and correct the theoretical required rotation speed to obtain an actual required rotation speed; the controller 410 is further configured to obtain an instant rotational speed of the motor 430, determine whether the drive wheel 440 driven by the motor 430 is slipping according to a first error value of a difference between the instant rotational speed of the motor 430 and the actual demanded rotational speed, and control the displacement of the motor 430 corresponding to the slipping drive wheel 440 to be reduced if it is determined that the drive wheel 440 is slipping.
Optionally, referring to fig. 2, the milling machine further comprises a hydraulic electronically controlled variable displacement pump 450, and the controller 410 is further configured to control the displacement of the hydraulic electronically controlled variable displacement pump 450 to be decreased if it is determined that the drive wheel 440 is slipping.
Optionally, referring to fig. 2, the milling machine further includes a sensor 460, and the controller 410 is further configured to control the sensor 460 to detect the instantaneous speed of the motor 430.
Alternatively, referring to fig. 2, the milling machine further includes a display 470, the controller 410 is further configured to control the display 470 to display a slip message if it is determined that the driving wheels 440 are slipping, and the controller 410 is further configured to control the display 470 to display a message that the slip phenomenon disappears if the displacements of the motor 430 and the hydraulic electrically controlled variable pump 450 are all restored to the level before the slip after increasing the displacement of the hydraulic electrically controlled variable pump.
It should be noted that the solid lines in fig. 2 represent the connection relationship of the hydraulic circuit, the four motors 430 and the hydraulic electrically-controlled variable pump 450 are connected to form the hydraulic circuit of the milling machine, and the flow rates of the four motors 430 of the milling machine are all from the same hydraulic electrically-controlled variable pump 450. The dashed lines in fig. 2 indicate the connection relationship between the controller 410 and the operation handle 420, the motor 430, the hydraulic electrically-controlled variable pump 450, the sensor 460 and the display 470, the controller 410 can obtain an electric signal corresponding to the position of the operation handle 420, the controller 410 can control the displacement of the motor 430, the controller 410 can control the displacement of the hydraulic electrically-controlled variable pump 450, the controller 410 can obtain the rotation speed of the motor 430 detected by the sensor 460, the controller 410 can also control the display 470, and an operator can also input command information to the controller 410 through the display 470, for example, the values of the first error coefficient and the second error coefficient are input through the display 470.
The milling machine provided by the embodiment is for realizing the anti-slip method of the milling machine in the above embodiment, and the technical effects of the milling machine provided by the embodiment are similar to those of the above embodiment and are not described again here.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. An anti-slip method for a milling machine, comprising:
calculating the theoretical required rotating speed of the motor according to the operating state of the operating handle;
correcting the theoretical required rotating speed to obtain an actual required rotating speed;
acquiring the instant rotating speed of the motor;
determining whether a drive wheel driven by a motor is slipping according to an error of a difference between the instant rotational speed and an actual required rotational speed of the motor;
controlling the displacement of the motor corresponding to the drive wheel that is slipping to be reduced if it is determined that the drive wheel is slipping;
before the theoretical required rotating speed of the motor is calculated according to the operating state of the operating handle, the method further comprises the following steps:
controlling the milling machine to move to a flat and clean road surface;
calculating a first theoretical rotating speed of the motor of the operating handle in each operating state according to different operating states of the operating handle;
the control sensor detects a first instant rotating speed of the motor in each operating state;
calculating a first difference value between a first theoretical rotating speed and a first instant rotating speed in each operating state;
and performing curve fitting on all the first theoretical rotating speeds and the first difference values, and calculating a correction value for correcting the theoretical required rotating speed by using a straight line interpolation method.
2. The anti-slip method of claim 1, wherein the determining whether the motor-driven drive wheel is slipping based on an error value of a difference between the instant rotational speed and an actual demanded rotational speed of the motor comprises:
if V J -V S >δ 1, determining the motor driven drive wheel slip; wherein, V J Representing said instantaneous speed, V S Represents the actual required rotation speed, and δ 1 represents a first error coefficient.
3. The anti-slip method for a milling machine according to claim 2, further comprising:
and if the driving wheels are determined to be slipped, controlling to reduce the displacement of the hydraulic electrically controlled variable pump.
4. The anti-slip method for the milling machine according to claim 3, wherein after the controlling and reducing the displacement of the hydraulic electrically controlled variable pump, the method further comprises:
if V S -V J >And delta 2, increasing the displacement of the motor corresponding to the slipping driving wheel, and increasing the displacement of the hydraulic electrically controlled variable pump, wherein the delta 2 represents a second error coefficient.
5. The anti-slip method of a milling machine according to claim 4, wherein the first error coefficient and the second error coefficient are set using an operation interface on the milling machine.
6. The anti-slip method for a milling machine according to claim 4, further comprising:
after the displacement of the hydraulic electrically controlled variable pump is increased, if the displacement of the motor and the displacement of the hydraulic electrically controlled variable pump are all restored to the level before the slip, the control display displays information that the slip phenomenon disappears.
7. The anti-slip method for a milling machine according to claim 1, wherein the calculating the theoretical required rotation speed of the motor according to the operating state of the operating handle includes:
converting the position of the operating handle into an electrical signal;
judging the operating state of the operating handle according to the electric signal;
calculating the required speed and the required direction of the milling machine according to the operation state;
and calculating the theoretical required rotating speed of the motor according to the required speed and the required direction.
8. The anti-slip method for a milling machine according to claim 1, further comprising:
and controlling a display to display a slip message if it is determined that the drive wheel is slipping.
9. A milling machine, comprising: the device comprises a controller, an operating handle, a motor and a driving wheel;
the controller is used for calculating the theoretical required rotating speed of the motor according to the operating state of the operating handle and correcting the theoretical required rotating speed to obtain the actual required rotating speed;
the controller is further used for obtaining the instant rotating speed of the motor, determining whether a driving wheel driven by the motor slips according to a first error value of a difference value between the instant rotating speed of the motor and the actual required rotating speed, and if the driving wheel is determined to slip, controlling to reduce the displacement of the motor corresponding to the slipped driving wheel;
before the theoretical required rotating speed of the motor is calculated according to the operating state of the operating handle, the method further comprises the following steps:
controlling the milling machine to move to a flat and clean road surface;
calculating a first theoretical rotating speed of the motor of the operating handle in each operating state according to different operating states of the operating handle;
the control sensor detects a first instant rotating speed of the motor in each operating state;
calculating a first difference value between a first theoretical rotating speed and a first instant rotating speed in each operating state;
and performing curve fitting on all the first theoretical rotating speeds and the first difference values, and calculating a correction value for correcting the theoretical required rotating speed by using a straight line interpolation method.
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| JP2005051888A (en) * | 2003-07-31 | 2005-02-24 | Toyota Motor Corp | Electric automobile and method for controlling the same |
| CN102167081B (en) * | 2011-01-18 | 2013-04-10 | 三一电气有限责任公司 | Method and system for controlling steering of side-by-side four-crawler engineering mechanical vehicle |
| DE102011100814A1 (en) * | 2011-05-06 | 2012-11-08 | Audi Ag | Device for traction control for a vehicle with electromotive vehicle drive |
| CN103821068A (en) * | 2012-11-16 | 2014-05-28 | 陕西中大机械集团有限责任公司 | Anti-slip system for double-drum roller |
| CN109577154A (en) * | 2018-12-11 | 2019-04-05 | 江苏山河机电技术有限公司 | A kind of anti-slip control system of milling machine hydraulic moving and go to action |
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