CN113585012A - Vibration and walking control method and control system of road roller - Google Patents

Vibration and walking control method and control system of road roller Download PDF

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Publication number
CN113585012A
CN113585012A CN202111006720.5A CN202111006720A CN113585012A CN 113585012 A CN113585012 A CN 113585012A CN 202111006720 A CN202111006720 A CN 202111006720A CN 113585012 A CN113585012 A CN 113585012A
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walking
vibration
displacement
pump
motor
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CN113585012B (en
Inventor
崔元福
王桂印
薛伟
马承钊
李勇
李鹏
孟凡华
王金雨
王良兵
曹竹
卢绪兵
王伟
薛斌
王振凤
丰佩玉
杜金山
侯友坤
王学兰
李秋龙
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Shandong Lingong Construction Machinery Co Ltd
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Shandong Lingong Construction Machinery Co Ltd
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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
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
    • 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
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
    • E01C19/283—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit pedestrian-controlled, e.g. with safety arrangements for operator
    • 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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  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Control Of Fluid Gearings (AREA)

Abstract

The invention discloses a vibration and walking control method and a control system of a road roller, and belongs to the field of vibration control of road rollers. The vibration type hydraulic vibration power machine mainly comprises a controller, a power device, a walking pump, a walking hydraulic system, a vibration pump and a vibration hydraulic system, wherein the power device is respectively connected with the walking pump and the vibration pump, the walking pump is connected with the walking hydraulic system, the vibration pump is connected with the vibration hydraulic system, control valves are respectively arranged on the walking pump, the walking motor, the vibration pump and the vibration motor, speed sensors are respectively arranged on the walking motor and the vibration motor, and each control valve and each speed sensor are respectively connected with the controller. The invention controls the rotating speed of the engine, the displacement of the pump and the motor through the controller, improves the starting and starting performances, and enables the efficiency of the engine and the hydraulic system to reach the highest under the condition of unchanged work. The invention is mainly used for the road roller.

Description

Vibration and walking control method and control system of road roller
Technical Field
The invention belongs to the field of vibration control of road rollers, and particularly relates to a vibration and walking control method and a control system of a road roller.
Background
When the existing vibratory roller is used, two vibration frequencies are usually set, the displacement of a vibration motor is fixed, two displacements are set through a vibration pump, and two displacements of the vibration pump are controlled by a two-point type electromagnetic valve, so that the adjustment of the two frequencies (large vibration and small vibration) of the vibratory roller is realized; the two displacement swash plates have different directions, and the positive and negative rotation of the motor can be realized. The existing hydraulic driving system for walking of the vibratory roller has two points of walking motors, two displacement volumes are controlled through two point type electromagnetic valves to form high and low gears, the two motors of the front and rear double-drive rollers are two points and can be combined to form 4 gears, and after the gears are set, the displacement volumes of walking pumps are adjusted through mechanical handles, so that the driving speed is controlled. During vibration, the rotating speed of the engine is controlled to be close to the rated rotating speed or fixed on a certain set rotating speed; when the bicycle only walks without vibration, the rotating speed of the engine is adjusted by the knob.
However, the existing vibratory roller has the following defects: 1. in order to obtain the set frequency, when the rotating speed of the engine is fixed near the rated rotating speed, in order to ensure the starting performance, the power of the engine needs to be higher than the power needed by stable operation, and the fixed rotating speed of the engine can cause the power utilization rate to be lower; 2. the traveling hydraulic driving system mainly controls the traveling speed through the displacement of a traveling pump, and the efficiency cannot reach the optimum; 3. the traveling speed and the vibration frequency of the existing vibratory roller are not related, so that the compaction effect cannot reach the optimum.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the vibration pump, the vibration motor, the walking pump and the walking motor are controlled by the electric proportional valve to control the angle of the swash plate to adjust the displacement, the rotating speed of the engine, the displacement of the pump and the displacement of the motor are controlled by the controller, the starting and starting performances are improved, and the efficiency of the engine and a hydraulic system is the highest under the condition of unchanged work.
The vibration and walking control method of the road roller comprises the following steps:
s1, starting the whole machine, and after the whole machine is matched, calculating the highest speed V by the controller, namely the corresponding speed when the power device is at the highest rotating speed, the walking pump is at the maximum displacement and the walking motor is at the minimum displacement;
s2, the operator sets a walking vehicle speed V1 by pushing the electric control handle;
s3, the controller calculates the power of the power device and the corresponding minimum rotating speed n1 required by accelerating to V1 according to the walking speed V1 set in the step 2;
s4, the controller calculates the walking pump displacement qtp1 and the motor displacement qtm1 required by the walking vehicle speed V1 according to the minimum rotating speed n1 calculated in the step 3;
s5, setting the rotating speed of the power device to be n1 and the displacement of the walking motor to be qtm1 by the controller, and simultaneously gradually adjusting the displacement of the walking pump to qtp1 and adjusting the walking state;
s6, after the whole machine runs stably, according to the pressure feedback information of the running system, under the condition of keeping the running speed V1 unchanged, the controller recalculates the motor displacement qtm2 and the running pump displacement qtp2 according to the optimal principle of system efficiency, and gradually adjusts the displacement to the maximum displacement;
s7, when the running resistance is increased, the displacement of the running motor is increased, and the rotating speed of the power device and the displacement of the running pump are adjusted to keep the running speed V1 unchanged;
s8, when the operator shifts gears or changes the position of the electric control handle, namely changes the walking vehicle speed V1, repeating the steps 2-7;
s9, the controller compares the real-time walking speed V1 fed back by the speed sensor in the walking system with the maximum speed Vz allowed to vibrate, and if V1 is less than or equal to Vz, vibration control is carried out; if V1 > Vz, outputting a signal that vibration is not allowed;
s10, when V1 is less than or equal to Vz, an operator manually selects to carry out large vibration or small vibration;
s11, calculating the vibration frequency f1 corresponding to the real-time walking vehicle speed V1 by the controller according to the selection in the step 10;
s12, after an operator turns on a corresponding vibration starting switch, vibration is started, at the moment, the rotating speed of the power device is a rated rotating speed n, the controller calculates the displacement qvm1 of the vibration motor and the displacement qvp1 of the vibration pump according to the rated rotating speed n, and simultaneously calculates the displacement qtm3 of the walking motor and the displacement qtp3 of the walking pump required by the speed V1 of the walking vehicle, and the displacement is gradually adjusted to the displacement;
s13, after the vibration is stable, under the condition of maintaining the vibration frequency f1 unchanged, the controller reduces the rotating speed of the power device to the lowest rotating speed nz meeting the conditions according to the principle of optimal system efficiency, according to the system pressure signal and the efficiency fed back by the vibration hydraulic system, the controller recalculates the vibration motor displacement qvm2 and the vibration pump displacement qvp2, and simultaneously calculates the walking motor displacement qtm4 and the walking pump displacement qtp4 for maintaining the walking vehicle speed V1 at the moment, and gradually adjusts the displacement to the moment, so as to maintain the vibration and the walking;
s14, when the operator shifts gears or changes the position of the electric control handle, namely changes the walking vehicle speed V1, repeating the steps 9-13;
and S15, repeating the steps 2-7 when the vibration is extinguished, reducing the rotating speed of the power device, adjusting the displacement of the walking pump and the walking motor, and maintaining the vehicle speed.
Preferably, the maximum travel of the gear knob corresponds to the highest vehicle speed V, the ratio of any gear or position corresponding to the stepless gear knob to the full travel of the gear knob corresponds to the vehicle speed V0, V0 is the vehicle speed corresponding to the maximum travel of the control handle at the gear or the position, and V0 is not more than V; in step 2, the position where the walking vehicle speed V1 reaches through the electric control handle is set, and the walking vehicle speed V1 is calculated according to the proportion of the position and the full stroke of the electric control handle.
Preferably, the power device in the step 3 is an engine, and the engine power is supplied
Figure BDA0003237318220000031
The power P corresponds to the minimum speed n of the engine1Wherein M is the whole machine mass, g is the gravity acceleration, f is the rolling resistance coefficient, delta is the inertia resistance conversion coefficient, V1 is the walking vehicle speed set in step 2, t is the acceleration time, and eta is the total efficiency.
Preferably, the maximum vehicle speed is the maximum displacement of the motor
Figure BDA0003237318220000032
n1The minimum rotating speed calculated for the step 3, i is the total transmission ratio of the drive axle, ip0The speed ratio of a power take-off port of the walking pump, r is the rolling radius of the tire, and q istmaxTo the maximum displacement of the travel motor, qtpmaxIs the maximum displacement of the walking pump etappvFor volumetric efficiency of the walking pump, etampvFor the volumetric efficiency of the travel motor;
a when the set running vehicle speed V1 is less than the maximum vehicle speed V, the running motor displacement qtm1＝qtmaxDisplacement of walking pump
Figure BDA0003237318220000033
ηtpvFor volumetric efficiency of the walking pump, etatmvFor the volumetric efficiency of the travel motor;
b when the set traveling vehicle speed V1 is equal to the maximum vehicle speed V, the traveling motor displacement qtm1＝qtmaxDisplacement q of walking pump tp1＝qtpmax；
c when the set running vehicle speed V1 is greater than the maximum vehicle speed V, the displacement of the running motor
Figure BDA0003237318220000034
Displacement q of walking pumptp1＝qtpmax。
Preferably, in the step 6, a coefficient h is artificially set, wherein h is more than 0 and less than 1,
when the system pressure P is greater than h.PmaxWhen is, PmaxMaintaining the displacement of the walking motor and the displacement of the walking pump in the step 5 by the highest pressure set by the walking system;
when the system pressure P is less than h.PmaxAdjusting the following displacement, the displacement q of the walking motortm2＝(qtpm1·P)/(h·Pmax) Displacement of walking pump
Figure BDA0003237318220000035
Wherein n is1The minimum rotating speed calculated for the step 3, i is the total transmission ratio of the drive axle, ip0The speed ratio of a power take-off port of the walking pump, r is the rolling radius of the tire, etatpvFor volumetric efficiency of the walking pump, etatmvThe volumetric efficiency of the travel motor is improved.
Preferably, in step 11, the vibration frequency f1 of the large vibration is equal to (f)d·V1)，fdLow-frequency large vibration; vibration frequency f1 ═ f (f) of small vibrationgV1), fg is a high frequency small oscillation.
Preferably, the vibration motor displacement q in said step 12vm1Maximum displacement q of vibration motorvmaxDischarge capacity of vibration pump
qvp1＝(60·f·qvmax)/(n·ηvpv·ηvmv),
Displacement q of walking motortm3Maximum displacement q of walking motortmaxDisplacement of walking pump
Figure BDA0003237318220000041
n is the rated speed of the engine, etatpvFor volumetric efficiency of the walking pump, etatmvFor volumetric efficiency of the travel motor, qvmaxIs the maximum displacement of the vibration motor, etavpvFor volumetric efficiency, η, of the vibration pumpvmvIs the vibration motor volumetric efficiency.
Preferably, in step 13, a coefficient k is artificially set, where 0 < k < 1,
when the system pressure P isvGreater than k.PmTime, vibration motor displacement qvm2＝qvm；qvmIs the maximum displacement of the vibration motor;
when the system pressure P isvGreater than k.PmDisplacement of time-lapse vibration motor
qvm2＝(qvm1·pv)/(k·pm)，
Displacement q of vibration pumpvp2＝qvp，qvpIs the maximum displacement of the vibration pumpAt an engine speed of
nz＝(60·f·qvm1)/(qvp·ηvpv·ηvmv)；
PmFor maximum pressure of oscillating hydraulic systems, PvSystem pressure, η, for sensor feedbackvpvFor volumetric efficiency, η, of the vibration pumpvmvIs the vibration motor volumetric efficiency.
Preferably, in the step 13, a coefficient h is artificially set, wherein 0 < h < 1,
when the system pressure P is greater than h.PmaxDischarge capacity q of a traveling motortm4＝qtmax；
When the system pressure P is less than h.PmaxDisplacement of time and travel motor
qtm4＝(qtpm3·P)/(h·Pmax)，
Displacement of walking pump
Figure BDA0003237318220000042
Wherein, PmaxIs the highest pressure of the traveling system, etatpvFor volumetric efficiency of the walking pump, etatmvFor the volumetric efficiency of the travel motor, i is the total drive ratio of the drive axle, ip0The speed ratio of a power taking port of the walking pump is shown, and r is the rolling radius of the tire.
The vibration and walking control system of the road roller comprises a power device, a walking pump, a walking hydraulic system, a vibration pump and a vibration hydraulic system, wherein the power device is respectively connected with the walking pump and the vibration pump; the hydraulic vibration and vibration integrated machine is characterized by further comprising a controller, a walking hydraulic system pressure sensor and a vibration hydraulic system pressure sensor are arranged on the walking hydraulic system and the vibration hydraulic system respectively, control valves are arranged on the walking pump, the walking motor, the vibration pump and the vibration motor respectively, speed sensors are arranged on the walking motor and the vibration motor respectively, and each control valve and each speed sensor are connected with the controller respectively.
Compared with the prior art, the invention has the beneficial effects that:
1. when the whole machine starts, accelerates and decelerates, the controller calculates the required engine power firstly and reasonably sets the required engine power, so that insufficient power or unnecessary waste is avoided; the traveling motor is set to the maximum displacement, so that higher traction is obtained, and the starting performance and the acceleration and deceleration performance are improved;
2. when the whole machine stably walks, the displacement of the walking pump and the walking motor is adjusted under the condition of maintaining the speed of the vehicle unchanged, so that the pressure of a hydraulic system is adjusted under the condition of maintaining the speed of the vehicle unchanged, and the efficiency of the hydraulic system is optimal; compared with the method for manually controlling the rotating speed of the engine and manually controlling the displacement of the walking pump and the displacement of the walking motor to be unchanged in the prior art, the working efficiency of the hydraulic system is greatly improved;
2. the method of the invention realizes that when the whole machine vibrates, different vibration frequencies are automatically corresponding to different vehicle speeds according to preset parameters, so that the driving speed of the vibratory roller is related to the vibration frequency, and the compaction performance is improved; compared with the prior art that the vibration frequency is a fixed value and cannot be changed along with the vehicle speed, the invention improves the compaction effect and the pavement compaction is more uniform and consistent;
3. in the method, in the vibration starting process, the rotating speed of the engine is firstly increased to be close to the rated rotating speed, after the requirement of quick vibration starting is met, the vibration is stable, and under the condition of maintaining the vibration frequency unchanged and meeting the requirement of a working condition, the rotating speed of the engine is reduced by adjusting the discharge capacities of the vibration pump and the vibration motor, and the discharge capacities of the walking pump and the walking motor are adjusted simultaneously so as to maintain the vehicle speed and greatly improve the working efficiency of the system; compared with the control method in the prior art that the engine is in stable rotating speed and the pump and the motor are in fixed displacement, the method has the advantages that the efficiency is improved to the highest working efficiency;
4. the walking hydraulic system and the vibration hydraulic system both adopt closed-loop control, and correct the driving speed and the vibration frequency in time by monitoring the system pressure and the corresponding motor rotating speed in real time, thereby realizing the accurate and stable control of the driving speed and the vibration frequency;
5. according to the method, when the whole machine only runs, the rotating speed of the engine can be automatically controlled, and the controller automatically controls the rotating speed of the engine on the premise of meeting the working conditions of starting, decelerating, accelerating and climbing through speed and pressure information feedback of the running hydraulic system and the vibration hydraulic system.
Drawings
FIG. 1 is a control schematic of the present invention;
FIG. 2 is a schematic diagram of a system for a dual drive road roller according to the present invention;
FIG. 3 is a schematic diagram of a system for a single drive road roller according to the present invention;
fig. 4 is a schematic diagram of the system of the invention for use with a dual drum roller.
In the figure, 1, a vibration pump; 2. a vibrating hydraulic system pressure sensor; 3. a walking hydraulic system pressure sensor; 4. a walking pump; 5. a power plant; 6. a power plant controller; 7. a controller; 8. a large and small vibration selection switch; 9. a start/stop switch; 10. a gear knob; 11. an electric control handle; 12. a front travel motor; 13. a vibrating wheel; 14. a vibration motor; 15. a rear travel motor; 16. a rear axle; 17. a rear vibration motor; 18. and a rear vibrating wheel.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
the first embodiment is as follows: as shown in fig. 2, the vibration and walking control system of the road roller comprises a power device 5, a controller 7, a walking pump 4, a walking hydraulic system, a vibration pump 1 and a vibration hydraulic system, wherein the power device controller 6 is arranged on the power device 5, the power device 5 is respectively connected with the walking pump 4 and the vibration pump 1, the walking pump 4 is connected with the walking hydraulic system, the vibration pump 1 is connected with the vibration hydraulic system, the walking hydraulic system comprises a front walking motor 12 and a rear walking motor 15, the vibration hydraulic system comprises a vibration motor 14 and a vibration wheel 13, the vibration motor 14 is connected with an excitation mechanism of the vibration wheel 13, the front walking motor 1 is connected with a vibration roller of the vibration wheel 13, and the rear walking motor 15 is connected with a rear axle 16; the walking hydraulic system and the vibration hydraulic system are respectively provided with a walking hydraulic system pressure sensor 3 and a vibration hydraulic system pressure sensor 2, the walking pump 4, the front walking motor 12, the rear walking motor 15, the vibration pump 1 and the vibration motor 14 are respectively provided with a control valve, the control valves are electric proportional control valves, the front walking motor 12, the rear walking motor 15 and the vibration motor 14 are respectively provided with a speed sensor, and each electric proportional control valve and each speed sensor are respectively connected with the controller 7.
The vibration control device further comprises a large and small vibration selection switch 8, a vibration starting/stopping switch 9, a gear knob 10 and an electric control handle 11, wherein the large and small vibration selection switch 8, the vibration starting/stopping switch 9, the gear knob 10 and the electric control handle 11 are respectively connected with the controller 7. This embodiment is a dual drive road roller.
The vibration and walking control method of the road roller comprises the following steps:
and S1, starting the whole machine, and after the whole machine is matched, calculating the highest speed V by the controller 7, namely the corresponding speeds of the power device 5 at the highest rotating speed, the walking pump 4 at the maximum displacement and the walking motor at the minimum displacement.
S2, the operator sets a walking speed V1 by pushing the electric control handle 11; the maximum travel of the gear knob 10 corresponds to the highest vehicle speed V, the ratio of any gear or position corresponding to an electrodeless gear knob 10 to the full travel of the gear knob 10 corresponds to the vehicle speed V0, V0 is the vehicle speed corresponding to the maximum travel of a control handle at the gear or the position, and V0 is not more than V; the set traveling vehicle speed V1 can be calculated from the position reached by the joystick 11 and the ratio of the position to the full stroke of the joystick.
S3, the controller 7 calculates the power of the power device 5 and the corresponding minimum rotating speed n1 required for accelerating to V1 according to the walking speed V1 set in the step 2; the power unit 5 is an engine, the engine power
Figure BDA0003237318220000071
The power P corresponds to the minimum speed n of the engine1Wherein M is the whole machine mass, g is the gravity acceleration, f is the rolling resistance coefficient, delta is the inertia resistance conversion coefficient, V1 is the walking vehicle speed set in step 2, t is the acceleration time, and eta is the total efficiency.
S4, the controller 7 calculates the displacement qtp1 of the traveling pump 4 and the displacement qtm1 of the motor required by the traveling vehicle speed V1 based on the minimum rotation speed n1 calculated in step 3.
S5, the controller 7 sets the rotating speed of the power device 5 to be n1 and the displacement of the walking motor to be qtm1, and simultaneously adjusts the displacement of the walking pump 4 to qtp1 step by step and adjusts the walking state; maximum speed of the vehicle when the displacement of the motor is maximum
Figure BDA0003237318220000072
n1The minimum rotating speed calculated for the step 3, i is the total transmission ratio of the drive axle, ip0The speed ratio of a power take-off port of the walking pump 4, r is the rolling radius of the tire, qtmaxTo the maximum displacement of the travel motor, qtpmaxIs the maximum displacement of the walking pump etappvFor volumetric efficiency of the walking pump, etampvFor the volumetric efficiency of the travel motor;
a when the set running vehicle speed V1 is less than the maximum vehicle speed V, the running motor displacement qtm1＝q tmax4 displacement of walking pump
Figure BDA0003237318220000073
ηtpvFor volumetric efficiency of the walking pump, etatmvFor the volumetric efficiency of the travel motor;
b when the set traveling vehicle speed V1 is equal to the maximum vehicle speed V, the traveling motor displacement qtm1＝q tmax4 displacement q of walking pumptp1＝qtpmax；
c when the set running vehicle speed V1 is greater than the maximum vehicle speed V, the displacement of the running motor
Figure BDA0003237318220000081
4 displacement q of walking pumptp1＝qtpmax。
S6, after the whole machine runs stably, according to the pressure feedback information of the running system, under the condition of keeping the running speed V1 unchanged, the controller 7 recalculates the motor displacement qtm2 and the displacement qtp2 of the running pump 4 according to the optimal principle of the system efficiency, and gradually adjusts the displacement to the maximum displacement; the system efficiency optimization principle is that the efficiency is optimal when the system pressure reaches h · Pmax, and the efficiency is reduced when the system pressure is too high or too low, and at this time, the system pressure is at a low value, and the system pressure can be increased to a high efficiency region by reducing the displacement of the motor, and the specific adjustment method is as follows:
setting a coefficient h artificially, wherein h is more than 0 and less than 1, the coefficient h is 0.4-0.7,
when the system pressure P is greater than h.PmaxWhile maintaining the displacement of the traveling motor and the displacement of the traveling pump 4, P in step 5maxThe highest pressure set for the walking hydraulic system overflows when exceeding the highest pressure;
when the system pressure P is less than h.PmaxAdjusting the following displacement, the displacement q of the walking motortm2＝(qtpm1·P)/(h·Pmax) 4 displacement of walking pump
Figure BDA0003237318220000082
Wherein n is1The minimum rotating speed calculated for the step 3, i is the total transmission ratio of the drive axle, ip0The speed ratio of a power take-off opening of the walking pump 4, namely the speed ratio of the rotating speed of the power take-off opening installed on the walking pump and the rotating speed of an engine, r is the rolling radius of a tire, etatpvTo the volumetric efficiency, eta, of the walking pump 4tmvThe volumetric efficiency of the travel motor is improved.
S7, when the running resistance becomes larger, the system pressure is at a high value and the motor displacement is not the highest, in order to keep the running vehicle speed V1 unchanged, the system pressure can be reduced by increasing the motor displacement, and the rotation speed of the power device 5 and the displacement of the running pump 4 are adjusted by the following method:
the coefficient r is artificially set, wherein r is more than 0 and less than 1,
when the system pressure change is within P + r%, the rotating speed of the power device 5 and the displacement of the walking pump 4 in the step 6 are maintained, namely: the pressure fluctuation is in a certain range, and the rotating speed of the power device 5 and the discharge capacity of the walking pump 4 are not adjusted;
when the pressure change of the system exceeds P + r%, the displacement q of the walking motortmf＝qtmaxNamely: when the pressure exceeds the fluctuation range, the walking motor is increased to the maximum displacement more quickly, the speed of the vehicle is reduced at the moment, the traction force is improved, it needs to be explained that the walking motor is not directly adjusted to the maximum displacement during adjustment, and the change slope of the walking motor needs to be arranged in a controller in advance; the displacement of the walking pump is
Figure BDA0003237318220000083
Namely: gradually reducing the displacement q of the walking pump according to a preset slopetpfAnd increasing the engine speed n to ensure that n x qtpf＝n1*qtpf0And not changed until the system pressure P is less than Pmax.
S8, when the operator shifts or changes the position of the electric control handle 11, namely changes the walking vehicle speed V1, the steps 2-7 are repeated.
S9, comparing the real-time walking speed V1 fed back by the speed sensor in the walking hydraulic system with the maximum speed Vz of allowed vibration by the controller 7, wherein Vz is a numerical value set in the controller, and if V1 is less than or equal to Vz, performing vibration control; if V1 > Vz, a signal that does not allow vibration is output.
And S10, when V1 is less than or equal to Vz, the operator manually selects to carry out large vibration or small vibration through the large vibration selection switch 8.
At S11, the controller 7 calculates the vibration frequency f1 corresponding to the real-time traveling vehicle speed V1 and the vibration frequency f1 of the large vibration (f) according to the selection at step 10 (f is equal to f)d·V1)，fdLow-frequency large vibration; vibration frequency f1 ═ f (f) of small vibrationgV1), fg is a high frequency small oscillation.
S12, the operator starts vibration after the vibration starting switch is turned on through the vibration starting/stopping switch 9, at the moment, the rotating speed of the power device 5 is the rated rotating speed n, the controller 7 calculates the displacement qvm1 of the vibration motor 14 and the displacement qvp1 of the vibration pump 1 according to the rated rotating speed n, and simultaneously calculates the displacement qtm3 of the walking motor and the displacement qtp3 of the walking pump 4 required by maintaining the walking vehicle speed V1, and the displacement is gradually adjusted to the displacement.
Displacement q of vibration motor 14vm1Maximum displacement q of the vibration motor 14vmaxDisplacement of vibration pump 1
qvp1＝(60·f·qvmax)/(n·ηvpv·ηvmv),
Displacement q of walking motortm3Maximum displacement q of walking motor tmax4 displacement of walking pump
Figure BDA0003237318220000091
n is the rated speed of the engine, etatpvFor volumetric efficiency of the walking pump, etatmvFor volumetric efficiency of the travel motor, qvmaxIs the maximum displacement, eta, of the vibration motor 14vpvFor volumetric efficiency, η, of the vibration pumpvmvIs the vibration motor volumetric efficiency.
S13, after the vibration is stable, under the condition of maintaining the vibration frequency f1 unchanged, the controller 7 reduces the rotating speed of the power device 5 to the lowest rotating speed nz meeting the conditions according to the principle of optimal system efficiency, according to the system pressure signal fed back by the vibration hydraulic system, the efficiency of the hydraulic system and the efficiency of the engine, the controller 7 recalculates the displacement qvm2 of the vibration motor 14 and the displacement qvp2 of the vibration pump 1, and simultaneously calculates the displacement qtm4 of the walking motor and the displacement qtp4 of the walking pump 4 for maintaining the walking vehicle speed V1 at the moment, and gradually adjusts the displacement to the displacement so as to maintain the vibration and the walking.
The adjusting method comprises the following steps: a coefficient k is artificially set, wherein k is more than 0 and less than 1, k is 0.4-0.7,
when the system pressure P isvGreater than k.PmWhile, the vibration motor 14 has a displacement qvm2＝qvm；qvmIs the maximum displacement of the vibration motor;
when is tiedSystem pressure PvLess than k.PmTime, vibration motor 14 displacement
qvm2＝(qvm1·pv)/(k·pm)，
Displacement q of vibration pump 1vp2＝qvp，qvpFor maximum displacement of the vibration pump, the engine speed is
nz＝(60·f·qvm1)/(qvp·ηvpv·ηvmv)；
PmFor maximum pressure of the oscillating hydraulic system, PvSystem pressure, η, for sensor feedbackvpvFor volumetric efficiency, η, of the vibration pumpvmvIs the vibration motor volumetric efficiency.
The principle of optimal efficiency means that 1, the displacement of the vibration pump is maximum, the rotating speed of the engine can be reduced, and the efficiency of the engine is improved; 2. if the system pressure is higher, the motor displacement cannot be reduced; if the system pressure is low, the displacement of the motor can be reduced, so that the system pressure is adjusted to k.Pm, and the optimal efficiency is achieved.
Setting a coefficient h artificially, wherein h is more than 0 and less than 1, h is 0.4-0.7,
when the system pressure P is greater than h.PmaxDischarge capacity q of a traveling motortm4＝qtmax；
When the system pressure P is less than h.PmaxDisplacement of time and travel motor
qtm4＝(qtpm3·P)/(h·Pmax)，
4 displacement of walking pump
Figure BDA0003237318220000101
Wherein, PmaxIs the highest pressure of the traveling system, etatpvTo the volumetric efficiency, eta, of the walking pump 4tmvFor the volumetric efficiency of the travel motor, i is the total drive ratio of the drive axle, ip0The speed ratio of a power taking port of the walking pump 4 is shown, and r is the rolling radius of the tire.
S14, when the operator shifts or changes the position of the electric control handle 11, namely changes the walking vehicle speed V1, the steps 9-13 are repeated.
And S15, repeating the steps 2-7 when the vibration is extinguished, reducing the rotating speed of the power device 5, adjusting the displacement of the walking pump 4 and the walking motor, and maintaining the vehicle speed.
Example two: as shown in fig. 3, the walking hydraulic system only comprises a rear walking motor 15, and the rear walking motor 15 is connected with a rear axle (16); the rest is the same as the first embodiment. This embodiment is a single drive road roller.
Example three: as shown in fig. 4, the vibration device further includes a rear vibration motor 17 and a rear vibration wheel 18, the rear travel motor 15 is connected to a vibration roller of the rear vibration wheel 18, and the rear vibration motor 17 is connected to an excitation mechanism of the rear vibration wheel 18. This embodiment is a dual drum roller.

Claims (10)

1. A vibration and walking control method of a road roller is characterized by comprising the following steps:
s1, starting the whole machine, and after the whole machine is matched, calculating the highest speed V by the controller (7), namely the speed corresponding to the highest rotating speed of the power device (5), the maximum displacement of the walking pump (4) and the minimum displacement of the walking motor;
s2, the operator sets a walking vehicle speed V1 by pushing the electric control handle (11);
s3, the controller (7) calculates the power of the power device (5) required by accelerating to V1 and the corresponding minimum rotating speed n1 according to the walking vehicle speed V1 set in the step 2;
s4, the controller (7) calculates the displacement qtp1 and the motor displacement qtm1 of the walking pump (4) required by the walking vehicle speed V1 according to the minimum rotating speed n1 calculated in the step 3;
s5, setting the rotating speed of the power device (5) to be n1 and the displacement of the walking motor to be qtm1 by the controller (7), and simultaneously gradually adjusting the displacement of the walking pump (4) to qtp1 and adjusting the walking state;
s6, after the whole machine runs stably, according to the pressure feedback information of the running system, under the condition of keeping the running speed V1 unchanged, the controller (7) recalculates the motor displacement qtm2 and the displacement qtp2 of the running pump (4) according to the principle of optimal system efficiency, and gradually adjusts the displacement to the maximum displacement;
s7, when the running resistance is increased, the displacement of the running motor is increased, and the rotating speed of the power device (5) and the displacement of the running pump (4) are adjusted to keep the running speed V1 unchanged;
s8, when the operator shifts gears or changes the position of the electric control handle (11), namely changes the walking vehicle speed V1, repeating the steps 2-7;
s9, the controller (7) compares the real-time walking speed V1 fed back by the speed sensor in the walking system with the maximum speed Vz of allowable vibration, and if V1 is less than or equal to Vz, vibration control is carried out; if V1 > Vz, outputting a signal that vibration is not allowed;
s10, when V1 is less than or equal to Vz, an operator manually selects to carry out large vibration or small vibration;
s11, the controller (7) calculates the vibration frequency f1 corresponding to the real-time walking vehicle speed V1 according to the selection in the step 10;
s12, after an operator turns on a corresponding vibration starting switch, vibration is started, at the moment, the rotating speed of the power device (5) is a rated rotating speed n, according to the rated rotating speed n, the controller (7) calculates the displacement qvm1 of the vibration motor (14) and the displacement qvp1 of the vibration pump (1), and simultaneously calculates the displacement qtm3 of the walking motor and qtp3 of the walking pump (4) required by maintaining the walking vehicle speed V1, and the displacement is gradually adjusted to the displacement;
s13, after the vibration is stable, under the condition of maintaining the vibration frequency f1 unchanged, the controller (7) reduces the rotating speed of the power device (5) to the lowest rotating speed nz meeting the conditions according to the principle of optimal system efficiency, according to the system pressure signal and the efficiency fed back by the vibration hydraulic system, the controller (7) recalculates the displacement qvm2 of the vibration motor (14) and the displacement qvp2 of the vibration pump (1), and simultaneously calculates the displacement qtm4 of the walking motor and the displacement qtp4 of the walking pump (4) for maintaining the walking speed V1 at the moment, and gradually adjusts the displacement to the moment to maintain the vibration and the walking;
s14, when the operator shifts gears or changes the position of the electric control handle (11), namely changes the walking vehicle speed V1, repeating the steps 9-13;
and S15, repeating the steps 2-7 when the vibration is extinguished, reducing the rotating speed of the power device (5), adjusting the displacement of the walking pump (4) and the walking motor, and maintaining the vehicle speed.
2. The vibration and walking control method of the road roller according to claim 1, characterized in that the maximum travel of the gear knob (10) corresponds to a maximum vehicle speed V, the ratio of the position corresponding to any gear or stepless mode of the gear knob (10) to the full travel of the gear knob (10) corresponds to a vehicle speed V0, V0 is the vehicle speed corresponding to the maximum travel of the control handle at the gear or the position, and V0 is not more than V; in step 2, the position where the walking vehicle speed V1 reaches through the electric control handle (11) is set, and the walking vehicle speed V1 is calculated according to the proportion of the position and the full stroke of the control handle.
3. The method for controlling vibration and walking of a road roller according to claim 1, wherein the power device (5) in the step 3 is an engine, and the engine power is the engine power
Figure FDA0003237318210000021
The power P corresponds to the minimum speed n of the engine1Wherein M is the whole machine mass, g is the gravity acceleration, f is the rolling resistance coefficient, delta is the inertia resistance conversion coefficient, V1 is the walking vehicle speed set in step 2, t is the acceleration time, and eta is the total efficiency.
4. A method of controlling vibration and travel of a road roller as claimed in claim 1, wherein the maximum vehicle speed is achieved at the maximum motor displacement
Figure FDA0003237318210000022
n1The minimum rotating speed calculated for the step 3, i is the total transmission ratio of the drive axle, ip0The speed ratio of a power take-off port of the walking pump (4), r is the rolling radius of the tire, qtmaxTo the maximum displacement of the travel motor, qtpmaxIs the maximum displacement of the walking pump (4) (. eta.)ppvFor volumetric efficiency of the walking pump, etampvFor the volumetric efficiency of the travel motor;
a when the set running vehicle speed V1 is less than the maximum vehicle speed VDisplacement q of the electric motortm1＝qtmaxThe displacement of the walking pump (4)
Figure FDA0003237318210000023
ηtpvFor the volumetric efficiency, eta, of the walking pump (4)tmvFor the volumetric efficiency of the travel motor;
b when the set traveling vehicle speed V1 is equal to the maximum vehicle speed V, the traveling motor displacement qtm1＝qtmaxThe displacement q of the walking pump (4)tp1＝qtpmax；
c when the set running vehicle speed V1 is greater than the maximum vehicle speed V, the displacement of the running motor
Figure FDA0003237318210000031
The displacement q of the walking pump (4)tp1＝qtpmax。
5. The method for controlling vibration and walking of a road roller according to claim 1, wherein in step 6, a coefficient h is artificially set, wherein h is greater than 0 and less than 1,
when the system pressure P is greater than h.PmaxWhen is, PmaxMaintaining the displacement of the walking motor and the displacement of the walking pump (4) in the step 5 at the highest pressure set for the walking system;
when the system pressure P is less than h.PmaxAdjusting the following displacement, the displacement q of the walking motortm2＝(qtpm1·P)/(h·Pmax) The displacement of the walking pump (4)
Figure FDA0003237318210000032
Wherein n is1The minimum rotating speed calculated for the step 3, i is the total transmission ratio of the drive axle, ip0The speed ratio of a power take-off port of the walking pump (4) is r is the rolling radius of the tire, etatpvFor the volumetric efficiency, eta, of the walking pump (4)tmvFor the volumetric effect of the walking motorAnd (4) rate.
6. The method for controlling vibration and walking of a road roller according to claim 1, wherein in step 11, the vibration frequency f1 of the large vibration is (f)d·V1)，fdLow-frequency large vibration; vibration frequency f1 ═ f (f) of small vibrationgV1), fg is a high frequency small oscillation.
7. A method for controlling the vibration and walking of a road roller according to claim 1, characterized in that in step 12 the displacement q of the vibration motor (14) is determinedvm1Maximum displacement q of the vibration motor (14)vmaxThe displacement of the vibration pump (1)
qvp1＝(60·f·qvmax)/(n·ηvpv·ηvmv),
Displacement q of walking motortm3Maximum displacement q of walking motortmmaxThe displacement of the walking pump (4)
Figure FDA0003237318210000033
n is the rated speed of the engine, etatpvFor the volumetric efficiency, eta, of the walking pump (4)tmvFor volumetric efficiency of the travel motor, qvmaxIs the maximum displacement of the vibration motor (14) (. eta.)vpvFor volumetric efficiency, η, of the vibration pumpvmvIs the vibration motor volumetric efficiency.
8. The method of claim 1, wherein in step 13, a factor k is set artificially, wherein k is greater than 0 and less than 1,
when the system pressure P isvGreater than k.PmThe vibration motor (14) has a displacement qvm2＝qvm；qvmIs the maximum displacement of the vibration motor;
when the system pressure P isvLess than k.PmThe displacement of the vibration motor (14)
qvm2＝(qvm1·Pv)/(k·Pm)，
The displacement q of the vibration pump (1)vp2＝qvp，qvpFor maximum displacement of the vibration pump, the engine speed is
nz＝(60·f·qvm1)/(qvp·ηvpv·ηvmv)；
PmFor maximum pressure of oscillating hydraulic systems, PvSystem pressure, η, for sensor feedbackvpvFor volumetric efficiency, η, of the vibration pumpvmvIs the vibration motor volumetric efficiency.
9. The method for controlling vibration and walking of a road roller according to claim 1, wherein in step 13, a coefficient h is artificially set, wherein h is greater than 0 and less than 1,
when the system pressure P is greater than h.PmaxDischarge capacity q of a traveling motortm4＝qtmax；
When the system pressure P is less than h.PmaxDisplacement of time and travel motor
qtm4＝(qtpm3·P)/(h·Pmax)，
Displacement of walking pump (4)
Figure FDA0003237318210000041
Wherein, PmaxIs the highest pressure of the traveling system, etatpvFor the volumetric efficiency, eta, of the walking pump (4)tmvFor the volumetric efficiency of the travel motor, i is the total drive ratio of the drive axle, ip0The speed ratio of a power taking port of the walking pump (4) is shown, and r is the rolling radius of the tire.
10. A road roller vibration and walking control system comprises a power device (5), a walking pump (4), a walking hydraulic system, a vibration pump (1) and a vibration hydraulic system, wherein the power device (5) is respectively connected with the walking pump (4) and the vibration pump (1), the walking pump (4) is connected with the walking hydraulic system, the vibration pump (1) is connected with the vibration hydraulic system, the walking hydraulic system comprises a walking motor, the vibration hydraulic system comprises a vibration motor (14) and a vibration wheel (13), the vibration motor (14) is connected with an excitation mechanism of the vibration wheel (13), and the walking motor is connected with a vibration roller wheel or a rear axle (16) of the vibration wheel (13); the method is characterized in that: the hydraulic vibration and hydraulic control system is characterized by further comprising a controller (7), a walking hydraulic system pressure sensor (3) and a vibration hydraulic system pressure sensor (2) are arranged on the walking hydraulic system and the vibration hydraulic system respectively, control valves are arranged on the walking pump (4), the walking motor, the vibration pump (1) and the vibration motor (14) respectively, speed sensors are arranged on the walking motor and the vibration motor (14) respectively, and each control valve and each speed sensor are connected with the controller (7) respectively.
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