CN114229702A - Front and rear vehicle synchronous walking control system of transporting and erecting integrated machine and control method thereof - Google Patents
Front and rear vehicle synchronous walking control system of transporting and erecting integrated machine and control method thereof Download PDFInfo
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- CN114229702A CN114229702A CN202111517381.7A CN202111517381A CN114229702A CN 114229702 A CN114229702 A CN 114229702A CN 202111517381 A CN202111517381 A CN 202111517381A CN 114229702 A CN114229702 A CN 114229702A
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- 238000012544 monitoring process Methods 0.000 claims abstract description 36
- 238000006073 displacement reaction Methods 0.000 claims description 26
- 238000004148 unit process Methods 0.000 claims description 5
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/20—Control systems or devices for non-electric drives
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
- B66C9/14—Trolley or crane travel drives
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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Abstract
The invention provides a synchronous walking control system for front and rear vehicles of a transporting and erecting integrated machine and a control method thereof, wherein the synchronous walking control system comprises a motor speed sensor, a driving pressure sensor, a data monitoring unit, a PID (proportion integration differentiation) closed-loop control unit for a driving and walking system and an upper computer, wherein more than one motor speed sensor is arranged on each of motors of a front vehicle walking mechanism and a rear vehicle walking mechanism, the driving pressure sensors are arranged on closed hydraulic loops of the front vehicle walking mechanism and the rear vehicle walking mechanism, the motor speed sensor and the driving pressure sensor are connected with the data monitoring unit, the data monitoring unit is connected with the upper computer, the upper computer is connected with the PID closed-loop control unit for the driving and walking system, the data monitoring unit receives monitoring data and transmits the processed data to the upper computer, the upper computer sends an instruction, and the PID closed-loop control unit for the driving and walking system controls the motor and an oil pump. The control system can realize the front and back vehicle and synchronous transverse and straight movement of the transporting and erecting integrated machine, and improves the driving stability of the transporting and erecting integrated machine.
Description
Technical Field
The invention relates to the technical field of engineering machinery electro-hydraulic control, in particular to a front and rear vehicle synchronous walking control system of a transporting and erecting integrated machine and a control method thereof.
Background
The transporting and erecting integrated machine integrates transportation and erection, mainly comprises a beam transporting machine and a beam guiding machine, the beam transporting machine is used for lifting a beam, the beam guiding machine assists the beam transporting machine to pass through a hole erecting beam, the bottom of a main beam of a beam transporting vehicle is connected with a front vehicle travelling mechanism and a rear vehicle travelling mechanism, and the front vehicle travelling mechanism and the rear vehicle travelling mechanism are connected with the main beam through spherical hinges. The front and rear vehicle traveling mechanisms are provided with closed hydraulic circuits and are controlled by front and rear power hydraulic systems to travel respectively, the closed hydraulic circuits at least comprise closed oil pumps and motors, and the driving synchronization performance of the front and rear vehicle traveling mechanisms directly influences the traveling control effect and the mechanical performance in the whole traveling process of the transporting and erecting integrated machine.
Due to the fact that the front vehicle and the rear vehicle are not stressed uniformly, road conditions (gradient and concave-convex conditions) of roads where the front vehicle and the rear vehicle are located are different, the traveling speeds of the front vehicle and the rear vehicle are different due to the fact that the front vehicle and the rear vehicle are over-limited in spherical hinge angle and the tire pressure difference directly cause the difference, and the traveling process can be guaranteed to be stable only by adopting synchronous control. In addition, the frame transporting integrated machine also has two walking modes of horizontal walking and straight walking: the transverse traveling mode is that all wheel sets of the front and rear vehicle traveling mechanisms and the main beam form an angle of 85-95 degrees relative to the left and right directions of the main beam to travel, and the straight traveling mode is that all wheel sets and the main beam form an angle of-15 degrees relative to the front and rear directions of the equipment main beam to travel. Therefore, it is necessary to ensure that the front and rear vehicle traveling mechanisms can synchronously control traveling in both the transverse traveling mode and the straight traveling mode.
Disclosure of Invention
The invention provides a synchronous walking control system and a control method for front and rear vehicles of an all-in-one transporting and erecting machine, wherein the control system can realize the front and rear vehicles, synchronous transverse movement and synchronous straight movement of the all-in-one transporting and erecting machine, and the driving stability of the all-in-one transporting and erecting machine is improved.
The technical scheme adopted for realizing the above purpose of the invention is as follows:
a synchronous walking control system for front and rear vehicles of a transporting and erecting integrated machine comprises a main beam, a front vehicle walking mechanism and a rear vehicle walking mechanism, wherein the front vehicle walking mechanism and the rear vehicle walking mechanism are respectively connected to the front end and the rear end of the main beam through spherical hinges, closed hydraulic circuits are respectively arranged on the front vehicle walking mechanism and the rear vehicle walking mechanism and at least comprise an oil pump, a motor, an A port pipeline and a B port pipeline, the synchronous walking control system comprises a motor speed sensor, a driving pressure sensor, a data monitoring unit, a driving walking system PID closed-loop control unit and an upper computer, wherein the motor speed sensor is arranged on the motor of the front vehicle walking mechanism and the motor of the rear vehicle walking mechanism and is used for measuring the rotating speed of the motor in real time, the driving pressure sensor is arranged on the A port pipeline and the B port pipeline of the closed hydraulic circuits of the front vehicle walking mechanism and the rear vehicle walking mechanism and is used for measuring the pressures of the A port pipeline and the B port pipeline in real time, the motor speed sensor and the driving pressure sensor are connected with the data monitoring unit, the data monitoring unit is connected with the upper computer, the upper computer is connected with the driving walking system PID closed-loop control unit, the motor speed sensor and the driving pressure sensor transmit acquired data to the data monitoring unit, the data monitoring unit processes the data and transmits the processed data to the upper computer, the upper computer analyzes the data and sends out an instruction, the driving walking system PID closed-loop control unit controls the motor and the proportional valve of the oil pump according to the instruction, thereby controlling the speed of the motor and the discharge capacity of the oil pump, and realizing synchronous transverse movement and synchronous straight movement of front and rear vehicles of the transportation and erection integrated machine.
The synchronous walking control system also comprises an encoder and a steering system PID closed-loop control unit, the encoder is connected with the data monitoring unit, the upper computer is connected with the steering system PID closed-loop control unit, the encoder is installed on a spherical hinge bearing base of the rear vehicle walking mechanism through a support, the encoder is provided with a shifting fork and a shifting fork limiting groove accessory in a matching manner, the shifting fork limiting groove accessory is connected with the spherical hinge bearing base of the main beam, and the shifting fork is connected between the shifting fork limiting groove accessory and the encoder; the encoder monitors the angle of the spherical hinge in real time, monitored data are transmitted to the data monitoring unit, the data monitoring unit processes the data and transmits the data to the upper computer, the upper computer analyzes the data and sends an instruction, and the steering system PID closed-loop control unit controls the proportional valve of the oil pump according to the instruction, so that the angle of the spherical hinge is corrected.
The motor speed measuring sensor is a Hall effect sensor.
The invention also provides a control method of the synchronous walking control system of the front and rear vehicles of the transporting and erecting integrated machine, which comprises the following steps:
s1, mounting motor speed measuring sensors on motors of the front and rear vehicle travelling mechanisms, and mounting driving pressure sensors on an A port pipeline and a B port pipeline of a closed hydraulic loop of the front and rear vehicle travelling mechanisms;
s2, when the transportation and erection integrated machine transversely moves, calculating displacement deviation of the front and rear vehicle travelling mechanisms when transversely moving according to data measured by the motor speed measuring sensor; when the frame transporting and transporting integrated machine moves straight, the driving pressure difference of the front and rear vehicle traveling mechanisms during straight movement is calculated according to the data measured by the driving pressure sensor;
s3, when the vehicle is moving transversely, the data monitoring unit uploads a displacement deviation result to the upper computer, if the displacement deviation result is larger than an early warning threshold value, the upper computer sends a deviation correcting signal, and the PID closed-loop control unit of the driving travelling system adjusts a proportional valve of a motor according to the deviation correcting signal to enable the travelling mechanisms of the front vehicle and the rear vehicle to move transversely synchronously; when the vehicle travels straight, the data monitoring unit uploads the driving pressure difference result to the upper computer, if the driving pressure difference result is larger than the early warning threshold value, the upper computer sends a deviation correcting signal, and the PID closed-loop control unit of the driving traveling system adjusts a proportional valve of the oil pump according to the deviation correcting signal to enable the traveling mechanisms of the front vehicle and the rear vehicle to travel straight synchronously.
In step S2, the formula for calculating the displacement deviation when the front and rear vehicle travel mechanisms travel in the lateral direction is as follows:
ΔSDifference (D)＝|ΔSRear end-ΔSFront side|
Wherein f isFront sideIs the average value of the current values of the motor tachometer sensors on the travelling mechanism of the leading vehicle, nFront sideNumber of motor tachometer sensors on the running gear of the preceding vehicle, fRear endIs the average value of the current values of the motor speed-measuring sensors on the travelling mechanism of the rear vehicle, nRear endThe number of motor speed-measuring sensors on the rear vehicle running mechanism, delta t is the current cycle working time, delta SFront sideΔ S is the distance traveled by the vehicle' S running gear before the current cycleRear endΔ S is the distance traveled by the vehicle running gear after the next cycleRear endIs the displacement deviation.
The calculation formula of the driving pressure difference when the front and rear vehicle travel mechanisms travel straight in step S2 is as follows:
ΔPdifference (D)＝|PFront side-PRear end|
PFront sideFor the driving pressure, P, measured by a driving pressure sensor on the running gear of the leading vehicleRear endThe driving pressure measured by a driving pressure sensor on the travelling mechanism of the rear vehicle.
The specific steps of the synchronous transverse movement of the front and rear vehicle travelling mechanisms in the step S3 are as follows: the PID closed-loop control unit of the driving traveling system receives the deviation correcting signal, and controls and adjusts the oil pump current value of the front vehicle traveling mechanism or the rear vehicle traveling mechanism, so that the oil pump displacement of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is controlled, the motor speed of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is adjusted, the current cyclic traveling distance of the front vehicle traveling mechanism and the rear vehicle traveling mechanism is consistent, and the front vehicle traveling mechanism and the rear vehicle traveling mechanism synchronously traverse.
The specific steps of the synchronous straight movement of the front and rear vehicle travelling mechanisms in the step S3 are as follows: the PID closed-loop control unit of the driving traveling system receives the deviation correcting signal, and controls and adjusts the oil pump current value of the front vehicle traveling mechanism or the rear vehicle traveling mechanism, so that the oil pump displacement of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is controlled, the pressure of a closed hydraulic loop of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is adjusted, the pressure of the front vehicle traveling mechanism and the rear vehicle traveling mechanism is consistent with the ratio of the front vehicle load to the rear vehicle load, and the front vehicle traveling mechanism and the rear vehicle traveling mechanism synchronously and directly travel.
And the upper computer judges a transverse traveling mode or a straight traveling mode according to the operation mode of the cab of the all-in-one machine for transporting and erecting, so that transverse deviation rectifying control and straight traveling deviation rectifying control are automatically switched.
And the data monitoring unit is used for filtering the data collected by the motor speed measuring sensor and the driving pressure sensor on the front and rear vehicle travelling mechanisms.
Compared with the prior art, the synchronous walking control system and the control method for the front and rear vehicles of the transporting and erecting integrated machine have the following advantages: the front and rear vehicle synchronous walking control system provided by the invention realizes the displacement speed deviation correction control of the front and rear vehicle transverse mode through the motor speed sensor and the PID closed-loop control unit of the driving walking system, thereby realizing the synchronous transverse movement of the front and rear vehicles; the deviation-correcting control of the closed hydraulic loop pressure in the forward and backward vehicle straight-ahead mode is realized through the driving pressure sensor and the PID closed-loop control unit of the driving traveling system, so that the synchronous straight-ahead of the forward and backward vehicles is realized, and the traveling stability of the frame transporting all-in-one machine is improved. Meanwhile, in a straight-ahead mode, the synchronous walking control system of the front and rear vehicles can correct the angle of the spherical hinge in real time through the encoder and the PID closed-loop control unit of the steering system, so that the walking directions of the front and rear vehicles are within the allowable deviation range of the same central line.
Drawings
FIG. 1 is a state diagram of a transverse mode of the transporting and erecting integrated machine of the invention;
FIG. 2 is a state diagram of a straight-going mode of the rack-transporting integrated machine of the present invention;
FIG. 3 is a schematic diagram of a motor tachometer sensor according to the present invention;
FIG. 4 is a schematic view of an encoder installation according to the present invention;
FIG. 5 is a flow chart of the control of the transverse synchronous walking of the transporting and erecting integrated machine of the invention;
FIG. 6 is a flow chart of the straight-going synchronous walking control of the transporting and erecting integrated machine of the invention;
in the figure: 1-main beam, 2-front vehicle running mechanism, 3-rear vehicle running mechanism, 4-spherical hinge, 5-motor, 6-motor speed sensor, 7-encoder, 8-spherical hinge bearing base of rear vehicle running mechanism, 9-spherical hinge bearing base on main beam, 10-shifting fork limit groove accessory and 11-shifting fork.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
The invention provides a front and rear vehicle synchronous walking control system of a frame transporting integrated machine, wherein the frame transporting integrated machine comprises a main beam 1, a front vehicle walking mechanism 2 and a rear vehicle walking mechanism 3, the front vehicle walking mechanism and the rear vehicle walking mechanism are respectively connected to the front end and the rear end of the main beam through spherical hinges, closed hydraulic loops are respectively arranged on the front vehicle walking mechanism and the rear vehicle walking mechanism, and each closed hydraulic loop at least comprises an oil pump, a motor 5, an A pipeline and a B pipeline. The frame transporting integrated machine and the transverse walking mode and the straight walking mode are respectively shown in the figures 1 and 2, so that the synchronous walking control system can realize the synchronous walking of the frame transporting integrated machine in the two modes.
The synchronous walking control system comprises a motor speed measuring sensor 6, a driving pressure sensor, a data monitoring unit, a driving walking system PID closed-loop control unit and an upper computer, wherein the motor speed measuring sensor is arranged on a motor of a front vehicle walking mechanism and a motor of a rear vehicle walking mechanism, more than one motor speed measuring sensor is arranged on the motor, the accuracy of measurement is improved, the motor speed measuring sensor measures the output current of the motor in real time, the motor speed measuring sensor in the embodiment is a Hall effect sensor, and the measurement principle diagram of the motor speed measuring sensor is shown in figure 3. The driving pressure sensor is arranged on an A port pipeline and a B port pipeline of a closed hydraulic loop of the front and rear vehicle travelling mechanisms and measures the pressure of the A port pipeline and the B port pipeline in real time. The motor speed sensor and the driving pressure sensor are both connected with the data monitoring unit, the data monitoring unit is connected with the upper computer, and the upper computer is connected with the PID closed-loop control unit of the driving walking system.
The synchronous walking control system in the embodiment further comprises an encoder 7 and a steering system PID closed-loop control unit, wherein the encoder is a high-precision absolute value encoder, and the encoder measures the deflection angle between the main beam and the walking mechanisms of the front and rear vehicles. The encoder is connected with the data monitoring unit, the upper computer is connected with the steering system PID closed-loop control unit, the encoder is installed on a spherical hinge bearing base 8 of the rear vehicle travelling mechanism through a support, the encoder installation schematic diagram is shown in figure 4, a shifting fork 11 and a shifting fork limiting groove accessory 10 are arranged on the encoder in a matched mode, the shifting fork limiting groove accessory is connected with a spherical hinge bearing base 9 on the main beam, and the shifting fork is connected between the shifting fork limiting groove accessory and the encoder. During the straight-ahead mode, the encoder monitors the angle of the spherical hinge in real time, monitored data are transmitted to the data monitoring unit, the data monitoring unit processes the data and transmits the data to the upper computer, the upper computer analyzes the data and sends an instruction, and the steering system PID closed-loop control unit controls the proportional valve of the oil pump according to the instruction, so that the deviation of the angle of the spherical hinge is corrected.
The invention provides a control method of a synchronous walking control system of front and rear vehicles of a transporting and erecting integrated machine, which comprises the following steps:
s1, mounting motor speed measuring sensors on motors of the front and rear vehicle travelling mechanisms, and mounting driving pressure sensors on an A port pipeline and a B port pipeline of a closed hydraulic loop of the front and rear vehicle travelling mechanisms;
s2, when the transportation and erection integrated machine transversely moves, calculating displacement deviation of the front and rear vehicle travelling mechanisms when transversely moving according to data measured by the motor speed measuring sensor; specifically, the calculation formula of the displacement deviation is as follows:
ΔSDifference (D)＝|ΔSRear end-ΔSFront side|
Wherein f isFront sideIs the average value of the current values of the motor tachometer sensors on the travelling mechanism of the leading vehicle, nFront sideNumber of motor tachometer sensors on the running gear of the preceding vehicle, fRear endIs the average value of the current values of the motor speed-measuring sensors on the travelling mechanism of the rear vehicle, nRear endThe number of motor speed-measuring sensors on the rear vehicle running mechanism, delta t is the current cycle working time, delta SFront sideΔ S is the distance traveled by the vehicle' S running gear before the current cycleRear endΔ S is the distance traveled by the vehicle running gear after the next cycleRear endIs the displacement deviation.
When the transporting and erecting integrated machine moves straight, the driving force balance must be ensured to realize the speed synchronization of the front and rear vehicle traveling mechanisms, and the P is ensured to ensure the driving force balanceFront side/PRear end＝(GFront side/NFront side)/(GRear end/NRear end) Is formed wherein GFront sideFor theoretical calculation of load, G, of travelling mechanism of preceding vehicleRear endFor the theoretical calculation of the load, N, of the travelling mechanism of the rear vehicleFront sideNumber of wheel sets, N, for the running gear of the front vehicleRear endNumber of wheel sets, P, for rear running gearFront sideFor the driving pressure, P, measured by a driving pressure sensor on the running gear of the leading vehicleRear endThe driving pressure measured by a driving pressure sensor on the travelling mechanism of the rear vehicle. G of the transport and erection integrated machineFront side、GRear end、NFront side、NRear endAll are fixed values, so for convenience of calculation, the ratio is converted into the difference value in the embodiment to set the early warning threshold valueAnd (4) placing.
Calculating the driving pressure difference of the front and rear vehicle travelling mechanisms during straight travelling according to the data measured by the driving pressure sensor, and then adjusting the front and rear vehicle travelling mechanisms during straight travelling according to the comparison between the pressure difference and the early warning threshold value; specifically, the calculation formula of the driving pressure difference is as follows:
ΔPdifference (D)＝|PFront side-PRear end|
In addition, P in the present embodimentFront sideThe average value P of the driving pressure measured by the A port pipeline and the B port pipeline of the closed hydraulic circuit of the running mechanism of the front vehicleRear endThe average value of the driving pressure measured by the pipeline at the port A and the pipeline at the port B of the closed hydraulic circuit of the rear vehicle travelling mechanism is obtained.
S3, when the vehicle is moving transversely, the data monitoring unit uploads the displacement deviation result to the upper computer, theoretically, if delta S is detectedRear end＝ΔSRear endIf the displacement of the front and rear vehicle traveling mechanisms is not synchronous, the displacement deviation exists, an early warning threshold value of the displacement deviation is set, the displacement deviation is smaller than the early warning threshold value, no correction is needed at the moment, but if the displacement deviation result is larger than the early warning threshold value, the upper computer sends a correction signal, the driving traveling system PID closed-loop control unit receives the correction signal, the driving traveling system PID closed-loop control unit controls and adjusts the oil pump current value of the front vehicle traveling mechanism or the rear vehicle traveling mechanism, so that the oil pump displacement of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is controlled, the motor speed of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is adjusted, the current cyclic traveling distances of the front and rear vehicle traveling mechanisms are consistent, the front and rear vehicle traveling mechanisms synchronously and transversely travel, and a transverse synchronous traveling control flow chart is shown in fig. 5.
When the vehicle travels straight, the data monitoring unit uploads a driving pressure difference result to the upper computer, if the driving pressure difference result is larger than an early warning threshold value, the upper computer sends a deviation correction signal, the driving traveling system PID closed-loop control unit receives the deviation correction signal, the driving traveling system PID closed-loop control unit controls and adjusts an oil pump current value of the front vehicle traveling mechanism or the rear vehicle traveling mechanism, so that the oil pump displacement of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is controlled, the pressure of a closed hydraulic loop of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is adjusted, the pressure of the front vehicle traveling mechanism and the rear vehicle traveling mechanism is consistent with the front vehicle load ratio, the front vehicle traveling mechanism and the rear vehicle traveling mechanism travel straight synchronously, and a straight synchronous traveling control flow chart is shown in fig. 6.
The operation mode of the cab of the all-in-one machine is a transverse or straight mode, in the embodiment, the upper computer selects transverse or straight movement according to the operation mode, so that transverse deviation correction control and straight deviation correction control are automatically switched. In addition, the upper computer can judge a transverse traveling mode or a straight traveling mode according to the wheel set angle data collected by the encoder, the transverse traveling mode is judged when the wheel set angle is 85-95 degrees, and the straight traveling mode is judged when the wheel set angle is-15 degrees. The data monitoring unit carries out filtering processing on the data collected by the motor speed measuring sensor and the driving pressure sensor on the front and rear vehicle travelling mechanisms, so that data fluctuation is reduced, and the stability of the control system is improved.
Claims (10)
1. The utility model provides a transport and put up synchronous walking control system of car around all-in-one, transport and put up all-in-one and include girder, preceding car running gear and back car running gear, preceding, back car running gear all connect respectively in the front and back end of girder through the ball pivot, all are provided with closed hydraulic circuit on preceding, the back car running gear, and closed hydraulic circuit includes oil pump, motor, A mouth pipeline and B mouth pipeline, its characterized in that at least: the synchronous walking control system comprises a motor speed sensor, a driving pressure sensor, a data monitoring unit, a driving walking system PID closed-loop control unit and an upper computer, wherein the motor speed sensor is arranged on the motor of the front and rear vehicle walking mechanisms and is used for measuring the rotating speed of the motor in real time, the driving pressure sensor is arranged on an A port pipeline and a B port pipeline of a closed hydraulic loop of the front and rear vehicle walking mechanisms and is used for measuring the pressure of the A port pipeline and the B port pipeline in real time, the motor speed sensor and the driving pressure sensor are both connected with the data monitoring unit, the data monitoring unit is connected with the upper computer, the upper computer is connected with the driving walking system PID closed-loop control unit, the motor speed sensor and the driving pressure sensor transmit acquired data to the data monitoring unit, the data monitoring unit processes the data and transmits the processed data to the upper computer, the upper computer analyzes data and sends an instruction, and the PID closed-loop control unit of the driving walking system controls the motor and the proportional valve of the oil pump according to the instruction, so that the speed of the motor and the discharge capacity of the oil pump are controlled, and synchronous transverse movement and synchronous straight movement of the front vehicle and the rear vehicle of the transporting and erecting integrated machine are realized.
2. The synchronous walking control system for front and rear vehicles of the frame transporting and integrating machine according to claim 1, characterized in that: the synchronous walking control system also comprises an encoder and a steering system PID closed-loop control unit, the encoder is connected with the data monitoring unit, the upper computer is connected with the steering system PID closed-loop control unit, the encoder is installed on a spherical hinge bearing base of the rear vehicle walking mechanism through a support, the encoder is provided with a shifting fork and a shifting fork limiting groove accessory in a matching manner, the shifting fork limiting groove accessory is connected with the spherical hinge bearing base of the main beam, and the shifting fork is connected between the shifting fork limiting groove accessory and the encoder; the encoder monitors the angle of the spherical hinge in real time, monitored data are transmitted to the data monitoring unit, the data monitoring unit processes the data and transmits the data to the upper computer, the upper computer analyzes the data and sends an instruction, and the steering system PID closed-loop control unit controls the proportional valve of the oil pump according to the instruction, so that the angle of the spherical hinge is corrected.
3. The synchronous walking control system for front and rear vehicles of the frame transporting and integrating machine according to claim 1, characterized in that: the motor speed measuring sensor is a Hall effect sensor.
4. A control method of a synchronous walking control system of front and rear vehicles of an all-in-one frame transporting machine according to claim 1 is characterized by comprising the following steps:
s1, mounting motor speed measuring sensors on motors of the front and rear vehicle travelling mechanisms, and mounting driving pressure sensors on an A port pipeline and a B port pipeline of a closed hydraulic loop of the front and rear vehicle travelling mechanisms;
s2, when the transportation and erection integrated machine transversely moves, calculating displacement deviation of the front and rear vehicle travelling mechanisms when transversely moving according to data measured by the motor speed measuring sensor; when the frame transporting and transporting integrated machine moves straight, the driving pressure difference of the front and rear vehicle traveling mechanisms during straight movement is calculated according to the data measured by the driving pressure sensor;
s3, when the vehicle is moving transversely, the data monitoring unit uploads a displacement deviation result to the upper computer, if the displacement deviation result is larger than an early warning threshold value, the upper computer sends a deviation correcting signal, and the PID closed-loop control unit of the driving travelling system adjusts a proportional valve of a motor according to the deviation correcting signal to enable the travelling mechanisms of the front vehicle and the rear vehicle to move transversely synchronously; when the vehicle travels straight, the data monitoring unit uploads the driving pressure difference result to the upper computer, if the driving pressure difference result is larger than the early warning threshold value, the upper computer sends a deviation correcting signal, and the PID closed-loop control unit of the driving traveling system adjusts a proportional valve of the oil pump according to the deviation correcting signal to enable the traveling mechanisms of the front vehicle and the rear vehicle to travel straight synchronously.
5. The control method of the synchronous walking control system for the front and rear vehicles of the frame transporting and integrating machine according to claim 4, characterized in that: in step S2, the formula for calculating the displacement deviation when the front and rear vehicle travel mechanisms travel in the lateral direction is as follows:
ΔSdifference (D)＝|ΔSRear end-ΔSFront side|
Wherein f isFront sideIs the average value of the current values of the motor tachometer sensors on the travelling mechanism of the leading vehicle, nFront sideNumber of motor tachometer sensors on the running gear of the preceding vehicle, fRear endIs the average value of the current values of the motor speed-measuring sensors on the travelling mechanism of the rear vehicle, nRear endThe number of motor speed-measuring sensors on the rear vehicle running mechanism, delta t is the current cycle working time, delta SFront sideΔ S is the distance traveled by the vehicle' S running gear before the current cycleRear endΔ S is the distance traveled by the vehicle running gear after the next cycleRear endIs the displacement deviation.
6. The control method of the synchronous walking control system for the front and rear vehicles of the frame transporting and integrating machine according to claim 1, characterized in that: the calculation formula of the driving pressure difference when the front and rear vehicle travel mechanisms travel straight in step S2 is as follows:
ΔPdifference (D)＝|PFront side-PRear end|
Wherein, PFront sideFor the driving pressure, P, measured by a driving pressure sensor on the running gear of the leading vehicleRear endThe driving pressure measured by a driving pressure sensor on the travelling mechanism of the rear vehicle.
7. The control method of the synchronous walking control system for the front and rear vehicles of the frame transporting and integrating machine according to claim 1, characterized in that: the specific steps of the synchronous transverse movement of the front and rear vehicle travelling mechanisms in the step S3 are as follows: the PID closed-loop control unit of the driving traveling system receives the deviation correcting signal, and controls and adjusts the oil pump current value of the front vehicle traveling mechanism or the rear vehicle traveling mechanism, so that the oil pump displacement of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is controlled, the motor speed of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is adjusted, the current cyclic traveling distance of the front vehicle traveling mechanism and the rear vehicle traveling mechanism is consistent, and the front vehicle traveling mechanism and the rear vehicle traveling mechanism synchronously traverse.
8. The control method of the synchronous walking control system for the front and rear vehicles of the frame transporting and integrating machine according to claim 1, characterized in that: the specific steps of the synchronous straight movement of the front and rear vehicle travelling mechanisms in the step S3 are as follows: the PID closed-loop control unit of the driving traveling system receives the deviation correcting signal, and controls and adjusts the oil pump current value of the front vehicle traveling mechanism or the rear vehicle traveling mechanism, so that the oil pump displacement of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is controlled, the pressure of a closed hydraulic loop of the front vehicle traveling mechanism or the rear vehicle traveling mechanism is adjusted, the pressure of the front vehicle traveling mechanism and the rear vehicle traveling mechanism is consistent with the ratio of the front vehicle load to the rear vehicle load, and the front vehicle traveling mechanism and the rear vehicle traveling mechanism synchronously and directly travel.
9. The control method of the synchronous walking control system for the front and rear vehicles of the frame transporting and integrating machine according to claim 4, characterized in that: and the upper computer judges a transverse traveling mode or a straight traveling mode according to the operation mode of the cab of the all-in-one machine for transporting and erecting, so that transverse deviation rectifying control and straight traveling deviation rectifying control are automatically switched.
10. The control method of the synchronous walking control system for the front and rear vehicles of the frame transporting and integrating machine according to claim 4, characterized in that: and the data monitoring unit is used for filtering the data collected by the motor speed measuring sensor and the driving pressure sensor on the front and rear vehicle travelling mechanisms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111517381.7A CN114229702A (en) | 2021-12-13 | 2021-12-13 | Front and rear vehicle synchronous walking control system of transporting and erecting integrated machine and control method thereof |
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Cited By (1)
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| CN116923232A (en) * | 2023-09-12 | 2023-10-24 | 天津朗誉机器人有限公司 | Double-vehicle linkage transportation system and method |
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