CN114319480A - Loader bucket attitude control system - Google Patents
Loader bucket attitude control system Download PDFInfo
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- CN114319480A CN114319480A CN202210052348.XA CN202210052348A CN114319480A CN 114319480 A CN114319480 A CN 114319480A CN 202210052348 A CN202210052348 A CN 202210052348A CN 114319480 A CN114319480 A CN 114319480A
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Abstract
The invention discloses a posture control system of a loader bucket, which relates to the technical field of loader bucket regulation and control, and comprises the following components: starting and stopping the whole vehicle controller by pressing a key and inputting bucket control data; receiving a control signal of the vehicle control unit and carrying out bucket operation; acquiring values of the inclination angle of the movable arm, the inclination angle of the rocker arm and the inclination angle of the front frame of the bucket; performing algorithm calculation according to the acquired inclination angle value and performing signal conversion and output; and receiving the converted numerical value signal and outputting an electric signal to control the proportional solenoid valve. The invention achieves the adjustment of the valve rods in the movable arm oil cylinder and the tipping bucket oil cylinder by the cooperation of each module and the feedback of real-time inclination angle values and the on-off of the electromagnetic valve, thereby controlling the action operation of the movable arm oil cylinder and the tipping bucket oil cylinder, and realizing the accompanying adjustment function of the posture of the bucket under the condition of the change of the operation actions of the two oil cylinders, thereby improving the fault-tolerant rate of the bucket in the adjustment process and simultaneously improving the use efficiency of equipment.
Description
Technical Field
The invention relates to the technical field of loader bucket regulation and control, in particular to a loader bucket attitude control system.
Background
The loader is a kind of earthwork construction machinery widely used in construction engineering, it is mainly used for shoveling and loading bulk materials such as soil, gravel, lime, coal, etc., besides, it can also carry out light shoveling and digging operation for ore, hard soil, etc., it can also carry out loading and unloading operation for bulldozing, hoisting and other materials such as wood by changing different auxiliary working devices, on the road, especially in high-grade highway construction, the loader is used for filling and digging of roadbed engineering, collecting and loading materials for asphalt mixture and cement mixture material yard, besides, it can also carry out pushing and transporting soil, scraping ground and pulling other machinery, etc. The loader has the advantages of high operation speed, high efficiency, good maneuverability, light operation and the like.
In the conventional loader working device, a driver operates a hydraulic pilot handle or a mechanical handle to control the on-off of a pilot oil path, so that the control on the position of a valve rod of the multi-way valve is realized, and the operation of the working device is controlled.
In the control process, the energy of operators is consumed, the fault tolerance rate is low in the operation process, the implementation efficiency of the whole process is reduced if the operation error condition occurs, and in order to solve the problems, the loader bucket attitude control system is provided.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides a loader bucket attitude control system.
In order to achieve the purpose, the invention adopts the following technical scheme:
a loader bucket attitude control method comprises the following steps:
starting and stopping the whole vehicle controller by pressing a key and inputting bucket control data;
receiving a control signal of the vehicle control unit and carrying out bucket operation;
acquiring values of the inclination angle of the movable arm, the inclination angle of the rocker arm and the inclination angle of the front frame of the bucket;
performing algorithm calculation according to the acquired inclination angle value and performing signal conversion and output;
receiving the converted numerical value signal and outputting an electric signal to control the proportional solenoid valve;
and directly regulating and controlling related equipment based on the proportional electromagnetic valve control signal, and indirectly regulating and controlling the posture of the bucket according to the regulation and control data of the related equipment.
Preferably, the control signal of the vehicle control unit is received and the bucket operation is performed, and the bucket operation steps are as follows:
the electric handle is controlled to swing, and a voltage signal is generated in the swing pressure adjusting process;
the vehicle control unit receives the voltage signal and converts the voltage signal into a PWM signal;
and the proportional pressure reducing valve receives the PWM signal to regulate and feed back a main valve.
Preferably, the values of the inclination angle of the bucket arm, the inclination angle of the rocker arm and the inclination angle of the front frame are obtained, the three values of the inclination angle are subjected to data transmission through corresponding sensors, and the corresponding sensors are a bucket arm inclination angle sensor, a bucket rocker arm inclination angle sensor and a front frame inclination angle sensor.
Preferably, the method performs algorithm calculation according to the acquired inclination value and performs signal conversion and output, and includes the following steps:
sampling the operation inclination angle numerical value and carrying out PID control calculation;
the vehicle control unit receives the calculation data and simultaneously carries out AD signal conversion;
and the man-machine interface end receives and displays the inclination angle value conversion signal, and feeds back the inclination angle data of the bucket arm end to the operation direction.
Preferably, the converted inclination angle value signal is received and output to control a proportional solenoid valve, wherein the proportional solenoid valve comprises a boom proportional solenoid valve and a rocker proportional solenoid valve.
Preferably, the control method includes directly controlling the related equipment based on the proportional solenoid valve control signal, and indirectly performing the operation of adjusting the posture of the bucket according to the control data of the related equipment, where the related equipment includes a boom cylinder and a dump bucket cylinder, and the steps include:
the valve port of the electromagnetic valve is closed to control the valve rod in the cylinder;
the action conditions of the movable arm oil cylinder and the tipping bucket oil cylinder change along with the valve rod;
the posture of the bucket is adjusted along with the change actions of the movable arm oil cylinder and the tipping bucket oil cylinder.
A loader bucket attitude control system comprising:
the whole machine start-stop control module: starting and stopping the whole vehicle controller by pressing a key and inputting bucket control data;
a bucket operation module: receiving a control signal of the vehicle control unit and carrying out bucket operation;
the dip angle data capturing module: acquiring values of the inclination angle of the movable arm, the inclination angle of the rocker arm and the inclination angle of the front frame of the bucket;
the dip angle numerical value processing module: performing algorithm calculation according to the acquired inclination angle value and performing signal conversion and output;
the electromagnetic valve control module: receiving the converted numerical value signal and outputting an electric signal to control the proportional solenoid valve;
the bucket attitude regulating and controlling module: and directly regulating and controlling related equipment based on the proportional electromagnetic valve control signal, and indirectly regulating and controlling the posture of the bucket according to the regulation and control data of the related equipment.
Preferably, the bucket attitude modifier module includes:
valve rod regulation and control unit: the valve port of the electromagnetic valve is closed to control the valve rod in the cylinder;
an oil cylinder action change unit: the action conditions of the movable arm oil cylinder and the tipping bucket oil cylinder change along with the valve rod;
a bucket adjusting unit: the posture of the bucket is adjusted along with the change actions of the movable arm oil cylinder and the tipping bucket oil cylinder.
Compared with the prior art, the invention has the beneficial effects that:
the invention achieves the adjustment of the valve rods in the movable arm oil cylinder and the tipping bucket oil cylinder by the cooperation of each module and the feedback of real-time inclination angle values and the on-off of the electromagnetic valve, thereby controlling the action operation of the movable arm oil cylinder and the tipping bucket oil cylinder, and realizing the accompanying adjustment function of the posture of the bucket under the condition of the change of the operation actions of the two oil cylinders, thereby improving the fault-tolerant rate of the bucket in the adjustment process and simultaneously improving the use efficiency of equipment.
Drawings
FIG. 1 is a schematic overall flow chart of a loader bucket attitude control system according to the present invention;
FIG. 2 is a schematic diagram illustrating the operation steps of a bucket of a loader bucket attitude control system according to the present invention;
FIG. 3 is a schematic diagram of a flow chart of an algorithm calculation and signal conversion output of an inclination angle value of a loader bucket attitude control system according to the present invention;
FIG. 4 is a schematic diagram illustrating a process of adjusting the posture of a bucket of a loader bucket posture control system according to the present invention;
FIG. 5 is a block flow diagram of a loader bucket attitude control system according to the present invention;
fig. 6 is a schematic flow chart of a bucket attitude control module of a loader bucket attitude control system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-6, a loader bucket attitude control method includes the following steps:
and S1, performing key start and stop on the whole vehicle controller and inputting bucket control data.
S2, receiving a control signal of the vehicle control unit and carrying out bucket operation, wherein the bucket operation steps are as follows:
s201, operating an electric handle to swing, generating a voltage signal in the swing pressure adjusting process, wherein the operating mode of the electric handle is completely the same as that of the original handle, the electric handle can swing at a certain angle back and forth and left and right simultaneously, and the power supply voltage is 5V or 10V;
s202: the vehicle control unit receives the voltage signal and converts the voltage signal into a PWM signal, the electric handle generates a signal which is a voltage signal, and the driving signal received by the proportional pressure reducing valve is a current, so that the voltage signal sent by the electric handle needs to be converted by the controller and then outputs the PWM signal, thereby driving the proportional pressure reducing valve;
s203: the proportional pressure reducing valve receives the PWM signal to regulate and feed back a main valve, the transmitted PWM signal acts to drive the proportional pressure reducing valve to realize the regulation and control of the main valve, the time constant of an electromagnet coil of the proportional pressure reducing valve is T ═ L/(R + R), in the formula, l is coil inductance, R is electromagnet internal resistance, R is sampling resistance value, Delta is time of PWM in a period T of high level, when T is equal to 0, the inductor starts to charge, the current flowing through it gradually increases from zero, and if T < r, when t is equal, the inductor charging is not finished and is converted into discharging, and similarly, the inductor current still cannot be reduced to zero and starts to be charged again when the next period is reached, however, the inductor is charged again from the last charging current reached, so that the inductor is actually charged continuously, and the current flowing through the inductor is gradually increased;
when the time constant of a proportional pressure reducing valve of the system is approximately 0.01H/(3.6+0.33) o is 0.0025s, when the period of the PWM is set to be less than 0.0025s (namely, the frequency is set to be more than 400 Hz), the current on the solenoid valve coil is gradually increased, so that the frequency of charging and discharging the solenoid valve coil is increased along with the increase of the frequency, the ripple of the current flowing through the load is reduced, the time for discharging the solenoid valve coil is shorter, the charging amount is increased more and more, and the current steady-state gain is gradually increased;
s3, acquiring values of the inclination angle of a movable arm, the inclination angle of a rocker arm and the inclination angle of a front frame of the bucket;
s301, data transmission is carried out on the three types of inclination angle numerical values through corresponding sensors, wherein the corresponding sensors are a bucket movable arm inclination angle sensor, a bucket rocker arm inclination angle sensor and a front frame inclination angle sensor;
let the bucket declination angle be gamma1The bucket corner angle is gamma2Angle of gamma to the horizontal plane3Wherein the angle of inclination γ3Following the angle of rotation gamma2The change rule of (1) is as follows;
in the shoveling plane, i.e. the plane in which the cutting edge lies, it does not coincide with the reference plane, but has an angle whose size and sign reflect the degree to which the cutting edge is inclined to the left or to the right, which is also related to the position angle of the bucket.
S4, performing algorithm calculation according to the acquired inclination angle value and performing signal conversion and output, wherein the other steps are as follows;
s401, operating inclination angle numerical value sampling and carrying out PID control calculation, wherein a cascade control system is adopted in the PID control system and mainly comprises a main loop PID1 and an auxiliary loop PID2, the inertia of the auxiliary loop is adjusted by the auxiliary loop, the response speed of the whole system is improved, the auxiliary loop is the key of cascade system design, and the design method of the expected closed-loop characteristic design auxiliary regulator is as follows;
the transfer function of the closed loop system of the secondary loop can be obtained from the block diagram of the secondary loop;
obtaining a control law of the auxiliary regulator;
general selection;
α2(z)＝Z-n。
s402, the whole vehicle controller receives the calculation data and carries out AD signal conversion at the same time, and as the result of quantization is to round the mantissa, the vehicle controller has m bits and the input voltage range is VmaxOf 0 to 2m-1 to 2mEach grade with increment of X ═ Vmax/2m1, then the maximum error of the quantization is Emax(nT)＝±X/2；
When the voltage range of the input signal is 10V, the resolution of the 8-bit A/D converter is that the input signal is input
S403, the man-machine interface end receives and displays the inclination angle value conversion signal, the inclination angle data of the bucket arm end is fed back to the operation direction, the row line is used as an input line, the column line is used as an output line, the output lines are all 0, the row line changed from high level to low level is the row where the key is located, the row line value read in the first step is added with the column line value read in the second step, namely splicing is carried out, so that the unique characteristic value representing the key is obtained, the man-machine interface display end carries out dynamic display, a plurality of LED digital display sections select lines to be connected in parallel, and share one data latch; the bit selection lines of the display control circuit share another data latch, only one bit of display characters (time-sharing gating) is displayed at each moment, and the display control circuit sequentially and circularly executes;
s5, receiving the converted inclination angle numerical value signal and outputting a control proportion electromagnetic valve;
s501, the proportional solenoid valve comprises a movable arm proportional solenoid valve and a rocker arm proportional solenoid valve, when the inlet and the outlet have no pressure difference, after the power is on, the electromagnetic force directly lifts the pilot small valve and the main valve closing member upwards in sequence, the valve is opened, when the inlet and the outlet reach starting pressure difference, after the power is on, the electromagnetic force pilot small valve raises the pressure of the lower cavity of the main valve, the pressure of the upper cavity is lowered, and thus the main valve is pushed upwards by utilizing the pressure difference; when the power is cut off, the closing member is pushed by the pilot valve by spring force or medium pressure to move downwards, so that the valve is closed.
S6, directly regulating and controlling the relevant equipment based on the proportional solenoid valve control signal, and indirectly regulating and controlling the posture of the bucket according to the regulation and control data of the relevant equipment, wherein the steps are as follows;
s601, opening and closing the valve port of the electromagnetic valve to control the valve rod in the cylinder;
s602, when the action conditions of a movable arm oil cylinder and a tipping bucket oil cylinder are changed along with the change of a valve rod, when a movable arm lifts, hydraulic oil enters a rodless cavity of a movable arm hydraulic cylinder from a working hydraulic pump, a hydraulic oil truck flowing out of a rod cavity of a driven arm hydraulic cylinder enters the lower position of a leveling valve and then is divided into two paths, part of oil enters a rodless cavity of a bucket rod hydraulic cylinder through a lower throttling valve in a leveling valve, a one-way valve enters the rodless cavity of the bucket rod hydraulic cylinder, and the oil in the rod cavity of the bucket rod hydraulic cylinder enters an oil return tank of a working port of the movable arm hydraulic control valve through a hydraulic control reversing valve;
the other part of oil directly enters an oil return tank of a control valve working port of the movable arm hydraulic cylinder through an upper throttle valve in the leveling valve, and the flow of the hydraulic cylinder entering the bucket rod of the well can be controlled by adjusting two throttle valves in the leveling valve, so that the rotating angle of the movable arm and the rotating angle of the bucket are kept consistent in the lifting process of the movable arm, and the aim of leveling the bucket is fulfilled;
and S603, adjusting the posture of the bucket along with the change actions of the movable arm oil cylinder and the tipping bucket oil cylinder.
A loader bucket attitude control system comprising:
the whole machine start-stop control module: starting and stopping the whole vehicle controller by pressing a key and inputting bucket control data;
a bucket operation module: receiving a control signal of the vehicle control unit and carrying out bucket operation;
the dip angle data capturing module: acquiring values of a tilt angle of a movable arm, a tilt angle of a rocker arm and a tilt angle of a front frame of the bucket;
the dip angle numerical value processing module: performing algorithm calculation according to the acquired inclination angle value and performing signal conversion and output;
the electromagnetic valve control module: receiving the converted numerical value signal and outputting an electric signal to control the proportional solenoid valve;
the bucket attitude regulating and controlling module: and directly regulating and controlling related equipment based on the proportional solenoid valve control signal, and indirectly regulating and controlling the posture of the bucket according to the regulation and control data of the related equipment.
Wherein, the scraper bowl gesture regulates and control the module and includes:
valve rod regulation and control unit: the valve port of the electromagnetic valve is closed to control the valve rod in the cylinder, and when the power is off, the spring directly presses the iron core on the valve seat to force the valve to close. When the coil is electrified, the generated electromagnetic force can press the spring and lift the iron core, and then the valve can be opened;
an oil cylinder action change unit: the action conditions of the movable arm oil cylinder and the tipping bucket oil cylinder change along with the valve rod;
a bucket adjusting unit: the posture of the bucket is adjusted along with the change actions of the movable arm oil cylinder and the tipping bucket oil cylinder.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. A loader bucket attitude control method is characterized by comprising the following steps:
starting and stopping the whole vehicle controller by pressing a key and inputting bucket control data;
receiving a control signal of the vehicle control unit and carrying out bucket operation;
acquiring values of the inclination angle of the movable arm, the inclination angle of the rocker arm and the inclination angle of the front frame of the bucket;
performing algorithm calculation according to the acquired inclination angle value and performing signal conversion and output;
receiving the converted numerical value signal and outputting an electric signal to control the proportional solenoid valve;
and directly regulating and controlling related equipment based on the proportional electromagnetic valve control signal, and indirectly regulating and controlling the posture of the bucket according to the regulation and control data of the related equipment.
2. The attitude control method of the loader bucket according to claim 1, characterized by receiving a control signal of the vehicle control unit and performing bucket operation, wherein the bucket operation comprises the following steps:
the electric handle is controlled to swing, and a voltage signal is generated in the swing pressure adjusting process;
the vehicle control unit receives the voltage signal and converts the voltage signal into a PWM signal;
and the proportional pressure reducing valve receives the PWM signal to regulate and feed back a main valve.
3. The method as claimed in claim 1, wherein the values of the tilt angle of the bucket arm, the tilt angle of the swing arm and the tilt angle of the front frame are obtained, and the three values of the tilt angle are transmitted via corresponding sensors, wherein the corresponding sensors are the tilt angle sensor of the bucket arm, the tilt angle sensor of the swing arm of the bucket arm and the tilt angle sensor of the front frame.
4. The attitude control method of a loader bucket according to claim 1, characterized in that an algorithm is calculated and a signal is converted and output according to the acquired inclination angle value, and the steps are as follows:
sampling the operation inclination angle numerical value and carrying out PID control calculation;
the vehicle control unit receives the calculation data and simultaneously carries out AD signal conversion;
and the man-machine interface end receives and displays the inclination angle value conversion signal, and feeds back the inclination angle data of the bucket arm end to the operation direction.
5. The attitude control method of the loader bucket according to claim 1, characterized by receiving the converted inclination angle value signal and outputting a control proportional solenoid valve, wherein the proportional solenoid valve comprises a boom proportional solenoid valve and a rocker proportional solenoid valve.
6. The method as claimed in claim 1, wherein the proportional solenoid valve control signal is used to directly control the related equipment, and the related equipment is indirectly used to adjust the bucket attitude according to the control data of the related equipment, wherein the related equipment includes a boom cylinder and a dump bucket cylinder, and the method comprises the following steps:
the valve port of the electromagnetic valve is closed to control the valve rod in the cylinder;
the action conditions of the movable arm oil cylinder and the tipping bucket oil cylinder change along with the valve rod;
the posture of the bucket is adjusted along with the change actions of the movable arm oil cylinder and the tipping bucket oil cylinder.
7. A loader bucket attitude control system, comprising:
the whole machine start-stop control module: starting and stopping the whole vehicle controller by pressing a key and inputting bucket control data;
a bucket operation module: receiving a control signal of the vehicle control unit and carrying out bucket operation;
the dip angle data capturing module: acquiring values of the inclination angle of the movable arm, the inclination angle of the rocker arm and the inclination angle of the front frame of the bucket;
the dip angle numerical value processing module: performing algorithm calculation according to the acquired inclination angle value and performing signal conversion and output;
the electromagnetic valve control module: receiving the converted numerical value signal and outputting an electric signal to control the proportional solenoid valve;
the bucket attitude regulating and controlling module: and directly regulating and controlling related equipment based on the proportional electromagnetic valve control signal, and indirectly regulating and controlling the posture of the bucket according to the regulation and control data of the related equipment.
8. The loader bucket attitude control system of claim 7, wherein the bucket attitude conditioning module comprises:
valve rod regulation and control unit: the valve port of the electromagnetic valve is closed to control the valve rod in the cylinder;
an oil cylinder action change unit: the action conditions of the movable arm oil cylinder and the tipping bucket oil cylinder change along with the valve rod;
a bucket adjusting unit: the posture of the bucket is adjusted along with the change actions of the movable arm oil cylinder and the tipping bucket oil cylinder.
9. A loader bucket attitude control system computer apparatus comprising a memory having computer readable instructions stored therein and a processor that when executed performs the steps of a loader bucket attitude control method according to any one of claims 1 to 6.
10. A loader bucket attitude control system computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer readable instructions which, when executed by a processor, implement the steps of a loader bucket attitude control method according to any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210052348.XA CN114319480A (en) | 2022-01-18 | 2022-01-18 | Loader bucket attitude control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210052348.XA CN114319480A (en) | 2022-01-18 | 2022-01-18 | Loader bucket attitude control system |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09195306A (en) * | 1996-01-23 | 1997-07-29 | Shin Caterpillar Mitsubishi Ltd | Work part attitude control device for work machine |
| CN206591561U (en) * | 2017-03-16 | 2017-10-27 | 贵州詹阳动力重工有限公司 | A kind of loader-digger loading attachment automatic control system |
| CN206844183U (en) * | 2017-06-12 | 2018-01-05 | 青岛雷沃工程机械有限公司 | A kind of excavator transport form regulation system and excavator |
| CN108978769A (en) * | 2018-07-03 | 2018-12-11 | 柳州柳工挖掘机有限公司 | Excavator operating mode's switch clocking method and system and excavator |
-
2022
- 2022-01-18 CN CN202210052348.XA patent/CN114319480A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09195306A (en) * | 1996-01-23 | 1997-07-29 | Shin Caterpillar Mitsubishi Ltd | Work part attitude control device for work machine |
| CN206591561U (en) * | 2017-03-16 | 2017-10-27 | 贵州詹阳动力重工有限公司 | A kind of loader-digger loading attachment automatic control system |
| CN206844183U (en) * | 2017-06-12 | 2018-01-05 | 青岛雷沃工程机械有限公司 | A kind of excavator transport form regulation system and excavator |
| CN108978769A (en) * | 2018-07-03 | 2018-12-11 | 柳州柳工挖掘机有限公司 | Excavator operating mode's switch clocking method and system and excavator |
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