CN114834553B - Engineering vehicle and walking control method thereof - Google Patents

Engineering vehicle and walking control method thereof Download PDF

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Publication number
CN114834553B
CN114834553B CN202210513855.9A CN202210513855A CN114834553B CN 114834553 B CN114834553 B CN 114834553B CN 202210513855 A CN202210513855 A CN 202210513855A CN 114834553 B CN114834553 B CN 114834553B
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speed
crawler
crawler belt
traveling
rated
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CN114834553A (en
Inventor
李定国
刘增志
李磊
徐记锋
厉超
马宝
邵广启
翟中侠
宗涛
宋明明
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Shandong Community Construction Machinery Co ltd
Shantui Chutian Construction Machinery Co Ltd
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Shandong Community Construction Machinery Co ltd
Shantui Chutian Construction Machinery Co Ltd
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Publication of CN114834553A publication Critical patent/CN114834553A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/04—Control of vehicle driving stability related to roll-over prevention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18172—Preventing, or responsive to skidding of wheels
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
    • E01C23/06—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road
    • E01C23/08—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades
    • E01C23/085—Devices or arrangements for working the finished surface; Devices for repairing or reconditioning the surface of damaged paving; Recycling in place or on the road for roughening or patterning; for removing the surface down to a predetermined depth high spots or material bonded to the surface, e.g. markings; for maintaining earth roads, clay courts or like surfaces by means of surface working tools, e.g. scarifiers, levelling blades using power-driven tools, e.g. vibratory tools
    • E01C23/088—Rotary tools, e.g. milling drums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/06—Combustion engines, Gas turbines
    • B60W2510/0638—Engine speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/08—Electric propulsion units
    • 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Mining & Mineral Resources (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Non-Deflectable Wheels, Steering Of Trailers, Or Other Steering (AREA)

Abstract

The invention relates to the technical field of engineering machinery, in particular to an engineering vehicle and a walking control method thereof. The method comprises the following steps: acquiring the actual speed of a reference crawler belt at the current steering angle, and acquiring the rated maximum speed and the rated minimum speed of a non-reference crawler belt at the current steering angle based on the actual speed of the reference crawler belt; acquiring the actual speed of the non-reference crawler; and comparing the actual speed of the reference crawler with the maximum allowable traveling speed of the engineering vehicle, simultaneously comparing the actual speed of the non-reference crawler with the rated maximum speed and the rated minimum speed corresponding to the current steering angle of each non-reference crawler, and controlling the displacement of the traveling pump and the traveling motor according to the comparison result. According to the invention, the walking speed of the crawler belt is controlled according to different steering angles of the engineering vehicle, so that the sideslip and abrasion of the crawler belt are reduced, and the safety of equipment is ensured.

Description

Engineering vehicle and walking control method thereof
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an engineering vehicle and a walking control method thereof.
Background
The milling machine generally comprises a frame, a power system, a working device, a traveling device, a lifting device (namely the support legs), a material conveying device and an auxiliary system, wherein the frame is supported on a road surface through the traveling device and the lifting device, the working device mainly comprises a milling cabin and a milling drum, the milling cabin is arranged on the frame, the milling drum is arranged on the milling cabin, the power system provides power for the milling machine, during operation, the milling machine and a material transporting vehicle work in cooperation, the traveling device drives the milling machine to advance along the road surface, the lifting device controls the lifting of the frame to further control the milling depth, milled old materials are conveyed to the material transporting vehicle through the material conveying device, and the material transporting vehicle is responsible for transporting the old materials to a preset place.
The large milling machine is driven by four crawler belts, and generally has four steering modes to meet construction requirements, namely a front wheel steering mode, a rear wheel steering mode, an all-wheel steering mode and a crab walking mode.
The milling machine needs to frequently walk and steer in the operation and transition processes, and a milling machine walking system is hydraulically driven by a pump and four motors, an engine drives a hydraulic pump, high-pressure oil provided by the hydraulic pump drives the four walking motors, and each walking motor is connected with an oil cylinder. When the milling machine is used for steering operation, the milling machine is not safely controlled, particularly runs at a high speed when steering at a large angle, if the speed difference between the inner side crawler belt and the outer side crawler belt is large, the crawler belt is very easy to slip, wear or damage, and if the speed difference between the inner side crawler belt and the outer side crawler belt is large, equipment is easy to turn over.
Therefore, a method for controlling the traveling of an engineering vehicle and an engineering vehicle are needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide an engineering vehicle and a traveling control method thereof, which can control the turning speed of each crawler belt during turning and prevent the crawler belt from skidding or a milling machine from turning over.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for controlling the walking of an engineering vehicle comprises a machine body and four crawler belts, wherein the four crawler belts are arranged below the machine body, the crawler belt with the minimum turning radius is set as a reference crawler belt, the other three crawler belts are non-reference crawler belts, and when the machine body of the engineering vehicle is in turning, the method comprises the following steps:
acquiring the actual speed of a reference crawler belt at the current steering angle, and acquiring the rated maximum speed and the rated minimum speed of a non-reference crawler belt at the current steering angle based on the actual speed of the reference crawler belt;
acquiring the actual speed of the non-reference crawler;
and comparing the actual speed of the reference crawler with the maximum allowable traveling speed of the engineering vehicle, simultaneously comparing the actual speed of the non-reference crawler with the rated maximum speed and the rated minimum speed corresponding to the current steering angle of each non-reference crawler, and controlling the displacement of the traveling pump and the traveling motor according to the comparison result.
As a preferable technical solution of the above method for controlling the traveling of the construction vehicle, obtaining the rated maximum speed and the rated minimum speed of the non-reference crawler at the current steering angle includes:
obtaining the rated speed of the non-reference crawler belt under the current steering angle based on the speed of the reference crawler belt;
and setting the speed operation deviation of the non-reference crawler belt to delta, and obtaining the rated maximum speed and the rated minimum speed of the non-reference crawler belt based on the rated speed and the speed operation deviation of the non-reference crawler belt.
As a preferable aspect of the above method for controlling the traveling of the construction vehicle, the comparing the actual speed of the reference crawler with the maximum allowable traveling speed of the construction vehicle, and the comparing the actual speed of the non-reference crawler with the rated maximum speed and the rated minimum speed of each non-reference crawler at the current steering angle, and controlling the displacement of the traveling pump and the traveling motor according to the comparison result includes:
comparing whether the actual speed of the reference crawler belt under the current steering angle is greater than the maximum allowable traveling speed of the engineering vehicle;
if the displacement is larger than the preset displacement, reducing the displacement of the walking pump;
if the actual speed of the non-reference crawler belt is less than the rated minimum speed, comparing whether the actual speed of the non-reference crawler belt is less than the rated minimum speed or not;
if the actual speed of the non-reference crawler belt is less than the rated minimum speed, the displacement of the walking motor corresponding to the corresponding non-reference crawler belt is increased;
if the actual speed of the non-reference crawler belt is greater than the rated minimum speed, comparing whether the actual speed of the non-reference crawler belt is greater than the rated maximum speed;
and if the actual speed of the non-reference crawler belt is greater than the rated maximum speed, reducing the displacement of the walking motor corresponding to the non-reference crawler belt.
As an optimal technical scheme of the engineering vehicle traveling control method, the maximum allowable traveling speed of the engineering vehicle is obtained based on a mapping relation between an included angle between the front and rear crawler belts and the maximum allowable traveling speed of the engineering vehicle, and the included angle between the front and rear crawler belts is obtained from steering angles of the front and rear crawler belts.
As a preferable technical solution of the above method for controlling the traveling of the construction vehicle, the method further includes:
and comparing the maximum allowable traveling speed of the engineering vehicle with the current traveling speed of the engineering vehicle, and controlling the displacement of the pump according to the comparison result.
As a preferable technical solution of the above method for controlling the traveling of the construction vehicle, if the current traveling speed of the construction vehicle is greater than or equal to the maximum allowable traveling speed of the construction vehicle, the displacement of the traveling pump is reduced.
As a preferable technical solution of the above method for controlling the traveling of the construction vehicle, the steering angle is obtained by an angle sensor or a magnetic telescopic sensor provided in a steering cylinder on the crawler.
As a preferable technical scheme of the engineering vehicle traveling control method, the displacement of the traveling pump and the displacement of the traveling motor are both realized by adjusting the current.
As a preferable technical solution of the above method for controlling the traveling of the construction vehicle, the method further includes:
when the engineering vehicle moves in a non-operation state, the rotating speed of the engine is obtained and is compared with the first rotating speed, if the rotating speed of the engine is less than the first rotating speed, adjusting the rotating speed of the engine to a second rotating speed; if the rotating speed of the engine is greater than the first rotating speed, the engine works at the current rotating speed;
the second rotating speed is within the speed range allowed by the position of the walking handle, and the second rotating speed is greater than the first rotating speed.
An engineering vehicle walks by using the engineering vehicle walking control method in any scheme.
The invention has the beneficial effects that:
according to the engineering vehicle walking control method provided by the invention, when an engineering vehicle body turns, the actual walking speed of the reference crawler belt, the maximum allowable walking speed of the engineering vehicle, the actual walking speed, the rated maximum speed and the rated minimum speed of the non-reference crawler belt are obtained, so that the situation that the actual walking speed of the non-reference crawler belt exceeds the rated maximum speed or the actual walking speed is lower than the rated maximum speed during turning can be prevented, the situation that the actual speed of the reference crawler belt exceeds the maximum allowable walking speed of the engineering vehicle can be prevented, and the situation that the body turns or the crawler belt slips can be prevented. Compared with the prior art, the side track walking speed control method has the advantages that the side track walking speed control is carried out according to different steering angles of the engineering vehicle, so that the sideslip and abrasion of the track are reduced, and the safety of equipment is ensured.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
FIG. 1 is a main flow chart of a method for controlling the traveling of an engineering vehicle based on the actual speed of a reference crawler according to an embodiment of the present invention;
FIG. 2 is a detailed flowchart of a method for controlling the traveling of the engineering vehicle based on the actual speed of the reference crawler according to the embodiment of the invention;
FIG. 3 is a flow chart of a method for realizing engineering vehicle traveling control based on steering speed limit provided by the embodiment of the invention;
fig. 4 is a flowchart of a method for controlling engineering vehicle traveling based on traveling speed according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
In the turning process of the engineering vehicle in the prior art, if the rotating speeds of the four crawler belts are large, the engineering vehicle can turn over, and if the rotating speed of any one of the four crawler belts is small, the engineering vehicle can slip.
In order to solve the above problem, the present embodiment provides a method for controlling traveling of a construction vehicle, which is capable of controlling the speeds of four crawler belts when the construction vehicle turns, and preventing rollover or slipping.
The engineering vehicle comprises a machine body, a controller, a crawler belt, a walking pump, a walking motor, a rotating speed sensor, a steering oil cylinder and an oil cylinder magnetic telescopic sensor. The controller is installed on the machine body, the crawler belt is driven by the walking motor, the walking motor is provided with the rotating speed sensor, the rotating speed sensor can monitor the rotating speed of the walking motor in real time, and the controller calculates the walking speed of the crawler belt.
The engineering vehicle is driven by four tracks, namely a left front track, a left rear track, a right front track and a right rear track, so that the walking drive of the whole vehicle is realized. Any one of the left front crawler belt, the left rear crawler belt, the right front crawler belt and the right rear crawler belt can be a reference crawler belt during walking.
The steering of the whole vehicle is realized by four steering cylinders, the cylinder magnetic telescopic sensor is arranged on the steering cylinders, the controller detects the change of the stroke of the steering cylinders in real time according to the signal change of the cylinder magnetic telescopic sensor, and the controller calculates the corresponding steering angle.
Taking a milling machine as an example, fig. 1 is a main flowchart of a method for controlling the traveling of a construction vehicle based on an actual speed of a reference crawler according to an embodiment of the present invention. When the milling machine turns, the track with the smallest turning radius is set as a reference track, the other three tracks are non-reference tracks, and when the milling machine body turns, as shown in fig. 1, the engineering vehicle walking control method comprises the following steps:
s11, acquiring the actual speed of the reference crawler belt at the current steering angle, and acquiring the rated maximum speed and the rated minimum speed of the non-reference crawler belt at the current steering angle based on the actual speed of the reference crawler belt;
s12, obtaining the actual speed of the non-reference crawler;
and S13, comparing the actual speed of the reference crawler with the maximum allowable traveling speed of the engineering vehicle, meanwhile, comparing the actual speed of the non-reference crawler with the rated maximum speed and the rated minimum speed corresponding to the current steering angle of each non-reference crawler, and controlling the displacement of the traveling pump and the traveling motor according to the comparison result.
According to the engineering vehicle walking control method provided by the embodiment of the invention, when an engineering vehicle body turns, the actual walking speed of the reference crawler belt, the maximum allowable walking speed of the engineering vehicle, the actual walking speed, the rated maximum speed and the rated minimum speed of the non-reference crawler belt are obtained, so that the actual walking speed of the non-reference crawler belt can be prevented from exceeding the rated maximum speed or being lower than the rated maximum speed during turning, the actual speed of the reference crawler belt can be prevented from exceeding the maximum allowable walking speed of the engineering vehicle, and the body can be prevented from toppling or slipping during turning. Compared with the prior art, the embodiment of the invention controls the walking speed of the side crawler according to different steering angles of the engineering vehicle so as to reduce the sideslip and abrasion of the crawler and ensure the safety of equipment.
Specifically, in the present embodiment, the determination of the nominal maximum speed and the nominal minimum speed of the non-reference track are each performed by first determining the nominal speed of the non-reference track, and the determination of the nominal speed of the non-reference track is obtained based on the speed of the reference track, setting the non-reference track speed operation deviation to δ, and obtaining the nominal maximum speed and the nominal minimum speed of the non-reference track based on the nominal speed and the speed operation deviation of the non-reference track. Thus, the non-reference track rated maximum speed and the non-reference track rated minimum speed are obtained by taking the speed of the reference track as a reference, and the safety of equipment during turning can be ensured. The rated maximum speed of the non-reference crawler belt is the sum of the rated speed of the non-reference crawler belt and the running deviation of the non-reference crawler belt speed, and the rated minimum speed of the non-reference crawler belt is the difference between the rated speed of the non-reference crawler belt and the running deviation of the non-reference crawler belt speed.
The current steering angle can be obtained by an angle sensor or a magnetic telescopic sensor arranged in a steering oil cylinder on the crawler. In this embodiment, the magnetic telescopic sensor preferably disposed in the steering cylinders on the crawlers calculates and obtains the steering angle of each current crawler.
In detail, in the present embodiment, comparing the actual speed of the reference crawler with the magnitude of the maximum allowable traveling speed of the construction vehicle, and simultaneously comparing the actual speed of the non-reference crawler with the magnitudes of the rated maximum speed and the rated minimum speed corresponding to each non-reference crawler at the current steering angle, and controlling the displacements of the traveling pump and the traveling motor according to the comparison result includes:
comparing whether the actual speed of the reference crawler belt under the current steering angle is greater than the maximum allowable travelling speed of the engineering vehicle,
if the displacement is larger than the preset displacement, reducing the displacement of the walking pump;
if the actual speed of the non-reference crawler belt is less than the rated minimum speed, comparing whether the actual speed of the non-reference crawler belt is less than the rated minimum speed,
if the actual speed of the non-reference crawler belt is less than the rated minimum speed, the displacement of the walking motor corresponding to the corresponding non-reference crawler belt is increased;
if the actual speed of the non-reference crawler belt is less than the rated minimum speed, comparing whether the actual speed of the non-reference crawler belt is greater than the rated maximum speed;
and if the actual speed of the non-reference crawler belt is greater than the rated maximum speed, reducing the displacement of the walking motor corresponding to the non-reference crawler belt.
In detail, the actual traveling speeds of the front and rear four crawler belts are calculated as V1, V2, V3, and V4, respectively, from the correlation data obtained by the rotation speed sensors provided on the traveling motors. And determining the inner crawler belt which turns in the same direction as the whole vehicle as the crawler belt with the minimum turning radius (the linear speed of the inner crawler belt is the lowest). For example, the inner rear crawler calculates theoretical speeds V1t, V2t, and V4t of the other three crawlers based on the speed V3; according to the structural size of the whole machine, the central radius of the front crawler belt is determined to be X, and the central radius of the rear crawler belt is determined to be M; determining the wheelbase of a front crawler belt to be L1 and the wheelbase of a rear crawler belt to be L2 according to the structural size of the whole machine;
the turning radiuses of the four crawler belts are respectively as follows:
R1＝X-L1/2；
R2＝X+L1/2；
R3＝M-L2/2；
R4＝M+L2/2。
from the theoretical speeds V1t, V2t, V4t and the steering radii R1, R2, R3, R4, the angular speeds ω 1, ω 2, and ω 4 of the respective wheels are calculated from V = ω R.
The nominal minimum speed of a single track is the difference between the theoretical speed and the allowed deviation, and the nominal maximum speed of a single track is the sum of the theoretical speed and the allowed deviation.
The actual speed of each track is compared to the nominal minimum and maximum speeds for that track, respectively. When the actual speed of the crawler belt is larger than the rated maximum speed (for example, V2 is larger than V2t + delta), the controller adjusts the control current of the corresponding walking motor of the crawler belt, so that the displacement of the walking motor is adjusted, and the walking speed of the crawler belt is reduced.
When the actual speed of a single track is less than the rated minimum speed (e.g., V2 < V2t + delta), the controller adjusts the control current of the corresponding travel motor, thereby adjusting the displacement of the travel motor and increasing the track travel speed.
Finally, the four crawler belt walking angular velocities omega (omega 1, omega 2, omega 3 and omega 4) on the inner side and the outer side are within an allowable range, and for convenience of control, the four crawler belt walking angular velocities in the embodiment are synchronous and consistent, so that the turning safety of the milling machine (namely the engineering vehicle) is realized.
And obtaining the steering angle of the front and rear crawler belts to obtain the included angle of the front and rear crawler belts, and obtaining the maximum allowable walking speed of the engineering vehicle based on the mapping relation between the included angle of the front and rear crawler belts and the maximum allowable walking speed of the engineering vehicle. And the mapping relation between the included angle of the front and rear crawler belts and the maximum allowable traveling speed of the engineering vehicle is obtained by table lookup, and the included angle of each front and rear crawler belt corresponds to the maximum allowable traveling speed of the engineering vehicle. The smaller the included angle between the front crawler belt and the rear crawler belt is, the higher the maximum allowable travelling speed of the engineering vehicle is.
The included angle A of the front crawler belt and the rear crawler belt is obtained by a front crawler belt steering angle alpha and a rear crawler belt steering angle beta, the included angle A of the front crawler belt and the rear crawler belt is the steering angle of the engineering vehicle, and the included angle A = alpha + beta.
For example, the maximum allowable traveling speed of the construction vehicle corresponding to the steering angle of the construction vehicle is shown in table 1:
TABLE 1
Angle degree 10 20 30 40 50 60 70 80
Maximum walking speed m/min 80 70 60 50 40 30 20 10
The numerical values described in the tables are only preferred examples, and the specific values are not limited.
FIG. 2 is a detailed flowchart of a method for controlling the traveling of the engineering vehicle based on the actual speed of the reference crawler according to the embodiment of the invention; as shown in fig. 2, the method for controlling the traveling of the engineering vehicle specifically includes:
s101, obtaining a current steering angle;
s102, determining a base crawler belt and obtaining the actual speed of a reference crawler belt and the actual speed of a non-reference crawler belt;
s103, calculating the rated speed of each non-reference crawler belt based on the actual speed of the reference crawler belt;
s104, obtaining rated maximum speed and rated minimum speed of each non-reference crawler;
s105, judging whether the actual speed of the reference wheel is larger than the maximum allowable travelling speed of the engineering vehicle, if so, executing a step S108, and if not, executing a step S106;
s106, judging whether the actual speed of the non-reference crawler is smaller than the rated minimum speed, if so, executing a step S109, and if not, executing a step S107;
s107, judging whether the actual speed of the non-reference crawler is greater than the rated maximum speed, if so, executing a step S110, and if not, returning to the step S101;
s108, reducing the displacement of the walking pump and returning to the step S101;
s109, increasing the displacement of the walking motor corresponding to the non-reference crawler and returning to the step S101;
s110, the displacement of the walking motor corresponding to the non-reference crawler belt is reduced, and the process returns to the step S101.
The rotating speed of each crawler belt of the engineering vehicle in the rotating process can influence whether the engineering vehicle rolls over or slips, and the overall running speed of the engineering vehicle can also influence the safety of the engineering vehicle in the rotating process. For this reason, in this embodiment, the method for controlling the traveling of the construction vehicle further includes:
and comparing the maximum allowable traveling speed of the engineering vehicle with the current traveling speed of the engineering vehicle, and controlling the displacement of the traveling pump according to the comparison result.
The rollover caused by the fact that the speed is high in the rotating process of the engineering vehicle can be prevented by controlling the traveling speed of the engineering vehicle.
It should be noted that the front and rear crawlers may be crawlers located in front and rear of one side of the engineering vehicle body, or crawlers located in front and rear of the engineering vehicle body, and since two crawlers located in front of the engineering vehicle body have the same rotation angle, and two crawlers located in rear of the engineering vehicle body have the same rotation angle, the crawlers may be simplified into two crawlers in front and rear, and the included angle between the front and rear crawlers may be obtained as long as the angle between any one crawler located in front and any one crawler located in rear is obtained.
In this embodiment, if the current traveling speed of the construction vehicle is greater than or equal to the maximum allowable traveling speed of the construction vehicle, the displacement of the traveling pump is reduced. And when the current traveling speed of the engineering vehicle is lower than the maximum allowable traveling speed of the engineering vehicle, the displacement of the traveling pump is not changed. However, the current traveling speed of the engineering vehicle needs to be obtained regularly, and the current traveling speed of the engineering vehicle is prevented from exceeding the maximum allowable traveling speed of the engineering vehicle.
In the embodiment, the displacement of the walking pump and the displacement of the walking motor are realized by adjusting the current.
FIG. 3 is a method for realizing engineering vehicle traveling control based on steering speed limit, provided by the embodiment of the invention; as shown in fig. 3, specifically, the method specifically includes the following steps:
s201, obtaining steering angles of a front crawler and a rear crawler;
s202, obtaining a steering included angle of the front and rear crawler belts based on the steering angle of the front and rear crawler belts;
s203, obtaining the maximum allowable travelling speed of the engineering vehicle corresponding to the steering included angle of the front and rear tracks;
and S204, judging whether the current traveling speed of the engineering vehicle is greater than or equal to the maximum allowable traveling speed of the engineering vehicle, if so, reducing the flow of the traveling pump, otherwise, returning to S201.
In this embodiment, in order to achieve optimal control of the operation efficiency, the fuel consumption, and the noise, the method for controlling the traveling of the engineering vehicle further includes:
when the engineering vehicle moves in a non-operation state, obtaining the rotating speed of the engine and comparing the rotating speed with the first rotating speed, and if the rotating speed of the engine is less than the first rotating speed, adjusting the rotating speed of the engine to a second rotating speed; if the rotating speed of the engine is greater than the first rotating speed, the engine works at the current rotating speed;
the second rotating speed is within the speed range allowed by the position of the walking handle, and the second rotating speed is greater than the first rotating speed.
The position of the walking handle can be adjusted, and the walking handle is used for adjusting the displacement of the walking pump, and the displacement of the walking pump is controlled by the rotating speed of the engine. Each position of the walking handle corresponds to the speed range of one engine, so that the walking pump and the engine can be ensured to work normally without interference. For example, in the present embodiment, the first rotation speed is 1000rpm, and the second rotation speed is 1600rpm.
In the embodiment, after the walking is stopped, the walking handle is at the initial position, and the rotating speed of the engine is controlled to be reduced to the idle speed, so that the energy is saved and the noise is reduced.
Taking a milling machine as an example, fig. 4 is a method for realizing engineering vehicle traveling control based on traveling speed according to an embodiment of the present invention, and as shown in fig. 4, the method specifically includes the following steps:
s301, confirming the operation state of the milling machine;
s302, judging whether the milling drum is opened or not, if so, executing a step S305, otherwise, executing a step S303;
s303, judging whether a walking handle signal is output, if so, executing a step S304, and if not, executing a step S305;
s304, judging whether the engine rotating speed is less than the first rotating speed, if so, executing a step S306, otherwise, executing a step S305;
s305, the rotating speed of the engine is not changed;
and S306, adjusting the rotation speed of the engine to a second rotation speed.
In the present embodiment, the control of the engine speed, the comparison between the maximum allowable traveling speed of the work vehicle and the current traveling speed of the work vehicle, and the comparison based on the actual speed of the reference crawler may be performed in synchronization, and the three determination methods are not restricted to each other.
In the embodiment of the invention, the invention further provides the engineering vehicle, and the engineering vehicle walks by adopting the method for controlling the walking of the engineering vehicle provided by the embodiment.
Due to the fact that the engineering vehicle walking control method is adopted for walking, the engineering vehicle provided by the embodiment of the invention has all the advantages and beneficial effects of the embodiment, and the detailed description is omitted.
In addition, the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in some detail by the above embodiments, the invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the invention, and the scope of the invention is determined by the scope of the appended claims.

Claims (10)

1. A method for controlling the walking of an engineering vehicle comprises a machine body and four crawler belts, wherein the four crawler belts are arranged below the machine body, the crawler belt with the minimum turning radius is set as a reference crawler belt, the other three crawler belts are non-reference crawler belts, and when the machine body of the engineering vehicle is in turning, the method comprises the following steps:
acquiring the actual speed of a reference crawler belt at the current steering angle, and acquiring the rated maximum speed and the rated minimum speed of a non-reference crawler belt at the current steering angle based on the actual speed of the reference crawler belt;
acquiring the actual speed of the non-reference crawler;
and comparing the actual speed of the reference crawler with the maximum allowable traveling speed of the engineering vehicle, simultaneously comparing the actual speed of the non-reference crawler with the rated maximum speed and the rated minimum speed corresponding to the current steering angle of each non-reference crawler, and controlling the displacement of the traveling pump and the traveling motor according to the comparison result.
2. The work vehicle travel control method according to claim 1, wherein obtaining the rated maximum speed and the rated minimum speed of the non-reference track at the current steering angle comprises:
obtaining the rated speed of the non-reference crawler belt under the current steering angle based on the speed of the reference crawler belt;
and setting the speed operation deviation of the non-reference crawler belt to be delta, and obtaining the rated maximum speed and the rated minimum speed of the non-reference crawler belt based on the rated speed and the speed operation deviation of the non-reference crawler belt.
3. The work vehicle travel control method according to claim 2, wherein comparing the actual speed of the reference crawler with the magnitude of the maximum allowable travel speed of the work vehicle, and simultaneously comparing the actual speed of the non-reference crawler with the magnitudes of the rated maximum speed and the rated minimum speed corresponding to each non-reference crawler at the current steering angle, and controlling the displacements of the travel pump and the travel motor according to the comparison result includes:
comparing whether the actual speed of the reference crawler belt under the current steering angle is greater than the maximum allowable traveling speed of the engineering vehicle;
if the displacement is larger than the preset displacement, reducing the displacement of the walking pump;
if the actual speed of the non-reference crawler belt is less than the rated minimum speed, comparing whether the actual speed of the non-reference crawler belt is less than the rated minimum speed;
if the actual speed of the non-reference crawler belt is less than the rated minimum speed, the displacement of the walking motor corresponding to the corresponding non-reference crawler belt is increased;
if the actual speed of the non-reference crawler belt is larger than the rated minimum speed, comparing whether the actual speed of the non-reference crawler belt is larger than the rated maximum speed or not;
and if the actual speed of the non-reference crawler belt is greater than the rated maximum speed, reducing the displacement of the walking motor corresponding to the non-reference crawler belt.
4. The engineering vehicle traveling control method according to claim 3, wherein the maximum allowable traveling speed of the engineering vehicle is obtained based on a mapping relation between an included angle between the front and rear crawler belts, which is obtained from steering angles of the front and rear crawler belts, and the maximum allowable traveling speed of the engineering vehicle.
5. The work vehicle walking control method according to claim 4, wherein the method further comprises:
and comparing the maximum allowable traveling speed of the engineering vehicle with the current traveling speed of the engineering vehicle, and controlling the displacement of the pump according to the comparison result.
6. The work vehicle running control method according to claim 5, wherein if the current running speed of the work vehicle is greater than or equal to the maximum allowable running speed of the work vehicle, the displacement of the pump is reduced.
7. The method for controlling traveling of a construction vehicle according to any one of claims 1 to 6, wherein the steering angle is obtained by an angle sensor or a magnetostrictive sensor provided in a steering cylinder on a crawler.
8. The method for controlling the traveling of the engineering vehicle according to claim 1, wherein the displacements of the traveling pump and the traveling motor are realized by adjusting the magnitude of the current.
9. The method for controlling the traveling of a construction vehicle according to claim 1, further comprising:
when the engineering vehicle moves in a non-operation state, obtaining the rotating speed of the engine and comparing the rotating speed with the first rotating speed, and if the rotating speed of the engine is less than the first rotating speed, adjusting the rotating speed of the engine to a second rotating speed; if the rotating speed of the engine is greater than the first rotating speed, the engine works at the current rotating speed;
the second rotating speed is within the speed range allowed by the position of the walking handle, and the second rotating speed is greater than the first rotating speed.
10. An engineering vehicle characterized by traveling using the engineering vehicle traveling control method according to any one of claims 1 to 9.
CN202210513855.9A 2022-05-11 2022-05-11 Engineering vehicle and walking control method thereof Active CN114834553B (en)

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JPH04283665A (en) * 1991-03-12 1992-10-08 Sumitomo Electric Ind Ltd Wheel speed correcting device
JP2007050821A (en) * 2005-08-19 2007-03-01 Advics:Kk Vehicle braking control system, and vehicle braking control method
JP2012091656A (en) * 2010-10-26 2012-05-17 Toyota Motor Corp Travel control device for vehicle
CN102485573A (en) * 2010-12-03 2012-06-06 三一电气有限责任公司 Walking assembly of crawler-type engineering vehicle and control method thereof
JP6969440B2 (en) * 2018-02-26 2021-11-24 トヨタ自動車株式会社 Vehicle driving support device

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