CN114960358A - Walking control method and system of engineering machinery and road roller - Google Patents
Walking control method and system of engineering machinery and road roller Download PDFInfo
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- CN114960358A CN114960358A CN202210514827.9A CN202210514827A CN114960358A CN 114960358 A CN114960358 A CN 114960358A CN 202210514827 A CN202210514827 A CN 202210514827A CN 114960358 A CN114960358 A CN 114960358A
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
- E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
- E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
- E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
- E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
- E01C19/283—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit pedestrian-controlled, e.g. with safety arrangements for operator
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention relates to the technical field of engineering machinery, and particularly discloses a walking control method and a walking control system of the engineering machinery and a road roller, wherein when the current gear is a high gear, the position change rate of a walking handle is greater than 0 and does not exceed the set change rate, and the acceleration direction of a vehicle is the advancing direction; acquiring a first output ratio of a walking handle, when the first output ratio is not more than a first set output ratio, gradually increasing the displacement of the variable pump along with the movement of the handle, and when the output ratio is equal to the first set output ratio, enabling the displacement of the variable pump to reach the maximum pump displacement; when the first output ratio is larger than the first set output ratio, the displacement of the variable motor is gradually reduced along with the movement of the handle, the traveling speed of the engineering vehicle is quickly and stably improved when a driver operates the traveling handle at a low speed to improve the traveling speed of the engineering vehicle under the condition of high gear, the operating requirement on the driver can be reduced, and the working efficiency is ensured.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a walking control method and system of engineering machinery and a road roller.
Background
For the engineering machinery, frequent starting, stopping and reversing are needed in the working process, the target walking speed is quickly and stably reached, and the construction method has great significance for improving the working efficiency and the construction quality of the engineering machinery.
For example, a road roller is a machine for compacting a road surface by using the self weight of a vehicle body and the vibration of steel wheels, and the compacting effect is closely related to the vibration frequency and the traveling speed of the steel wheels. The vibration frequency of the existing vibratory roller is generally fixed, and the walking speed of the roller is required to be stable and accurate in order to ensure that the vibration times in a unit distance are fixed. Under different construction conditions, the walking speed of the road roller is different, so that the walking speed of the road roller is adjustable. Meanwhile, if the acceleration of the road roller is too large in the working process, the road surface is easy to be damaged, and if the acceleration is too small, the construction efficiency is influenced.
In the prior art, for example, an earlier patent with application number CN202111006720.5 discloses a method for controlling vibration and walking of a road roller, when the road roller starts and changes speed, a controller firstly calculates required engine power and reasonably sets the required engine power, so that insufficient power or unnecessary waste can be avoided, but stability of the road roller and efficiency of achieving a target walking speed in the starting and changing speed processes are not considered.
Disclosure of Invention
The invention aims to: provided are a method and a system for controlling the travel of a construction machine, and a road roller, which enable the road roller to reach a target travel speed smoothly and quickly.
On one hand, the invention provides a walking control method of engineering machinery, which is implemented by a walking control system of the engineering machinery, wherein the walking control system of the engineering machinery comprises a walking handle, a variable motor and a variable pump, the variable pump and the variable motor form a circulation loop, the variable motor is in transmission connection with a walking mechanism, and the walking handle is used for controlling the speed of a vehicle; the traveling control method for the construction machine includes:
acquiring current gears of a vehicle, wherein the gears comprise a high gear and a low gear;
acquiring the position change rate of a walking handle;
if the current gear is a high gear, and the position change rate of the walking handle is greater than 0 and does not exceed a set change rate;
judging the acceleration direction of the vehicle;
if the direction of the acceleration is a forward direction;
acquiring a first output ratio of a walking handle, wherein the first output ratio is a ratio of an angle between the current position of the walking handle and the initial position of the walking handle to a maximum control angle of the walking handle for acceleration;
when the first output ratio is not greater than a first set output ratio, gradually increasing the displacement of the variable pump with the movement of the handle, and when the output ratio is equal to the first set output ratio, the displacement of the variable pump reaches a maximum pump displacement;
when the first output ratio is greater than the first set output ratio, the displacement of the variable displacement motor is gradually reduced as the handle is moved.
As a preferred technical solution of the traveling control method of the construction machine, if the direction of the acceleration is a retreating direction;
acquiring a second output ratio of the walking handle, wherein the second output ratio is a ratio of an angle between the current position of the walking handle and the initial position of the walking handle to a maximum control angle of the walking handle for deceleration;
when the second output ratio is not less than a second set output ratio, the displacement of the variable displacement motor is gradually increased along with the movement of the handle, and when the output ratio is equal to the second set output ratio, the displacement of the variable displacement motor reaches the maximum motor displacement;
when the second output ratio is less than the second set output ratio, the displacement of the variable displacement pump is gradually reduced as the handle is moved.
As a preferred technical scheme of a walking control method of the engineering machinery, if the current gear is a low gear, and the position change rate of the handle is greater than 0 and does not exceed a set change rate;
and keeping the displacement of the variable displacement motor unchanged, and adjusting the displacement of the variable displacement pump based on the position change of the walking handle.
As a preferred technical scheme of a walking control method of the engineering machinery, if the current gear is a high gear, and the position change rate of the handle exceeds a set change rate;
judging the acceleration direction of the vehicle;
if the direction of the acceleration is a forward direction;
gradually increasing the displacement of the variable displacement pump to the maximum pump displacement, and keeping the change rate of the displacement of the variable displacement pump at a first set value;
the displacement of the variable displacement motor is gradually reduced.
As a preferred technical solution of a traveling control method for an engineering machine, when the current gear is a high gear and a position change rate of the handle exceeds a set change rate, if the direction of the acceleration is a backward direction;
gradually increasing the displacement of the variable displacement motor to the maximum motor displacement, and keeping the change rate of the displacement of the variable displacement motor at a second set value;
the displacement of the variable displacement pump is gradually reduced.
As a preferred technical scheme of a walking control method of the engineering machinery, if the current gear is a low gear, and the position change rate of the handle exceeds a set change rate;
keeping the displacement of the variable displacement motor unchanged, gradually adjusting the displacement of the variable displacement pump, and keeping the change rate of the displacement of the variable displacement pump at a first set value.
As a preferred technical scheme of a walking control method of the engineering machinery, when the current gear is a low gear or a high gear, and the position change rate of the walking handle is equal to 0;
determining a target walking speed of the vehicle based on the current position of the walking handle and the position of the gear switch;
acquiring the current speed of the vehicle;
if the current speed is lower than the target walking speed;
acquiring the current displacement of the variable displacement pump;
if the current displacement of the variable pump does not exceed the maximum pump displacement, increasing the displacement of the variable pump;
and if the current displacement of the variable displacement pump exceeds the maximum pump displacement, reducing the displacement of the variable displacement motor.
As an optimal technical scheme of a walking control method of the engineering machinery, if the current speed is greater than the target walking speed;
acquiring the current displacement of a variable displacement motor;
if the current displacement of the variable displacement motor is not equal to the maximum motor displacement, increasing the displacement of the variable displacement motor;
and if the current displacement of the variable displacement motor is equal to the maximum motor displacement, reducing the displacement of the variable displacement pump.
The invention also provides a traveling control system of the engineering machinery, which comprises a traveling handle, a variable motor and a variable pump, wherein the variable pump and the variable motor form a circulation loop, the variable motor is in transmission connection with a traveling mechanism of the engineering machinery, the traveling handle is used for controlling the displacement of the variable motor and the displacement of the variable pump, and the traveling control system of the engineering machinery further comprises:
a driving controller;
the engine is used for driving the variable pump to rotate;
a memory for storing one or more programs;
when the one or more programs are executed by the traveling controller, the traveling controller is enabled to implement the traveling control method of the construction machine according to any one of the above aspects.
In another aspect, the invention provides a road roller, which comprises the walking control system of the engineering machinery in any one of the above schemes.
The invention has the beneficial effects that:
the invention provides a walking control method and a walking control system of engineering machinery and a road roller, wherein the walking control method of the engineering machinery comprises the steps of obtaining the current gear of a vehicle and obtaining the position change rate of a walking handle; if the current gear is a high gear, and the position change rate of the walking handle is greater than 0 and does not exceed the set change rate; judging the acceleration direction of the vehicle; if the direction of the acceleration is the advancing direction; acquiring a first output ratio of the walking handle, wherein the first output ratio is a ratio of an angle between the current position of the walking handle and the initial position of the walking handle to a maximum control angle of the walking handle for acceleration; when the first output ratio is not more than the first set output ratio, the displacement of the variable pump is gradually increased along with the movement of the handle, and when the output ratio is equal to the first set output ratio, the displacement of the variable pump reaches the maximum pump displacement; when the first output ratio is greater than the first set output ratio, the displacement of the variable displacement motor is gradually reduced as the handle moves. Under can guaranteeing high gear, when the driver controls walking handle at a slow speed and promotes the walking speed of engineering vehicle, the walking speed of engineering vehicle is fast and steadily promoted, can reduce the operation requirement to the driver, guarantees work efficiency.
Drawings
Fig. 1 is a schematic structural diagram of a walking control system of an engineering machine according to an embodiment of the present invention;
fig. 2 is a first flowchart of a first method for controlling the traveling of the construction machine according to the embodiment of the present invention;
fig. 3 is a second flowchart of a method for controlling the traveling of the construction machine according to the embodiment of the present invention;
fig. 4 is a flowchart of a travel control method for the construction machine according to the embodiment of the present invention.
In the figure:
1. a walking handle; 2. a variable displacement motor; 3. a variable displacement pump; 4. a driving controller; 5. an engine; 6. a motor speed sensor; 7. a display; 8. a gear switch; 9. a working mode switch; 10. a traveling mechanism.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being 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," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means 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 invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
When the engineering machinery in the prior art starts and changes speed, the controller firstly calculates the required power of the engine 5 and reasonably sets the required power, so that insufficient power or unnecessary waste is avoided, but the stability of the engineering machinery in the starting and changing speed processes and the efficiency of achieving the target walking speed are not considered.
In view of the above, the present embodiment provides a method for controlling the traveling of an engineering machine, which may be implemented by a traveling control system of an engineering machine, and the traveling control system of an engineering machine may be applied to an engineering machine such as a road roller and a grader. Taking the application of the walking control system of the engineering machinery to the road roller as an example, the walking control system can ensure that the road roller keeps stable and can quickly reach the target walking speed when starting and changing speed.
The traveling control system of the engineering machinery comprises a traveling handle 1, a variable motor 2 and a variable pump 3, wherein the variable pump 3 and the variable motor 2 form a circulation loop, the variable motor 2 is in transmission connection with a traveling mechanism 10, and the traveling handle 1 is used for controlling the speed of a vehicle.
It is understood that the traveling control system of the construction machine further includes an engine 5 and a traveling controller 4, the engine 5 is used for driving the variable displacement pump 3 to rotate, and the traveling controller 4 is used for controlling the displacement of the variable displacement pump 3 and the variable displacement motor 2.
Specifically, the travel handle 1 is an operating device for controlling the travel speed of the construction machine, and its output signal is proportional to the magnitude of the angle of deviation from the initial position (neutral position), and is also proportional to the control current of the variable displacement pump 3. The walking handle 1 has a friction positioning function, can be fixed at any position, and the output value of the walking handle is also fixed after the walking handle is fixed. The rate of change of the position of the travel handle 1 reflects the speed at which the driver operates the travel handle 1, and the higher the speed at which the travel handle 1 is operated, the greater the value of the rate of change of the position of the travel handle 1. In order to improve the construction efficiency, the larger the rate of change of the position of the travel handle 1 is, the better, within the allowable range.
The variable pump 3 and the variable motor 2 are both of an electric proportional control type, and the respective displacement is in direct proportion to the control current. The traveling controller 4 controls the displacement of the variable displacement pump 3 and the displacement of the variable displacement motor 2 by controlling the control current of the variable displacement pump 3 and the control current of the variable displacement motor 2. The displacement of the variable pump 3 and the displacement of the variable motor 2 jointly determine the walking speed of the engineering machinery, wherein the displacement of the variable pump 3 is in direct proportion to the walking speed of the engineering machinery, and the displacement of the variable motor 2 is in inverse proportion to the walking speed of the engineering machinery; the larger the displacement of the variable displacement pump 3 is, the faster the traveling speed of the construction machine is, and the smaller the displacement of the variable displacement motor 2 is, the faster the traveling speed of the construction machine is.
The walking control system of the engineering machinery also comprises a gear switch 8, wherein the gear switch 8 is an operating device used for controlling the walking speed of the engineering machinery, and an output signal of the gear switch can reflect the current gear. The target walking speeds at different gears are different, and the target speeds are fixed values. For example, the gear switch 8 has 10 gears, and the walking speed of the engineering machinery is 1-10 KM/H. The first gear is set to be 1KM/H, the second gear is set to be 2KM/H, and the like.
According to different target walking speeds, the gear is divided into a low gear and a high gear, wherein the low gear refers to the gear with the target walking speed lower than a set speed. The set speed is the traveling speed of the construction machine when the displacement of the variable displacement pump 3 and the displacement of the variable displacement motor 2 are both maximum. In low gear, in order to ensure that the engineering machinery has enough traction force, the displacement of the variable displacement motor 2 reaches the maximum motor displacement, and the traveling controller 4 meets the traveling speed control requirement by adjusting the displacement of the variable displacement pump 3. The gear of the target traveling speed exceeding the set speed is a high gear, when the gear is a high gear, the displacement of the variable pump 3 reaches the maximum pump displacement, and the traveling controller 4 further increases the traveling speed by adjusting the displacement of the variable motor 2.
In most conditions, the walking handle 1 is only used to control the walking direction of the vehicle, and the target walking speed of the vehicle is set by the gear switch 8. Of course, the traveling speed of the vehicle may be set by using both. For example, the shift switch 8 is in the 2-gear state, the set speed of the 2-gear state is 2KM/H, and the output ratio of the walking handle 1 is 50%, then the target walking speed of the vehicle is 2 × 50% — 1KM/H, so that the driver can quickly control the engineering machine to the target walking speed without fine adjustment of the offset position of the handle. Of course, for some special conditions requiring fine operation, the operator can still realize fine control of the vehicle speed by performing fine control on the operation walking handle 1.
Optionally, the traveling control system of the engineering machine further includes a working mode switch 9, where the working mode switch 9 is used to set a current working state of the engine 5, and is a two-stage switch, and outputs high and low level signals, and the traveling controller 4 determines whether the current working mode is a normal working mode or an economic working mode based on the high and low level signals. In the economy mode, the operation mode switch 9 outputs a low level signal, the rotation speed of the engine 5 is reduced, and the output power is reduced.
Optionally, the traveling control system of the engineering machine further includes a motor speed sensor 6, the motor speed sensor 6 is used for measuring the traveling speed of the engineering machine, the motor speed sensor 6 is mounted on the variable motor 2 and connected to the traveling controller 4 through a signal line, and the traveling controller 4 is used for performing closed-loop control on the traveling speed of the engineering machine after acquiring the speed value detected by the motor speed sensor 6, so as to accurately control the traveling speed of the engineering machine. The running controller 4 transmits the running speed to the display 7 through the CAN bus. The display 7 is used for displaying information such as the rotating speed and the vibration frequency of the engine 5 besides the traveling speed of the engineering machinery, and the display 7 CAN be a CAN bus type liquid crystal display and is connected with the traveling controller 4 through a CAN bus.
The walking control system of the engineering machine further includes a memory, which is a computer-readable storage medium and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the walking control method of the engineering machine in the following embodiments of the present invention. The vehicle controller 4 executes various functional applications and data processing of the road roller by running software programs, instructions and modules stored in the memory, that is, implements the following method for controlling the travel of the construction machine.
The memory mainly comprises a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory located remotely from the vehicle controller 4, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
As shown in fig. 2 to 4, the travel control method of the construction machine includes the following steps.
S100: and acquiring the current gear of the vehicle.
The gears include a high gear and a low gear. The driving controller 4 may determine the current gear of the vehicle by acquiring the position of the gear switch 8.
S200: the position change rate of the walking handle 1 is acquired.
The traveling controller 4 detects the angle of the traveling handle 1 relative to the initial position thereof by the angle sensor provided on the traveling handle 1, and calculates the position change rate of the traveling handle 1 according to the movement angle of the traveling handle 1 in unit time.
S300: and judging whether the current gear is a high gear or a low gear, and comparing the position change rate of the walking handle 1 with the set change rate.
The set change rate can be set according to needs, and when the position change rate of the walking handle 1 exceeds the set change rate, the speed of the driver moving the walking handle 1 is high; when the position change rate of the walking handle 1 is greater than 0 and does not exceed the set change rate, it indicates that the speed of the driver moving the walking handle 1 is slow at the moment; when the rate of change in the position of the travel handle 1 is equal to 0, it indicates that the driver is not moving the travel handle 1 at this time.
Specifically, if the current shift position is the high shift position, and the position change rate of the handle is greater than 0 and does not exceed the set change rate, S400 is performed.
If the current gear is the low gear, and the change rate of the position of the handle is greater than 0 and does not exceed the set change rate, S1300 is executed.
If the current gear is the high gear and the change rate of the position of the handle exceeds the set change rate, S1400 is executed.
If the current shift position is the low shift position and the change rate of the position of the handle exceeds the set change rate, S1900 is executed.
If the current gear is the low gear or the high gear and the position change rate of the handle is equal to 0, S2000 is executed.
S400: the acceleration direction of the vehicle is determined.
The acceleration direction can be judged by the current position of the walking handle 1, wherein when the walking handle 1 is located before the initial position, the acceleration direction is the advancing direction of the vehicle, and when the walking handle 1 is located after the initial position, the acceleration direction is the retreating direction of the vehicle.
If the direction of the acceleration is the advancing direction, executing S500; if the direction of the acceleration is the reverse direction, S900 is executed.
S500: a first output ratio of the walking handle 1 is obtained.
The first output ratio is a ratio between an angle between the current position of the walking handle 1 and the initial position of the walking handle 1 and a maximum control angle of the walking handle 1 for acceleration. The maximum control angle of the travel handle 1 for acceleration is equivalent to the maximum displacement amount of the travel handle 1 for acceleration.
S600: the magnitude of the first output ratio and the first set output ratio is determined.
The first set output ratio can be set as required, and in this embodiment, the first set output ratio is 70%.
When the first output ratio is not greater than the first set output ratio, S700 is performed; when the first output ratio is greater than the first set output ratio, S800 is performed.
S700: the displacement of the variable pump 3 is gradually increased as the handle is moved, and when the output ratio is equal to the first set output ratio, the displacement of the variable pump 3 reaches the maximum pump displacement and the displacement of the variable pump 3 is maintained at the maximum pump displacement.
S800: the displacement of the variable displacement motor 2 is gradually reduced as the handle is moved.
Through the steps S500 to S700, the traveling speed of the engineering vehicle can be quickly and stably increased when a driver operates the traveling handle 1 at a low speed to increase the traveling speed of the engineering vehicle under a high gear, so that the operation requirement on the driver can be reduced, and the working efficiency can be ensured.
S900: a second output ratio of the walking handle 1 is obtained.
The second output ratio is a ratio between an angle between the current position of the travel handle 1 and the initial position of the travel handle 1 and a maximum control angle of the travel handle 1 for deceleration. Wherein, the maximum control angle of the walking handle 1 when used for decelerating is equivalent to the maximum displacement of the walking handle 1 when the walking handle 1 is used for decelerating.
S1000: the magnitude of the second output ratio is compared with the magnitude of the second set output ratio.
The second set output ratio can be set as required, and in this embodiment, the second set output ratio is 70%.
When the second output ratio is not less than the second set output ratio, S1100 is performed; when the second output ratio is smaller than the second set output ratio, S1200 is performed.
S1100: the displacement of the variable displacement motor 2 is gradually increased as the handle is moved, and the displacement of the variable displacement motor 2 reaches the maximum motor displacement when the output ratio is equal to the second set output ratio.
S1200: the displacement of the variable displacement pump 3 is gradually reduced as the handle is moved.
Through the steps S900 to S1200, the traveling speed of the engineering vehicle can be quickly and stably reduced when the driver operates the traveling handle 1 at a low speed to reduce the traveling speed of the engineering vehicle under a high gear, the operation requirement on the driver can be reduced, and the working efficiency is ensured.
S1300: the displacement of the variable displacement pump 3 is adjusted based on the change in the position of the travel handle 1 while keeping the displacement of the variable displacement motor 2 unchanged.
When acceleration is required, the displacement of the variable displacement pump 3 is increased, and when deceleration is required, the displacement of the variable displacement pump 3 is decreased. Through the step S1300, the traveling speed of the engineering vehicle can be rapidly and stably changed when the driver operates the traveling handle 1 at a low speed to adjust the traveling speed of the engineering vehicle under a low gear, the operation requirement on the driver can be reduced, and the working efficiency is ensured.
S1400: the acceleration direction of the vehicle is determined.
If the direction of the acceleration is the advancing direction, executing S1500; if the direction of the acceleration is the backward direction, S1700 is executed.
S1500: the displacement of the variable pump 3 is gradually increased to the maximum pump displacement, and the rate of change of the displacement of the variable pump 3 is maintained at the first set value.
When the rate of change of the displacement of the variable displacement pump 3 is the first set value, the acceleration that can be provided to the construction machine reaches the maximum value n, and at this time, the construction machine does not damage the road surface, and if the acceleration of the construction machine exceeds the maximum value n, the road surface is damaged.
S1600: the displacement of the variable displacement motor 2 is gradually reduced.
In step S1600, when the displacement of the variable displacement motor 2 is gradually decreased, the change rate of the displacement of the variable displacement motor 2 is preferably the second set value, and when the change rate of the displacement of the variable displacement motor 2 is m1, the acceleration that can be provided to the construction machine reaches the maximum value n.
Through the steps of S1500 to S1600, when the driver operates the traveling handle 1 quickly to increase the traveling speed of the engineering machine in the high gear, the traveling speed of the engineering machine is increased quickly, and the traveling speed is kept stable, and the road surface is not damaged.
S1700: the displacement of the variable displacement motor 2 is gradually increased to the maximum motor displacement, and the rate of change of the displacement of the variable displacement motor 2 is maintained at the second set value.
S1800: the displacement of the variable displacement pump 3 is gradually reduced.
Note that, in step S1800, when the displacement of the variable pump 3 is gradually decreased, the rate of change of the displacement of the variable pump 3 is preferably the first set value.
Through the steps S1700 to S1800, when the driver quickly operates the traveling handle 1 to reduce the traveling speed of the construction machine in the high gear, the traveling speed of the construction machine is quickly reduced, and the traveling speed is kept stable without damaging the road surface.
S1900: the displacement of the variable displacement pump 3 is gradually adjusted while keeping the displacement of the variable displacement motor 2 constant, and the rate of change of the displacement of the variable displacement pump 3 is kept at the first set value.
When acceleration is needed, the displacement of the variable pump 3 is adjusted to be larger according to the change rate of the first set value; when deceleration is required, the displacement of the variable displacement pump 3 is adjusted to be small at the rate of change of the first set value. When a driver operates the traveling handle 1 quickly to adjust the traveling speed of the engineering machinery under a low gear, the rapid change of the speed of the engineering machinery can be ensured, the stable change of the traveling speed of the engineering machinery can be ensured, and the road surface can not be damaged.
S2000: the target traveling speed of the vehicle is determined based on the current position of the traveling handle 1 and the position of the inhibitor switch 8.
The vehicle controller 4 may store a relationship chart of the current position of the traveling handle 1, the position of the shift switch 8, and the target traveling speed of the vehicle in advance, and may query the target traveling speed of the corresponding vehicle from the relationship chart according to the current position of the traveling handle 1 and the position of the shift switch 8.
S2100: the current speed of the vehicle is obtained.
S2200: and comparing the current speed with the target walking speed.
If the current speed is less than the target walking speed; then S2300 is executed; if the current speed is greater than the target walking speed, S2700 is executed.
S2300: the current displacement of the variable displacement pump 3 is acquired.
S2400: the magnitudes of the current displacement and the maximum pump displacement of the variable displacement pump 3 are compared.
If the current displacement of the variable displacement pump 3 does not exceed the maximum pump displacement, executing S2500; if the current displacement of the variable displacement pump 3 exceeds the maximum pump displacement, S2600 is executed.
S2500: the displacement of the variable displacement pump 3 is increased.
S2600: the displacement of the variable displacement motor 2 is reduced.
When the engineering vehicle is ensured to travel at a constant speed through steps S2300 to S2600, the traveling speed can be quickly increased to the target traveling speed even if the traveling speed is lower than the target traveling speed.
S2700: the current displacement of the variable displacement motor 2 is acquired.
S2800: the magnitude of the current displacement and the maximum motor displacement of the variable displacement motor 2 are compared.
If the current displacement of the variable displacement motor 2 is not equal to the maximum motor displacement, executing S2900; if the current displacement of the variable motor 2 is equal to the maximum motor displacement, S3000 is executed.
S2900: the displacement of the variable displacement motor 2 is increased.
S3000: the displacement of the variable displacement pump 3 is reduced.
When the engineering vehicle can be guaranteed to travel at a constant speed through steps S2700 to S3000, the traveling speed can be rapidly reduced to the target traveling speed even if the traveling speed is higher than the target traveling speed.
The embodiment also provides a road roller which comprises the walking control system of the engineering machinery in the scheme.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A walking control method of engineering machinery is implemented by a walking control system of the engineering machinery, the walking control system of the engineering machinery comprises a walking handle, a variable motor and a variable pump, the variable pump and the variable motor form a circulation loop, the variable motor is in transmission connection with a walking mechanism, and the walking handle is used for controlling the speed of a vehicle; the method is characterized in that the walking control method of the engineering machinery comprises the following steps:
acquiring current gears of a vehicle, wherein the gears comprise a high gear and a low gear;
acquiring the position change rate of a walking handle;
if the current gear is a high gear, and the position change rate of the walking handle is greater than 0 and does not exceed a set change rate;
judging the acceleration direction of the vehicle;
if the direction of the acceleration is a forward direction;
acquiring a first output ratio of a walking handle, wherein the first output ratio is a ratio of an angle between the current position of the walking handle and the initial position of the walking handle to a maximum control angle of the walking handle for acceleration;
when the first output ratio is not greater than a first set output ratio, gradually increasing the displacement of the variable pump with the movement of the handle, and when the output ratio is equal to the first set output ratio, the displacement of the variable pump reaches a maximum pump displacement;
when the first output ratio is greater than the first set output ratio, the displacement of the variable displacement motor is gradually reduced as the handle is moved.
2. The method according to claim 1, wherein if the direction of the acceleration is a backward direction;
acquiring a second output ratio of the walking handle, wherein the second output ratio is a ratio of an angle between the current position of the walking handle and the initial position of the walking handle to a maximum control angle of the walking handle for deceleration;
when the second output ratio is not less than a second set output ratio, the displacement of the variable displacement motor is gradually increased along with the movement of the handle, and when the output ratio is equal to the second set output ratio, the displacement of the variable displacement motor reaches the maximum motor displacement;
when the second output ratio is less than the second set output ratio, the displacement of the variable displacement pump is gradually reduced as the handle is moved.
3. The method according to claim 1, wherein if the current gear is a low gear, the change rate of the position of the handle is greater than 0 and does not exceed a set change rate;
and keeping the displacement of the variable displacement motor unchanged, and adjusting the displacement of the variable displacement pump based on the position change of the walking handle.
4. The method according to claim 1, wherein if the current gear is a high gear, and the change rate of the position of the handle exceeds a set change rate;
judging the acceleration direction of the vehicle;
if the direction of the acceleration is a forward direction;
gradually increasing the displacement of the variable displacement pump to the maximum pump displacement, and keeping the change rate of the displacement of the variable displacement pump at a first set value;
the displacement of the variable displacement motor is gradually reduced.
5. The travel control method for construction machinery according to claim 4, wherein when the current gear is a high gear and the rate of change of the position of the handle exceeds a set rate of change, if the direction of the acceleration is a reverse direction;
gradually increasing the displacement of the variable displacement motor to the maximum motor displacement, and keeping the change rate of the displacement of the variable displacement motor at a second set value;
the displacement of the variable displacement pump is gradually reduced.
6. The method according to claim 1, wherein if the current gear is a low gear and a rate of change of the position of the handle exceeds a predetermined rate of change;
keeping the displacement of the variable displacement motor unchanged, gradually adjusting the displacement of the variable displacement pump, and keeping the change rate of the displacement of the variable displacement pump at a first set value.
7. The travel control method for a construction machine according to claim 1, wherein when the current gear is a low gear or a high gear, the rate of change of the position of the travel handle is equal to 0;
determining a target walking speed of the vehicle based on the current position of the walking handle and the position of the gear switch;
acquiring the current speed of the vehicle;
if the current speed is lower than the target walking speed;
acquiring the current displacement of the variable displacement pump;
if the current displacement of the variable pump does not exceed the maximum pump displacement, increasing the displacement of the variable pump;
and if the current displacement of the variable displacement pump exceeds the maximum pump displacement, reducing the displacement of the variable displacement motor.
8. The method according to claim 7, wherein if the current speed is higher than the target traveling speed;
acquiring the current displacement of a variable displacement motor;
if the current displacement of the variable displacement motor is not equal to the maximum motor displacement, increasing the displacement of the variable displacement motor;
and if the current displacement of the variable displacement motor is equal to the maximum motor displacement, reducing the displacement of the variable displacement pump.
9. The utility model provides an engineering machine's walking control system, includes walking handle, variable motor and variable pump, the variable pump with the variable motor constitutes circulation circuit, the variable motor is connected with engineering machine's running gear transmission, the walking handle is used for controlling the variable motor with the discharge capacity of variable pump, its characterized in that, engineering machine's walking control system still includes:
a driving controller;
the engine is used for driving the variable pump to rotate;
a memory for storing one or more programs;
when the one or more programs are executed by the traveling controller, the traveling controller is enabled to realize the traveling control method of the construction machine according to any one of claims 1 to 8.
10. A road roller comprising the travel control system of a working machine according to claim 9.
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| CN202210514827.9A CN114960358A (en) | 2022-05-11 | 2022-05-11 | Walking control method and system of engineering machinery and road roller |
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| CN202210514827.9A CN114960358A (en) | 2022-05-11 | 2022-05-11 | Walking control method and system of engineering machinery and road roller |
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| US4209988A (en) * | 1978-02-09 | 1980-07-01 | Stothert & Pitt Limited | Safety control system for self-propelled road rollers |
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| CN113585012A (en) * | 2021-08-30 | 2021-11-02 | 山东临工工程机械有限公司 | Vibration and walking control method and control system of road roller |
| CN113606325A (en) * | 2021-07-07 | 2021-11-05 | 徐工集团工程机械股份有限公司道路机械分公司 | Multi-gear operating mechanism and light road roller |
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| US4040255A (en) * | 1975-07-29 | 1977-08-09 | Kabushiki Kaisha Komatsu Seisakusho | Control system for a hydraulically actuated device such as the vibrator motor of a self-propelled vibratory compactor |
| US4209988A (en) * | 1978-02-09 | 1980-07-01 | Stothert & Pitt Limited | Safety control system for self-propelled road rollers |
| CN202213498U (en) * | 2011-08-24 | 2012-05-09 | 洛阳路通重工机械有限公司 | Electrical displacement control device for running of road roller |
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