CN114960802A - Electric driving flow matching system and control method for excavating robot - Google Patents
Electric driving flow matching system and control method for excavating robot Download PDFInfo
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- CN114960802A CN114960802A CN202210783454.5A CN202210783454A CN114960802A CN 114960802 A CN114960802 A CN 114960802A CN 202210783454 A CN202210783454 A CN 202210783454A CN 114960802 A CN114960802 A CN 114960802A
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000001514 detection method Methods 0.000 claims abstract description 29
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 4
- 238000006073 displacement reaction Methods 0.000 claims description 32
- 238000009412 basement excavation Methods 0.000 claims description 13
- 230000006872 improvement Effects 0.000 description 12
- 230000008859 change Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000003921 oil Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/425—Drive systems for dipper-arms, backhoes or the like
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
- E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
- E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
- E02F9/2267—Valves or distributors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Paleontology (AREA)
- Operation Control Of Excavators (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention discloses an electric drive flow matching system and a control method of an excavating robot, which comprises a variable rotating speed flow matching system, an upper computer controller and an actuator position detection device; the variable-speed flow matching system comprises a variable-speed motor, a hydraulic pump, a proportional multi-way valve and a hydraulic actuator, wherein the variable-speed motor is connected with the hydraulic pump, and the variable-speed motor receives a control signal of an upper computer controller and drives the hydraulic pump to output a required flow to the hydraulic system; the proportional multi-way valves are respectively connected with corresponding hydraulic actuators, receive control signals of an upper computer controller, control the direction and the opening size, output corresponding hydraulic oil to drive the corresponding hydraulic actuators, and are provided with corresponding actuator position detection devices. The electrically-driven flow matching system provided by the invention utilizes a flow matching control method, adopts a variable speed motor to drive, and performs flow distribution through the proportional multi-way valve, so that the control of a single pump and multiple actuators is realized, and the electrically-driven flow matching system has the advantages of simple structure, high system efficiency and the like.
Description
Technical Field
The invention relates to an electric drive flow matching system and a control method for an excavating robot, and belongs to the field of intelligent excavators.
Background
Electromotion and intellectualization are the main development trend of hydraulic excavators. At present, an excavating robot is formed by modifying a traditional hydraulic excavator, a diesel engine is still adopted for driving, and a traditional electric control system with the characteristics of load sensitivity, positive flow, negative flow and the like is adopted, so that the outstanding problems of low system efficiency, high pollution and the like exist. The excavating robot realizes the preset action of the bucket through the track control of the working device, and the action of the bucket is difficult to control through the manual regulation of the flow of each actuator by a driver like the traditional excavator, so the problem of unmatched flow, especially the problem of flow saturation, can occur, the movement of each actuator is not coordinated, and the preset composite action cannot be accurately finished.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an electric driving flow matching system and a control method for an excavating robot, which can improve the accuracy, efficiency and energy conservation of the operation of the excavating robot.
In order to achieve the purpose, the electric drive flow matching system of the excavating robot comprises a variable rotating speed flow matching system, an upper computer controller and an actuator position detection device;
the variable-speed flow matching system comprises a variable-speed motor, a hydraulic pump, a proportional multi-way valve and a hydraulic actuator, wherein the variable-speed motor is connected with the hydraulic pump, receives a control signal of an upper computer controller and drives the hydraulic pump to output a required flow to the hydraulic system; the proportional multi-way valve is connected with the corresponding hydraulic actuators, receives control signals of the upper computer controller, controls the direction and the opening size, outputs corresponding hydraulic oil to drive the corresponding hydraulic actuators, and is provided with corresponding actuator position detection devices.
As an improvement, the hydraulic actuator includes a swing motor, a boom cylinder, an arm cylinder, and a bucket cylinder.
As an improvement, the upper computer controller is respectively connected with the actuator position detection device, the speed change motor and the proportional multi-way valve, receives position signals of the hydraulic actuators detected by the actuator position detection device, sends control signals to the speed change motor and the proportional multi-way valve, controls the rotating speed of the speed change motor to control flow output, and controls the opening of the proportional multi-way valve to drive the hydraulic actuators.
As an improvement, the actuator position detection device comprises a motor rotation angle sensor, a movable arm oil cylinder displacement sensor, a bucket rod oil cylinder displacement sensor and a bucket oil cylinder displacement sensor;
the actuator position detection device is connected with the upper computer controller and transmits a detection signal to the upper computer controller.
As an improvement, the upper computer controller comprises a track planning program C1, a flow matching program C2 and a track control program C3;
the trajectory planning program C1 plans a displacement target curve of the hydraulic actuator;
the flow matching program C2 calculates the required flow of the hydraulic system according to the actuator target displacement planned by the trajectory planning program C1, and outputs a control signal to the variable speed motor to realize the flow matching of the pump;
and the track control program C3 controls the opening of the proportional multi-way valve by taking the target displacement of the actuator planned by the track planning program C1 as an input signal and the displacement of the actuator detected by the actuator position detection device as a feedback signal, so as to realize the position servo of the hydraulic actuator.
In addition, the invention also provides a control method adopting the electric driving flow matching system of the excavating robot, which comprises the following steps of;
(a) carrying out trajectory planning by taking the maximum flow output by the hydraulic pump and the maximum flow of the proportional multi-way valve as limiting conditions;
(b) the hydraulic pump performs flow matching output according to the planned track;
(c) and carrying out actuator trajectory tracking by adopting closed-loop control.
As an improvement, the step (a) performs trajectory planning by using the maximum output flow of the hydraulic pump and the maximum flow of the proportional multi-way valve as limiting conditions;
the trajectory planning is to solve a position-time function of a hydraulic actuator of the excavator, and the differential of the position-time function of the hydraulic actuator to time is the speed of the actuator; replanning when the trajectory plan does not meet the flow limiting condition until the limiting condition is met;
the limiting condition is that the required flow of each hydraulic actuator is calculated through the planned speed of each hydraulic actuator, and the required flow of each hydraulic actuator is smaller than the maximum flow of the proportional multi-way valve matched with the actuator; the sum of the demanded flow rates of all the hydraulic actuators should be less than the maximum flow rate that the hydraulic pump can output.
As an improvement, the hydraulic pump in the step (b) performs flow matching output according to a planned track;
and the sum of all the flows obtained by the track planning calculation is used as a hydraulic pump flow control reference signal, and the flow matching is carried out by changing the output flow of the hydraulic pump by changing the rotating speed of the driving motor.
As an improvement, the step (c) adopts closed-loop control to track the actuator track; target displacement of each hydraulic actuator obtained by the trajectory planning is a reference signal, the actuator displacement detected by the actuator position detection device is a feedback signal, and the proportional multi-way valve opening is controlled by the controller to drive the hydraulic actuators to move according to the planned trajectory, so that position servo is realized; the step realizes the redistribution of the output flow of the hydraulic pump by the proportional multi-way valve.
Compared with the prior art, the invention has the beneficial effects that:
1) the electrically-driven flow matching system provided by the invention adopts a flow matching control method, adopts a variable speed motor for driving, and simultaneously distributes the flow through the proportional multi-way valve, so that the control of a single pump and multiple actuators is realized, and the electrically-driven flow matching system has the advantages of simple structure, high system efficiency and the like.
2) The invention plans the tracks of the hydraulic actuators by taking the maximum output flow of the hydraulic pump and the maximum flow of the proportional multi-way valve as limiting conditions, and the hydraulic pump outputs the flow according to the planned tracks, thereby realizing flow matching, avoiding the problem of flow saturation and improving the response and efficiency of the electro-hydraulic system.
Drawings
FIG. 1 is a schematic diagram of an excavation robot electric drive flow matching system;
FIG. 2 is a control block diagram of an excavation robot electric drive flow matching system;
FIG. 3 is a mechanical schematic of the excavation robot;
in the figure: 100-variable speed and flow matching system, 110-variable speed motor, 120-hydraulic pump, 130-proportional multi-way valve, 131-hydraulic motor proportional multi-way valve, 132-boom cylinder proportional multi-way valve, 133-arm cylinder proportional multi-way valve, 134-bucket cylinder proportional multi-way valve, 140-hydraulic actuator, 141-rotary motor, 142-boom cylinder, 143-arm cylinder, 144-bucket cylinder, 200-upper computer controller, 300-actuator position detection device, 301-motor rotation angle sensor, 302-boom cylinder displacement sensor, 303-arm cylinder displacement sensor and 304-bucket cylinder displacement sensor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention.
As shown in fig. 1, an electric driving flow matching system for an excavating robot comprises a variable rotation speed flow matching system 100, an upper computer controller 200, and an actuator position detection device 300;
the variable speed flow matching system 100 comprises a variable speed motor 110, a hydraulic pump 120, a proportional multi-way valve 130 and a hydraulic actuator 140, wherein the variable speed motor 110 is connected with the hydraulic pump 120, and the variable speed motor 110 receives a control signal of an upper computer controller 200 and drives the hydraulic pump 120 to output a required flow to a hydraulic system; the proportional multi-way valves 130 are respectively connected with the corresponding hydraulic actuators 140, and the proportional multi-way valves 130 receive control signals of the upper computer controller 200, control the direction and the opening size, and output corresponding hydraulic oil to drive the corresponding hydraulic actuators 140; the hydraulic actuators 140 include a swing motor 141, a boom cylinder 142, an arm cylinder 143, and a bucket cylinder 144, and each hydraulic actuator is provided with a corresponding position detection device 300.
As a modification of the embodiment, the upper computer controller 200 is connected to the actuator position detection device 300, the variable speed motor 110, and the proportional multi-way valve 130; the upper computer controller 200 receives the position signals of the hydraulic actuators detected by the actuator position detection device 300; the upper computer controller 200 sends a control signal to the variable speed motor 110, and controls the rotating speed of the variable speed motor 110 to control the flow output; the upper computer controller 200 sends a control signal to the proportional multi-way valve 130, and controls the opening of the proportional multi-way valve 130 to drive the hydraulic actuator 140.
As a modification of the embodiment, the actuator position detection device 300 includes a motor rotation angle sensor 301, a boom cylinder displacement sensor 302, an arm cylinder displacement sensor 303, and a bucket cylinder displacement sensor 304, and the actuator position detection device 300 is connected to the upper computer controller 200 and transmits a detection signal to the upper computer controller 200.
As an improvement of the embodiment, the upper computer controller 200 includes a trajectory planning program C1, a flow matching program C2, and a trajectory control program C3;
the trajectory planning program C1 functions to plan a displacement target curve for the hydraulic actuator 140; the flow matching program C2 calculates the required flow of the hydraulic system according to the actuator target displacement planned by the trajectory planning program C1, and outputs a control signal to the variable speed motor 110 to realize the flow matching of the pump; the trajectory control program C3 controls the opening of the proportional multi-way valve 130 using the actuator target displacement planned by the trajectory planning program C1 as an input signal and the actuator displacement detected by the actuator position detection device 300 as a feedback signal, thereby implementing the position servo of the hydraulic actuator 140.
As shown in fig. 3, the mechanical structure of the excavation robot finally realizes the planning movement of the entire excavation robot by controlling the hydraulic actuator 140.
As shown in fig. 2, the control method of the excavation robot electric drive flow matching system includes the following steps:
(a) carrying out trajectory planning by taking the maximum output flow of the hydraulic pump and the maximum flow of the proportional multi-way valve as limiting conditions;
(b) the hydraulic pump performs flow matching output according to the planned track;
(c) and carrying out actuator trajectory tracking by adopting closed-loop control.
As an improvement of the embodiment, the step (a) performs trajectory planning by using the maximum output flow of the hydraulic pump and the maximum flow of the proportional multi-way valve as limiting conditions:
in the upper computer controller 200, the maximum output flow of the hydraulic pump 120 and the maximum flow of the proportional multi-way valve 130 are used as limiting conditions to carry out track planning; trajectory planning to solve the position-time function L of the excavation robot actuator 140 i (t), i is the serial number of the actuator; the differentiation of the position-time function of the actuator 140 with respect to time is the velocity of the actuator
Replanning when the trajectory planning does not meet the flow limiting condition, such as increasing the planning time t, prolonging the acceleration interval and the like until the limiting condition is met;
and (3) limiting conditions of trajectory planning:
(1) the flow required by the actuator is less than the maximum flow of the proportional multi-way valve matched with the actuator;
(2) the sum of the demanded flows of all the actuators is less than the maximum flow that the hydraulic pump can output.
Known actuator velocity v i The required flow Q of the actuator can be obtained i ：
Hydraulic cylinder: q is Av, A is the effective acting area of the piston of the hydraulic cylinder, and v is the speed of the hydraulic cylinder;
a hydraulic motor: and Q is nV, n is the motor rotating speed, and V is the motor displacement.
Required flow Q of actuator i The maximum flow rate of the valve is required to be smaller than that of the corresponding valve, so that the problem of flow saturation of the valve is avoided; total demand flow sigma Q of all actuators i It is necessary to be less than the maximum flow of the corresponding pump to avoid the problem of pump saturation.
As an improvement of the embodiment, the hydraulic pump in the step (b) performs flow matching output according to the planned track:
calculating the output flow of the hydraulic pump 120 according to the flow required by the actuator in the upper computer controller 200, and controlling the flow change of the hydraulic pump;
Q general assembly ＝∑Q i +Q Others ＝nV；
In the formula, n is the rotating speed of the driving motor, and V is the displacement of the hydraulic pump.
The upper computer controller 200 outputs a control signal to the variable speed motor 110 to vary the output flow rate of the hydraulic pump 120 by varying the rotational speed for flow rate matching.
As an improvement of the embodiment, the step (c) adopts closed-loop control to track the trajectory of each actuator:
the target displacement of each hydraulic actuator 140 obtained by the trajectory planning is a reference signal, the actuator displacement detected by the actuator position detection device 300 is a feedback signal, the controller controls the opening of the proportional multi-way valve 130, and the hydraulic actuators 140 are driven to move according to the planned trajectory, so that position servo is realized; this step allows the proportional multiplex valve 130 to redistribute the output flow of the hydraulic pump 120.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (9)
1. An electric drive flow matching system of an excavating robot is characterized by comprising a variable rotating speed flow matching system (100), an upper computer controller (200) and an actuator position detection device (300);
the variable-speed flow matching system (100) comprises a variable-speed motor (110), a hydraulic pump (120), a proportional multi-way valve (130) and a hydraulic actuator (140), wherein the variable-speed motor (110) is connected with the hydraulic pump (120), and the variable-speed motor (110) receives a control signal of an upper computer controller (200) and drives the hydraulic pump (120) to output a required flow to the hydraulic system; the proportional multi-way valves (130) are respectively connected with the corresponding hydraulic actuators (140), the proportional multi-way valves (130) receive control signals of the upper computer controller (200), control the direction and the opening size, output corresponding hydraulic oil to drive the corresponding hydraulic actuators (140), and each hydraulic actuator is provided with a corresponding actuator position detection device (300).
2. The excavation robot electric drive flow matching system of claim 1, wherein the hydraulic actuator (140) includes a swing motor (141), a boom cylinder (142), an arm cylinder (143), and a bucket cylinder (144).
3. The excavating robot electric drive flow matching system according to claim 1, wherein the upper computer controller (200) is respectively connected with the actuator position detection device (300), the variable speed motor (110) and the proportional multi-way valve (130), the upper computer controller (200) receives position signals of the hydraulic actuators (140) detected by the actuator position detection device (300) and sends control signals to the variable speed motor (110) and the proportional multi-way valve (130), the rotating speed of the variable speed motor (110) is controlled to control flow output, and meanwhile, the opening of the proportional multi-way valve (130) is controlled to drive the hydraulic actuators (140).
4. The excavation robot electric drive flow matching system of claim 1, wherein the implement position detection device (300) comprises a motor rotation angle sensor (301), a boom cylinder displacement sensor (302), an arm cylinder displacement sensor (303), a bucket cylinder displacement sensor (304);
the actuator position detection device (300) is connected with the upper computer controller (200) and transmits a detected position signal to the upper computer controller (200).
5. The excavation robot electric drive flow matching system of claim 1, wherein the upper computer controller (200) includes a trajectory planning program C1, a flow matching program C2, and a trajectory control program C3;
the trajectory planning program C1 plans a target displacement curve of the hydraulic actuator (140);
the flow matching program C2 calculates the required flow of the hydraulic system according to the actuator target displacement planned by the trajectory planning program C1, and outputs a control signal to the variable speed motor (110) to realize the flow matching of the pump;
the trajectory control program C3 controls the opening of the proportional multi-way valve (130) using the actuator target displacement planned by the trajectory planning program C1 as an input signal and the actuator displacement detected by the actuator position detection device (300) as a feedback signal, thereby implementing the position servo of the hydraulic actuator (140).
6. A control method using the excavating robot electric drive flow matching system according to any one of claims 1 to 5, comprising the steps of;
(a) carrying out trajectory planning by taking the maximum output flow of the hydraulic pump and the maximum flow of the proportional multi-way valve as limiting conditions;
(b) the hydraulic pump performs flow matching output according to the planned track;
(c) and carrying out actuator trajectory tracking by adopting closed-loop control.
7. The control method of an excavation robot electric drive flow matching system according to claim 6, wherein the step (a) performs trajectory planning with a maximum output flow of the hydraulic pump (120) and a maximum flow of the proportional multi-way valve (130) as limiting conditions;
the trajectory planning is to solve a position-time function of a hydraulic actuator (140) of the excavator, and the differential of the position-time function of the hydraulic actuator (140) to time is the speed of the actuator; when the trajectory planning does not meet the flow limiting condition, planning again until the limiting condition is met;
the limiting condition is that the flow rate required by each hydraulic actuator (140) is calculated through the planned speed of each hydraulic actuator (140), and the flow rate required by each hydraulic actuator (140) is smaller than the maximum flow rate of the proportional multi-way valve (130) matched with the actuator; the sum of the demanded flow rates of all the hydraulic actuators (140) should be less than the maximum flow rate that the hydraulic pump (120) can output.
8. The control method of an excavation robot electric drive flow matching system according to claim 6, wherein the step (b) of performing a flow matching output of the hydraulic pump (120) according to a planned trajectory;
and the sum of all the flows obtained by the calculation of the trajectory planning is used as a flow control reference signal of the hydraulic pump (120), and the flow matching is carried out by changing the output flow of the hydraulic pump (120) by changing the rotating speed of the driving motor.
9. The control method of an excavation robot electric drive flow matching system of claim 6, wherein step (c) employs closed-loop control for actuator trajectory tracking;
target displacement of each hydraulic actuator (140) obtained by the trajectory planning is a reference signal, the actuator displacement detected by the actuator position detection device (300) is a feedback signal, an upper computer controller (200) controls an opening of the proportional multi-way valve (130), and the hydraulic actuators (140) are driven to move according to the planned trajectory, so that position servo is realized; this step enables the proportional multi-way valve (130) to redistribute the output flow of the hydraulic pump (120).
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| CN202210783454.5A CN114960802A (en) | 2022-07-05 | 2022-07-05 | Electric driving flow matching system and control method for excavating robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116792476A (en) * | 2023-06-16 | 2023-09-22 | 浙江大学 | Power-sharing multi-power-source-driven electro-hydraulic actuator system |
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| JPH0681579A (en) * | 1992-09-02 | 1994-03-22 | Sumitomo Heavy Ind Ltd | Automatic directional control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116792476A (en) * | 2023-06-16 | 2023-09-22 | 浙江大学 | Power-sharing multi-power-source-driven electro-hydraulic actuator system |
| CN116792476B (en) * | 2023-06-16 | 2024-03-15 | 浙江大学 | Power-sharing multi-power-source-driven electro-hydraulic actuator system |
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