CN115033040A - Road roller transition walking control method and control system thereof - Google Patents
Road roller transition walking control method and control system thereof Download PDFInfo
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- CN115033040A CN115033040A CN202210671878.2A CN202210671878A CN115033040A CN 115033040 A CN115033040 A CN 115033040A CN 202210671878 A CN202210671878 A CN 202210671878A CN 115033040 A CN115033040 A CN 115033040A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D27/00—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00
- G05D27/02—Simultaneous control of variables covered by two or more of main groups G05D1/00 - G05D25/00 characterised by the use of electric means
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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
- E01C19/26—Rollers therefor; Such rollers usable also for compacting soil self-propelled or fitted to road vehicles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/14—Introducing closed-loop corrections
- F02D41/1401—Introducing closed-loop corrections characterised by the control or regulation method
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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
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/02—Feeding devices for pavers
- E01C2301/04—Independent shuttles
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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
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/02—Feeding devices for pavers
- E01C2301/08—Pushing devices for lorries
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/1002—Output torque
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2200/00—Input parameters for engine control
- F02D2200/02—Input parameters for engine control the parameters being related to the engine
- F02D2200/10—Parameters related to the engine output, e.g. engine torque or engine speed
- F02D2200/101—Engine speed
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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
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Abstract
The invention discloses a transition walking control method and a transition walking control system of a road roller, and belongs to the technical field of engineering machinery. The defects that in the prior art, when an engine rotates at a high speed, oil consumption is high, and when the engine rotates at a low speed, walking pressure is unstable in transition walking of a traditional road roller are overcome. Its major structure includes the engine, a controller, pressure sensor, walking hydraulic system and vibration hydraulic system, vibration hydraulic system includes the oil supplementing pump, the control valve, vibrating motor and vibrating pump, walking hydraulic system includes the walking pump, back walking motor, the rear wheel, preceding walking motor and front wheel, the walking pump is connected with back walking motor and preceding walking motor respectively, the controller respectively with the engine, the walking pump, back walking motor, preceding walking motor, control valve and pressure sensor are connected, the control valve respectively with the oil supplementing pump, vibrating motor, the vibrating pump, back walking motor and preceding walking motor are connected. The invention is mainly used for engineering machinery such as road rollers and the like.
Description
Technical Field
The invention belongs to the technical field of engineering machinery, and particularly relates to a transition walking control method and a transition walking control system of a road roller.
Background
The control mode of the engine speed and the accelerator of the road roller is different from that of the common engineering machinery, the engine speed and the accelerator controlled by the knob are regulated by an engine speed knob, when one position of the knob is given, the engine speed and the accelerator are corresponding to one constant engine speed and the accelerator, and then the running speed of the road roller is regulated by changing the position of a walking control handle, so that the engine of the road roller keeps working at a constant rotating speed. The transition of the road roller needs higher speed, generally a rabbit gear, the displacement of a walking motor is unchanged, in order to ensure that the road roller can normally start in a severe environment, the rotating speed and the accelerator of an engine are set to be maximum, the oil consumption is higher, the transition does not need much energy when the road roller enters a stable state along with the transition, if the engine is still kept to be the maximum rotating speed and the accelerator, most of the energy generated by the engine is wasted, in order to reduce the oil consumption of the engine, part of operators reduce the rotating speed of the engine, but the road roller has different working conditions, and the rotating speed is reduced, so that the engine can be stalled; under the same working condition, the smaller the engine throttle is, the lower the rotating speed is, and when the rotating speed of the engine is lower, the flow of the oil supplementing pump is lower, so that the cooling of the walking closed hydraulic system is not enough to be maintained, the braking is difficult to be relieved by the oil supplementing pump, in addition, the flushing flow is constant, the flow of the oil supplementing pump may not be enough to maintain flushing and leakage, so the pressure may not be built, and the walking pressure is unstable.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a transition walking control method and a transition walking control system of a road roller, which can ensure lower oil consumption and realize the fuel economy of the road roller along with the change of the walking working condition in the walking process of the road roller.
In order to realize the purpose, the invention is realized by adopting the following technical scheme:
a road roller transition walking control method comprises the following steps:
s1: starting a transition mode, and enabling the controller to give a signal to the control valve to enable the flow of the oil supplementing pump to flow into the walking hydraulic system for oil supplementing;
s2: at the beginning of transition mode, the engine speedIs set to n max The displacement of the walking pump is pulled from small to maximum, and the displacements of the front walking motor and the rear walking motor are both set as the maximum displacement;
s3: when the pressure sensor detects that the pressure is constant, the actual power P of the engine at the moment is compared Fruit of Chinese wolfberry +. DELTA P and comparative power P Small ；
S4: if the actual power P Fruit of Chinese wolfberry The positive delta P is less than the comparative power P Small Adjusting the displacement of the front walking motor and the rear walking motor to be the minimum value of the displacement, and the rotating speed of the engine to be n Hair-growing min Proceeding to step S8;
s5: if the actual power P Fruit of Chinese wolfberry The positive delta P is greater than the comparative power P Small Then the power P will be compared Small Increasing t% as a new comparative power P 2 small Wherein t% is a preset increment;
s6: if the actual power P Fruit of Chinese wolfberry The positive delta P is smaller than the new comparison power P 2 small Then according to the engine curve chart, the engine speed is adjusted to the new comparative power P 2 small Corresponding minimum rotational speed n Small Adjusting the displacement of the front travel motor to a minimum value V m1min Calculating the displacement V of the rear-running motor at the moment m2 Adjusting the displacement of the rear walking motor to be V according to the calculation result m2 Proceeding to step S8;
s7: if the actual power P Fruit of Chinese wolfberry The positive delta P is greater than the new comparison power P 2 is small Repeating the steps S5, S6 and S7;
s8: and after the adjustment of the road roller walking transition is finished, the transition is carried out according to the adjusted engine rotating speed and the discharge capacity of the rear walking motor. Wherein, the reserved delta P is used as the reserved quantity when the power is suddenly changed.
Preferably, the relationship between the vehicle speed and the engine speed is:
wherein, V p Is the displacement of the walking pump, n Small Is the engine speed, i is the transmission ratio of the engine to the running pump, and η is the engineEfficiency of the walking pump, V m1 Is the displacement of the front-running motor, V m2 Is the displacement of the rear-running motor, v Vehicle with wheels For vehicle speed, R 1 Radius of the front wheel, R 2 The radius of the rear wheel.
A transition walking control method for a road roller comprises the following steps:
s1: starting a transition mode, and enabling the controller to give a signal to the control valve to enable the flow of the oil supplementing pump to flow into the walking hydraulic system for oil supplementing;
s2: upon starting the transition mode, the engine speed is set to n max The displacement of the walking pump is pulled from small to maximum, and the displacements of the front walking motor and the rear walking motor are both set as the maximum displacement;
s3: when the pressure detected by the pressure sensor is constant, the actual torque T of the engine at the moment is compared Fruit of Chinese wolfberry +. DELTA T and comparative Torque T Small ；
S4: if the actual torque T Fruit of Chinese wolfberry The positive Delta T is less than the comparative torque T Small The displacement of the front walking motor and the displacement of the rear walking motor are adjusted to be the minimum value, and the rotating speed of the engine is n Hair-growing min Proceeding to step S8;
s5: if the actual torque T Fruit of Chinese wolfberry The positive Delta T is greater than the comparative torque T Small Then the torque T will be compared Small Increase T% as new comparative torque T 2 is small Wherein t% is a preset increment;
s6: if the actual torque T Fruit of Chinese wolfberry The torque is less than the new comparison torque T 2 small Then according to the engine curve chart, the engine speed is adjusted to the new comparison torque T 2 small Corresponding minimum rotational speed n Small Adjusting the displacement of the front travel motor to a minimum value V m1min Calculating the displacement V of the rear-running motor at the moment m2 Adjusting the displacement of the rear walking motor to be V according to the calculation result m2 Proceeding to step S8;
s7: if the actual torque T Fruit of Chinese wolfberry The positive Delta T is greater than the new comparison torque T 2 small Repeating the steps S5, S6 and S7;
s8: and after the adjustment of the road roller walking transition is finished, the transition is carried out according to the adjusted engine rotating speed and the displacement of the rear walking motor, wherein the reserved delta T is used as the reserved quantity when the torque is suddenly changed.
Preferably, the relationship between the vehicle speed and the engine speed is:
wherein, V p Is the displacement of the walking pump, n Small Is the rotational speed of the engine, i is the transmission ratio of the engine to the walking pump, η is the efficiency of the engine to the walking pump, V m1 Is the displacement of the front-running motor, V m2 To the displacement of the rear-running motor, v Vehicle with wheels For vehicle speed, R 1 Radius of the front wheel, R 2 The radius of the rear wheel.
The road roller transition walking control system comprises an engine, a controller, a pressure sensor, a walking hydraulic system and a vibration hydraulic system, wherein the vibration hydraulic system comprises an oil supplementing pump, a control valve, a vibration motor and a vibration pump, the walking hydraulic system comprises a walking pump, a rear walking motor, a rear wheel, a front walking motor and a front wheel, the walking pump is respectively connected with the rear walking motor and the front walking motor, the rear walking motor is also connected with the rear wheel, the front walking motor is also connected with the front wheel, the controller is respectively connected with the engine, the walking pump, the rear walking motor, the front walking motor, the control valve and the pressure sensor, and the control valve is respectively connected with the oil supplementing pump, the vibration motor, the vibration pump, the rear walking motor and the front walking motor.
Preferably, the oil supplementing pump comprises a traveling system oil supplementing pump and a vibration system oil supplementing pump, and the vibration system oil supplementing pump is respectively connected with the traveling system oil supplementing pump, the rear traveling motor and the front traveling motor through control valves.
Preferably, the oil supply pump includes a quantitative oil supply pump, and the quantitative oil supply pump is connected with the vibration motor, the vibration pump, the rear travel motor and the front travel motor through control valves, respectively.
Preferably, the oil replenishing pump includes a variable pump, and the variable pump is connected to the vibration motor, the vibration pump, the rear travel motor, and the front travel motor through control valves, respectively.
Preferably, the walking pump is an electric proportional displacement walking pump, the front walking motor is an electric proportional displacement front walking motor, and the rear walking motor is an electric proportional displacement rear walking motor.
Compared with the prior art, the invention has the beneficial effects that:
1. when the road roller is in transition to walk, normal walking of the road roller in transition can be ensured, low oil consumption of the road roller in transition can be realized, energy waste in transition is avoided, and fuel economy of the road roller is realized;
2. when the road roller is transferred, the vibration frequency is not required to be maintained to be constant, so that the constant rotating speed of an engine is not required to be ensured during the transfer;
3. the oil supplementing flow of the walking hydraulic system can meet the requirement when the rotating speed of the engine changes by a mode of oil supplementing by a single large pump or oil supplementing pump confluence, and constant oil supplementing and braking pressure releasing are maintained.
Drawings
FIG. 1 is a hydraulic schematic of the present invention;
FIG. 2 is a block flow diagram of example 1 of the present invention;
FIG. 3 is a block flow diagram of example 2 of the present invention;
FIG. 4 is a hydraulic schematic diagram of embodiment 5 of the present invention;
fig. 5 is a hydraulic schematic diagram of embodiment 6 of the present invention.
In the figure: 1. an engine; 2. a controller; 3. a walking pump; 4. a traveling system oil supply pump; 5. a rear travel motor; 6. a sensor; 7. a rear wheel; 8. a front travel motor; 9. a front wheel; 12. a vibrating wheel; 13. a control valve; 14. a vibration motor; 15. a vibration system oil supply pump; 16. a vibration pump; 17. a pressure sensor; 18. a quantitative oil supplementing pump; 19. a variable displacement pump.
Detailed Description
The invention is further illustrated by the following specific examples in combination with the accompanying drawings.
Example 1:
setting the maximum transition speed, e.g. v Vehicle max According to the maximum displacement V of the walking pump 3 pmax And the minimum displacement V of the front walking motor 8 and the rear walking motor 5 m1min 、V m2min (minimum displacement is determined by the performance of the traveling motor or the input speed reducer, or the minimum displacement of the motor high-efficiency area), and a preset or measured steering power P Rotating shaft V. available Vehicle max Minimum rotational speed n of the engine 1 Hair mim At the moment, the oil consumption is lowest, and the power is P Small And setting the comparison power, and reserving the delta P as a reserved quantity when the power is suddenly changed. When the transition traveling speed is stable, the front traveling motor 8 is set to the minimum displacement V m1min 。
As shown in fig. 1-2, a road roller transition walking control method includes the following steps:
s1: starting a transition mode, and enabling the controller 2 to give a signal to the control valve 13 to enable the flow of the oil supplementing pump to flow into a walking hydraulic system, namely the rear walking motor 5 and the front walking motor 8 to supplement oil;
s2: when the transition mode is started, the engine speed is set to be n max The displacement of the walking pump 3 is pulled from small to maximum, and the displacements of the front walking motor 8 and the rear walking motor 5 are both set as the maximum displacement;
s3: when the pressure sensor 17 detects that the pressure is constant, the actual power P of the engine 1 at that time is compared Fruit of Chinese wolfberry A + Δ P and a comparative power P Small ；
S4: if the actual power P Fruit of Chinese wolfberry The positive Delta P is less than the comparative power P Small The displacement of the front walking motor 8 and the displacement of the rear walking motor 5 are adjusted to be the minimum value, and the engine speed is n Hair-growing min The routine proceeds to step S8;
s5: if the actual power P Fruit of Chinese wolfberry The positive delta P is greater than the comparative power P Small Then the power P will be compared Small Increasing t% as a new comparative power P 2 small Wherein t% is a predetermined increment, i.e. P Small +t％＝P 2 small ；
S6：If the actual power P Fruit of Chinese wolfberry The positive delta P is smaller than the new comparison power P 2 small Then according to the engine curve chart, the engine speed is adjusted to the new comparative power P 2 small Corresponding minimum rotational speed n Small Adjusting the displacement of the front travel motor 8 to a minimum value V m1min And calculates the displacement V of the rear travel motor 5 at that time m2 Adjusting the displacement of the rear walking motor 5 to V according to the calculation result m2 The routine proceeds to step S8;
s7: if the actual power P Fruit of Chinese wolfberry The positive delta P is greater than the new comparison power P 2 small Repeating the steps S5, S6 and S7;
s8: and (5) after the adjustment of the road roller walking transition is finished, the road roller is transitioned according to the adjusted engine speed and the displacement of the rear walking motor 5. Wherein the reserved delta P is used as a reserved quantity when the power is suddenly changed.
The relationship between the vehicle speed and the engine speed is as follows:
wherein, V p The displacement of the walking pump 3 is in unit of mL/min, n Small Is the rotating speed of the engine 1, the unit r/min, i is the transmission ratio from the engine 1 to the walking pump 3, eta is the efficiency from the engine 1 to the walking pump 3, V m1 Is the displacement of the front walking motor 8, and has the unit of mL/min, V m2 The displacement of the rear-walking motor 5 is in units of mL/min, v Vehicle with wheels Is the vehicle speed in m/s, R 1 Is the radius of the front wheel 9, in m, R 2 The radius of the rear wheel 7 is calculated in m/S as the unit, and the displacement V of the rear travel motor 5 in step S6 is calculated from the above equation m2 。
Example 2:
the torques may also be compared and a maximum transition vehicle speed set, e.g., v Vehicle max According to the maximum displacement V of the walking pump 3 pmax And the minimum displacement V of the front walking motor 8 and the rear walking motor 5 m1min 、V m2min (minimum displacement is determined by the performance of the travel motor or the input reduction gear, or the minimum displacement of the motor high-efficiency area), and a preset or measured steering torqueT Rotating shaft V. availability Vehicle max Minimum rotational speed n of the engine 1 Hair-growing min When the oil consumption is lowest, the power is P Small Torque is T Small And setting the comparison torque, and reserving delta T as a reserved amount when the torque is suddenly changed.
As shown in fig. 3, a road roller transition walking control method includes the following steps:
s1: starting a transition mode, and enabling the controller 2 to give a signal to the control valve 13 to enable the flow of the oil supplementing pump to flow into a walking hydraulic system, namely the rear walking motor 5 and the front walking motor 8 to supplement oil;
s2: when the transition mode is started, the engine speed is set to be n max The displacement of the walking pump 3 is pulled from small to maximum, and the displacements of the front walking motor 8 and the rear walking motor 5 are both set as the maximum displacement;
s3: when the pressure sensor 17 detects that the pressure is constant, the actual torque T of the engine 1 at that time is compared Fruit of Chinese wolfberry +. DELTA T and comparative Torque T Small ；
S4: if the actual torque T Fruit of Chinese wolfberry The positive Delta T is less than the comparative torque T Small The displacement of the front walking motor 8 and the displacement of the rear walking motor 5 are adjusted to be the minimum value, and the engine speed is n Hair-growing min Proceeding to step S8;
s5: if the actual torque T Fruit of Chinese wolfberry The positive Delta T is greater than the comparative torque T Small Then the torque T will be compared Small Increase T% as new comparative torque T 2 small Wherein T% is a preset increment, i.e. T Small +t％＝T 2 small ；
S6: if the actual torque T Fruit of Chinese wolfberry The torque is less than the new comparison torque T 2 small Then according to the engine curve chart, the engine speed is adjusted to the new comparison torque T 2 small Corresponding minimum rotational speed n Small Adjusting the displacement of the front travel motor 8 to a minimum value V m1min And calculates the displacement V of the rear travel motor 5 at that time m2 Adjusting the rear walking horse according to the calculation resultUp to 5 displacement V m2 Proceeding to step S8;
s7: if the actual torque T Fruit of Chinese wolfberry The torque is greater than the new comparison torque T 2 small Repeating the steps S5, S6 and S7;
s8: and after the adjustment of the road roller walking transition is finished, the road roller is transitioned according to the adjusted rotating speed of the engine and the displacement of the rear walking motor 5, wherein the reserved delta T is used as the reserved amount when the torque is suddenly changed.
The relationship between the vehicle speed and the engine speed is as follows:
wherein, V p The displacement of the walking pump 3 is in unit of mL/min, n Small Is the rotating speed of the engine 1, the unit r/min, i is the transmission ratio from the engine 1 to the walking pump 3, eta is the efficiency from the engine 1 to the walking pump 3, V m1 Is the displacement of the front walking motor 8, the unit is mL/min, V m2 The displacement of the rear-walking motor 5 is in units of mL/min, v Vehicle with wheels Is the vehicle speed in m/s, R 1 Is the radius of the front wheel 9, in m, R 2 The radius of the rear wheel 7 is calculated in m/S, and the displacement V of the rear travel motor 5 in step S6 is calculated from the above equation m2 。
From the above equation, the displacement V of the rear travel motor 5 in step S6 can be calculated m2 。
In case of a transition, the expected vehicle speed v Vehicle with wheels <Maximum vehicle speed v Vehicle max The displacement of the walking pump 3 can be converted,
in step S4, the displacement of the travel motor 8 before adjustment is the minimum value, and the rotation speed of the engine 1 is n Hair mim Discharge volume V of rear travel motor 5 m2 The calculation is performed according to the above formula.
Example 3:
as shown in fig. 1, a road roller transition and walking control system according to embodiment 1 or embodiment 2 includes an engine 1, a controller 2, a sensor 6, a pressure sensor 17, a walking hydraulic system and a vibration hydraulic system, the vibration hydraulic system includes an oil replenishment pump, a control valve 13, a vibration motor 14 and a vibration pump 16, the vibration motor 14 is connected with a vibration wheel 12, the walking hydraulic system includes a walking pump 3, a rear walking motor 5, a rear wheel 7, a front walking motor 8 and a front wheel 9, the walking pump 3 is respectively connected with the rear walking motor 5 and the front walking motor 8, the rear walking motor 5 is also connected with the rear wheel 7, the front walking motor 8 is also connected with the front wheel 9, the controller 2 is respectively connected with the engine 1, the sensor 6, the walking pump 3, the rear walking motor 5, the front walking motor 8, the control valve 13 and the pressure sensor 17, the control valve 13 is respectively connected with the oil replenishment pump, the sensor, the vibration hydraulic system and the vibration hydraulic system, The vibration motor 14, the vibration pump 16, the rear travel motor 5, and the front travel motor 8 are connected. The sensor 6 is a torque or power sensor, the walking pump 3 is an electric proportional displacement walking pump, the front walking motor 8 is an electric proportional displacement front walking motor, and the rear walking motor 5 is an electric proportional displacement rear walking motor.
When the road roller changes the field, the sensor 6 transmits the torque or power value to the controller 2, the controller 2 outputs a control signal, the control over the walking pump 3, the rear walking motor 5, the front walking motor 8, the control valve 13 and the engine 1 is achieved, and the oil consumption is low when the road roller changes the field and walks.
Example 4:
as shown in fig. 1, the road roller transition walking control system comprises a walking system oil supplementing pump 4 and a vibration system oil supplementing pump 15, wherein the vibration system oil supplementing pump 15 is respectively connected with the walking system oil supplementing pump 4, a rear walking motor 5 and a front walking motor 8 through a control valve 13, and the vibration system oil supplementing pump 15 is further connected with a vibration motor 14 and a vibration pump 16. During the transition, the oil supply of the vibration pump 16 is practically useless, and the oil supply of the vibration system oil supply pump 15 and the traveling system oil supply pump 4 can be merged into the traveling system through the control valve 13. The other portions are the same as in example 3.
Example 5:
as shown in fig. 4, the road roller transition walking control system comprises a quantitative oil supplementing pump 18, and the quantitative oil supplementing pump 18 is respectively connected with a vibration motor 14, a vibration pump 16, a rear walking motor 5 and a front walking motor 8 through a control valve 13. Compared with the embodiment 4, the traveling system oil supply pump 4 and the vibration system oil supply pump 15 are not provided, but a large quantitative oil supply pump 18 is used for oil supply, and the flow of the oil supply to the traveling hydraulic system and the vibration hydraulic system is controlled by the control valve 13. The other portions are the same as in example 3.
Example 6:
as shown in fig. 5, the road roller transition walking control system comprises a variable pump 19, and the variable pump 19 is respectively connected with a vibration motor 14, a vibration pump 16, a rear walking motor 5 and a front walking motor 8 through a control valve 13. Compared with the embodiment 4, the traveling system oil supplementing pump 4 and the vibration system oil supplementing pump 15 are not provided, the variable pump 19 is used for supplementing oil, the flow of the oil supplementing to the traveling hydraulic system and the vibration hydraulic system is controlled through the control valve 13, and the signal is fed back to the variable pump 19 to control the displacement of the variable pump 19, so that the required oil supplementing flow is realized, and the oil supplementing flow is provided by the variable pump 19. The other portions are the same as in example 3.
Claims (9)
1. A road roller transition walking control method is characterized in that: the method comprises the following steps:
s1: starting a transition mode, and enabling the controller (2) to give a signal to the control valve (13) to enable the flow of the oil supplementing pump to flow into the walking hydraulic system for oil supplementation;
s2: upon starting the transition mode, the engine speed is set to n max The displacement of the walking pump (3) is pulled from small to maximum, and the displacements of the front walking motor (8) and the rear walking motor (5) are set to be maximum;
s3: when the pressure sensor (17) detects that the pressure is constant, the actual power P of the engine (1) at the moment is compared Fruit of Chinese wolfberry +. DELTA P and comparative power P Small ；
S4: if the actual power P Fruit of Chinese wolfberry The positive Delta P is less than the comparative power P Small The displacement of the front walking motor (8) and the displacement of the rear walking motor (5) are adjusted to be the minimum value, and the rotating speed of the engine is n Hair-growing min Proceeding to step S8;
s5: if the actual power P Fruit of Chinese wolfberry The positive delta P is greater than the comparative power P Small Then the power P will be compared Small Increase by t% asNew comparison power P 2 small Wherein t% is a preset increment;
s6: if the actual power P Fruit of Chinese wolfberry The positive delta P is smaller than the new comparison power P 2 small Then according to the engine curve chart, the engine speed is adjusted to the new comparative power P 2 small Corresponding minimum rotational speed n Small Adjusting the displacement of the front travel motor (8) to a minimum value V m1min At this time, the displacement V of the rear traveling motor (5) is calculated m2 Adjusting the displacement of the rear walking motor (5) to be V according to the calculation result m2 Proceeding to step S8;
s7: if the actual power P Fruit of Chinese wolfberry The positive delta P is greater than the new comparison power P 2 small Repeating the steps S5, S6 and S7;
s8: and (5) after the adjustment of the road roller walking transition is finished, the transition is carried out according to the adjusted engine rotating speed and the displacement of the rear walking motor (5). Wherein the reserved delta P is used as a reserved quantity when the power is suddenly changed.
2. The road roller transition walking control method according to claim 1, characterized in that: the relationship between the vehicle speed and the engine speed is as follows:
wherein, V p Is the displacement of the walking pump (3), n Small Is the rotating speed of the engine (1), i is the transmission ratio from the engine (1) to the traveling pump (3), eta is the efficiency from the engine (1) to the traveling pump (3), and V m1 Is the displacement volume, V, of the front travel motor (8) m2 Is the displacement volume, v, of the rear-running motor (5) Vehicle with wheels For vehicle speed, R 1 Is the radius of the front wheel (9), R 2 Is the radius of the rear wheel (7).
3. A road roller transition walking control method is characterized in that: the method comprises the following steps:
s1: starting a transition mode, and enabling the controller (2) to give a signal to the control valve (13) to enable the flow of the oil supplementing pump to flow into the walking hydraulic system for oil supplementation;
s2: upon starting the transition mode, the engine speed is set to n max The displacement of the walking pump (3) is pulled from small to maximum, and the displacements of the front walking motor (8) and the rear walking motor (5) are set to be maximum;
s3: when the pressure sensor (17) detects that the pressure is constant, the actual torque T of the engine (1) at the moment is compared Fruit of Chinese wolfberry +. DELTA T and comparative Torque T Small ；
S4: if the actual torque T Fruit of Chinese wolfberry The positive Delta T is less than the comparative torque T Small The displacement of the front walking motor (8) and the displacement of the rear walking motor (5) are adjusted to be the minimum value, and the rotating speed of the engine is n Hair-growing min The routine proceeds to step S8;
s5: if the actual torque T Fruit of Chinese wolfberry The positive Delta T is greater than the comparative torque T Small Then the torque T will be compared Small Increase T% as new comparative torque T 2 is small Wherein t% is a preset increment;
s6: if the actual torque T Fruit of Chinese wolfberry The positive Delta T is smaller than the new comparison torque T 2 is small Then according to the engine curve chart, the engine speed is adjusted to the new comparison torque T 2 small Corresponding minimum rotational speed n Small Adjusting the displacement of the front travel motor (8) to a minimum value V m1min And calculating the displacement V of the rear travel motor (5) at that time m2 Adjusting the displacement of the rear walking motor (5) to V according to the calculation result m2 Proceeding to step S8;
s7: if the actual torque T Fruit of Chinese wolfberry The torque is greater than the new comparison torque T 2 small Repeating the steps S5, S6 and S7;
s8: and after the adjustment of the road roller walking transition is finished, the transition is carried out according to the adjusted rotating speed of the engine and the displacement of the rear walking motor (5), wherein the reserved delta T is used as the reserved amount when the torque suddenly changes.
4. The road roller transition walking control method according to claim 3, characterized by comprising the following steps: the relationship between the vehicle speed and the engine speed is as follows:
wherein, V p Is the displacement of the walking pump (3), n Small Is the rotating speed of the engine (1), i is the transmission ratio from the engine (1) to the traveling pump (3), eta is the efficiency from the engine (1) to the traveling pump (3), and V m1 Is the displacement volume, V, of the front travel motor (8) m2 Is the displacement volume, v, of the rear-running motor (5) Vehicle with wheels As the vehicle speed, R 1 Is the radius of the front wheel (9), R 2 Is the radius of the rear wheel (7).
5. A road roller transition and walking control system according to any one of claims 1 to 4, comprising an engine (1), a controller (2), a pressure sensor (17), a walking hydraulic system and a vibration hydraulic system, characterized in that: the vibration hydraulic system comprises an oil supplementing pump, a control valve (13), a vibration motor (14) and a vibration pump (16), the walking hydraulic system comprises a walking pump (3), a rear walking motor (5), a rear wheel (7), a front walking motor (8) and a front wheel (9), the walking pump (3) is respectively connected with the rear walking motor (5) and the front walking motor (8), the rear walking motor (5) is further connected with the rear wheel (7), the front walking motor (8) is further connected with the front wheel (9), a controller (2) is respectively connected with an engine (1), the walking pump (3), the rear walking motor (5), the front walking motor (8), the control valve (13) and a pressure sensor (17), and the control valve (13) is respectively connected with the oil supplementing pump, the vibration motor (14), the vibration pump (16), the rear walking motor (5) and the front walking motor (8).
6. The road roller transition walking control system of claim 5, wherein: the oil supplementing pump comprises a traveling system oil supplementing pump (4) and a vibration system oil supplementing pump (15), and the vibration system oil supplementing pump (15) is respectively connected with the traveling system oil supplementing pump (4), a rear traveling motor (5) and a front traveling motor (8) through a control valve (13).
7. The road roller transition walking control system of claim 5, wherein: the oil supplementing pump comprises a quantitative oil supplementing pump (18), and the quantitative oil supplementing pump (18) is respectively connected with the vibration motor (14), the vibration pump (16), the rear walking motor (5) and the front walking motor (8) through a control valve (13).
8. The road roller transition walking control system of claim 5, wherein: the oil supplementing pump comprises a variable pump (19), and the variable pump (19) is respectively connected with a vibration motor (14), a vibration pump (16), a rear walking motor (5) and a front walking motor (8) through a control valve (13).
9. The road roller transition walking control system of claim 5, wherein: the walking pump (3) is an electric proportional displacement walking pump, the front walking motor (8) is an electric proportional displacement front walking motor, and the rear walking motor (5) is an electric proportional displacement rear walking motor.
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