CN115262549B - Pile driver rotating device, control method thereof, control device and controller - Google Patents

Pile driver rotating device, control method thereof, control device and controller Download PDF

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Publication number
CN115262549B
CN115262549B CN202210873900.1A CN202210873900A CN115262549B CN 115262549 B CN115262549 B CN 115262549B CN 202210873900 A CN202210873900 A CN 202210873900A CN 115262549 B CN115262549 B CN 115262549B
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China
Prior art keywords
rotary
solenoid valve
rotation
proportional solenoid
hydraulic motor
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CN115262549A (en
Inventor
狄祥
高见厂
岳宝根
杨野
魏学平
吴元峰
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Zoomlion Earth Moving Machinery Co Ltd
Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
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Zoomlion Earth Moving Machinery Co Ltd
Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
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Priority to CN202210873900.1A priority Critical patent/CN115262549B/en
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    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/02—Placing by driving
    • E02D7/06—Power-driven drivers
    • E02D7/14—Components for drivers inasmuch as not specially for a specific driver construction
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
    • E02D7/00—Methods or apparatus for placing sheet pile bulkheads, piles, mouldpipes, or other moulds
    • E02D7/02—Placing by driving
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F1/00—General working methods with dredgers or soil-shifting machines
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F5/00—Dredgers or soil-shifting machines for special purposes
    • 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
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • 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
    • E02F9/2004—Control mechanisms, e.g. control levers
    • E02F9/2012—Setting the functions of the control levers, e.g. changing assigned functions among operations levers, setting functions dependent on the operator or seat orientation
    • 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
    • E02F9/202—Mechanical transmission, e.g. clutches, gears
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
    • 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
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E02F9/2037—Coordinating the movements of the implement and of the frame
    • 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
    • E02F9/2058—Electric or electro-mechanical or mechanical control devices of vehicle sub-units
    • E02F9/2079—Control of mechanical transmission
    • 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
    • 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
    • E02F9/2203—Arrangements for controlling the attitude of actuators, e.g. speed, floating function
    • 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
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • 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
    • E02F9/2246—Control of prime movers, e.g. depending on the hydraulic load of work tools
    • 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
    • E02F9/225—Control of steering, e.g. for hydraulic motors driving the vehicle tracks
    • 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

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Paleontology (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The embodiment of the invention provides a pile driver rotating device, a control method, a control device and a controller thereof, wherein the control method for the pile driver rotating device comprises the following steps: acquiring a switching state of the left rotary switch, a switching state of the right rotary switch, an input state of the left rotary proportional solenoid valve and an input state of the right rotary proportional solenoid valve; and controlling a rotation operation of the rotary hydraulic motor according to the on-off state of the left rotary switch, the on-off state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve. The embodiment of the invention can effectively improve the control comfort, ensure better machine performance, avoid potential safety hazards caused by misoperation or machine faults in the rotating process, and prevent the hydraulic pipelines from being mutually twisted and damaged due to overlarge rotating angle.

Description

Pile driver rotating device, control method thereof, control device and controller
Technical Field
The invention relates to the technical field of pile driver control, in particular to a pile driver rotating device, a control method, a control device and a controller thereof.
Background
Most of pile drivers in the current market use an excavator as a main body, a working device is redesigned according to the requirement of the pile driver, and then part of the working device is replaced by a pile driving accessory to perform pile driving operation. Aiming at the rotation function of the pile driver, the prior art realizes the left-right rotation action during working by manually operating left-right rotation buttons. The left rotary switch and the right rotary switch are both self-reset buttons, the left rotary switch and the right rotary switch are pressed to be turned on and turned off, a driver operates the left rotary switch/the right rotary switch, the controller detects left/right rotary signals, the controller outputs voltage analog quantity signals to the left rotary electromagnetic switch valve/the right rotary electromagnetic switch valve, the left rotary electromagnetic switch valve/the right rotary electromagnetic switch valve receives the voltage analog quantity signals to start to work, the rotary hydraulic motor of the pile driver is controlled to rotate, and further left/right rotary control of the pile driver is achieved. According to the technical scheme, the left-right rotation function of the pile driver is realized through manual operation, but the electromagnetic switch valve is used, the impact is large, the control method is single, the control difficulty of the rotating speed handle by an operator is large, the operation comfort is low, if misoperation occurs in the working process, if the rotating misoperation is in the same direction for too long, the hydraulic pipelines of the pile driver are mutually twisted and damaged, the left-right quick-change inertia is large in the rotating process, and the pile is easy to fall to generate safety accidents. Therefore, there is an urgent need to propose a technical solution to solve the above technical problems in the prior art.
Disclosure of Invention
The embodiment of the invention aims to provide a pile driver rotating device, a control method, a control device and a controller thereof, which solve the technical problems in the prior art.
In order to achieve the above object, a first aspect of the present invention provides a control method for a rotary device of a pile driver, the rotary device of the pile driver including a left rotary switch, a right rotary switch, a left rotary proportional solenoid valve, a right rotary proportional solenoid valve, and a rotary hydraulic motor, the control method comprising: acquiring a switching state of a left rotary switch, a switching state of a right rotary switch, an input state of a left rotary proportional solenoid valve and an input state of a right rotary proportional solenoid valve; and controlling the rotation of the rotary hydraulic motor according to the on-off state of the left rotary switch, the on-off state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve.
In an embodiment of the present invention, controlling a rotation motion of a rotary hydraulic motor according to a state of a left rotary switch, a state of a right rotary switch, an input state of a left rotary proportional solenoid valve, and an input state of a right rotary proportional solenoid valve, includes: when the left rotary switch is in a closed state, the right rotary switch is in an open state and the right rotary proportional electromagnetic valve is in a no-input state, the rotary hydraulic motor is controlled to start left rotary action; and controlling the rotary hydraulic motor to start a right rotation action when the left rotary switch is in an open state, the right rotary switch is in a closed state and the left rotary proportional solenoid valve is in a no-input state.
In an embodiment of the present invention, controlling a rotary hydraulic motor to start a left rotary motion includes:
the left rotation start control current is determined according to the following equation:
and
Outputting left rotation starting control current to a left rotation proportional electromagnetic valve to control a rotation hydraulic motor to start left rotation action;
the method comprises the steps that lr_current1 is left rotation starting control current, lr_currentmin is minimum control current required for opening a valve core of a left rotation proportional electromagnetic valve, lr_currentmax is minimum control current required for fully opening the valve core of the left rotation proportional electromagnetic valve, lr_t1 is the time length when a distance control rotary hydraulic motor at the current moment starts to start left rotation, deltat 1 is a first time length, and Deltat 2 is a second time length;
controlling the rotary hydraulic motor to start a right rotary motion includes:
the right rotation start control current is determined according to the following equation:
and
Outputting right rotation starting control current to a right rotation proportional electromagnetic valve to control a rotation hydraulic motor to start right rotation action;
wherein, rr_current1 is right rotation start control current, rr_currentmin is minimum control current required for opening the valve core of the right rotation proportional electromagnetic valve, rr_currentmax is minimum control current required for fully opening the valve core of the right rotation proportional electromagnetic valve, rr_t1 is the time length when the distance control rotation hydraulic motor starts right rotation action at the present moment, Δt1 is the first time length, and Δt2 is the second time length.
In the embodiment of the invention, the value range of the minimum control current required for opening the valve core of the left rotary proportional electromagnetic valve is 200mA-400mA, the value range of the minimum control current required for opening the valve core of the left rotary proportional electromagnetic valve is 500mA-800mA, the value range of the minimum control current required for opening the valve core of the right rotary proportional electromagnetic valve is 200mA-400mA, the value range of the minimum control current required for opening the valve core of the right rotary proportional electromagnetic valve is 500mA-800mA, the value range of the first time period is 0-0.5s, and the value range of the second time period is 0.1s-2s.
In the embodiment of the present invention, the rotation action of the rotary hydraulic motor is controlled according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve, and further comprising: when the left rotary switch is in an off state and the left rotary proportional electromagnetic valve is in an input state, controlling the rotary hydraulic motor to stop the left rotary action; and controlling the rotary hydraulic motor to stop the right rotation action when the right rotary switch is in an off state and the right rotary proportional solenoid valve is in an input state.
In an embodiment of the present invention, controlling the rotary hydraulic motor to stop the left rotary motion includes:
The left rotation stop control current is determined according to the following equation:
and
Outputting a left rotation stop control current to the left rotation proportional solenoid valve to control the rotary hydraulic motor to stop the left rotation action;
the lr_current2 is a left rotation stop control current, lr_currentmin is a minimum control current required for opening the valve core of the left rotation proportional electromagnetic valve, lr_currentmax is a minimum control current required for fully opening the valve core of the left rotation proportional electromagnetic valve, lr_t2 is a time length from when the stop of the left rotation action of the control rotation hydraulic motor is started at the current moment, and Deltat 3 is a third time length;
the control of the rotary hydraulic motor to stop the right rotary motion includes:
the right rotation stop control current is determined according to the following equation:
and
Outputting a right rotation stop control current to the right rotation proportional solenoid valve to control the rotary hydraulic motor to stop the right rotation action;
wherein, rr_current2 is right rotation stop control current, rr_currentmin is minimum control current required for opening the valve core of the right rotation proportional electromagnetic valve, rr_currentmax is minimum control current required for fully opening the valve core of the right rotation proportional electromagnetic valve, rr_t2 is the time length when the distance control rotation hydraulic motor stops right rotation action at the present moment starts, and Deltat 3 is the third time length.
In the embodiment of the invention, the value range of the minimum control current required for opening the valve core of the left rotary proportional solenoid valve is 200mA-400mA, the value range of the minimum control current required for fully opening the valve core of the left rotary proportional solenoid valve is 500mA-800mA, the value range of the minimum control current required for opening the valve core of the right rotary proportional solenoid valve is 200mA-400mA, the value range of the minimum control current required for fully opening the valve core of the right rotary proportional solenoid valve is 500mA-800mA, and the value range of the third duration is 0.1s-2s.
In the embodiment of the present invention, the rotation action of the rotary hydraulic motor is controlled according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve, and further comprising: stopping outputting the control current to the left rotary proportional solenoid valve to stop the left rotary action of the rotary hydraulic motor when the duration of the left rotary proportional solenoid valve in the input state exceeds the fourth duration; and stopping outputting the control current to the right rotary proportional solenoid valve to stop the right rotary action of the rotary hydraulic motor when the duration of the right rotary proportional solenoid valve in the input state exceeds the fourth duration.
In the embodiment of the invention, the value range of the fourth time length is 3s-5s.
A second aspect of the invention provides a controller configured to perform the control method for a pile driver rotation device of the previous embodiments.
A third aspect of the invention provides a control apparatus for a pile driver rotation apparatus, the pile driver rotation apparatus comprising a rotary hydraulic motor, the control apparatus comprising: a left rotary switch configured to control start and stop of a left rotary motion of the rotary hydraulic motor; a right rotary switch configured to control start and stop of a right rotary motion of the rotary hydraulic motor; a left rotation proportional solenoid valve configured to control a rotation speed of a left rotation action of the rotary hydraulic motor; a right rotation proportional solenoid valve configured to control a rotation speed of a right rotation action of the rotary hydraulic motor; and the controller of the foregoing embodiment.
A fourth aspect of the invention provides a pile driver rotation device comprising: a rotary hydraulic motor configured to effect left and right rotary motions of the pile driver rotary device; and the control device for the pile driver rotation device of the previous embodiments.
According to the embodiment of the invention, the control comfort can be effectively improved through the technical scheme, so that the machine performance is better, potential safety hazards caused by misoperation or machine faults in the rotating process are avoided, and the hydraulic pipelines are prevented from being mutually twisted and damaged due to overlarge rotating angle.
Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a flow chart of a control method 100 for a pile driver rotary device according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a control device 200 for a rotary device of a pile driver according to an embodiment of the present invention;
fig. 3 is a schematic view of the construction of a pile driver rotation device 300 according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the control system of the exemplary pile driver rotary device of the present invention;
FIG. 5 is a timing diagram of control logic related signals during a left rotary action of a control system of an exemplary pile driver rotary device of the present invention; and
fig. 6 is a timing diagram of control logic related signals of a process of rapidly switching left rotary action to right rotary action of a control system of an exemplary pile driver rotary device of the present invention.
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
In the present embodiment, if directional indications (such as up, down, left, right, front, and rear … …) are included, the directional indications are merely used to explain the relative positional relationship, movement, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the protection scope of the present application.
As shown in fig. 1, in an embodiment of the present invention, there is provided a control method 100 for a rotary device of a pile driver, the rotary device of the pile driver including a left rotary switch, a right rotary switch, a left rotary proportional solenoid valve, a right rotary proportional solenoid valve, and a rotary hydraulic motor, the control method 100 for the rotary device of the pile driver including the steps of:
Step S110: the switching state of the left rotary switch, the switching state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve are acquired. Specifically, the switch states include a closed state and an open state, the left rotary switch is configured to control, for example, the start and stop of the left rotary motion of the rotary hydraulic motor, and the right rotary switch is configured to control, for example, the start and stop of the right rotary motion of the rotary hydraulic motor. For example, in the case of a push button switch, if the push button switch is pressed, the push button switch is in a closed state, and a switch signal provided by the push button switch is detected. If the push button switch is released, the push button switch is in an off state, and a switch signal provided by the push button switch cannot be detected. The switching state of the corresponding rotary switch may be determined by determining whether a corresponding switching signal is received, for example. The input states include an input state and a no input state. If a control current is input to the left/right rotary proportional solenoid valve at a certain time, the left/right rotary proportional solenoid valve is considered to be in an input state at the time, and if no control current is input to the left/right rotary proportional solenoid valve at the time, the left/right rotary proportional solenoid valve is considered to be in an input-free state at the time. Further, it will be understood by those skilled in the art that the control current is not output to the right rotary proportional solenoid valve during the output of the control current to the left rotary proportional solenoid valve, and likewise, the control current is not output to the left rotary proportional solenoid valve during the output of the control current to the right rotary proportional solenoid valve, that is, the left rotary proportional solenoid valve and the right rotary proportional solenoid valve are not simultaneously in the input state.
Step S130: the rotary operation of the rotary hydraulic motor is controlled according to the on-off state of the left rotary switch, the on-off state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve.
Specifically, the rotational operation of the rotary hydraulic motor is controlled according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve, that is, step S130 includes, for example:
(a1) When the left rotary switch is in a closed state, the right rotary switch is in an open state, and the right rotary proportional solenoid valve is in a no-input state, the rotary hydraulic motor is controlled to start a left rotary motion. That is, when the left rotary switch is in the closed state, the right rotary switch is in the open state, and the right rotary proportional solenoid valve is in the no-input state, it is determined that the left rotary operation needs to be started. And
(a2) When the left rotary switch is in an open state, the right rotary switch is in a closed state, and the left rotary proportional solenoid valve is in a no-input state, the rotary hydraulic motor is controlled to start a right rotary motion. That is, when the left rotary switch is in the open state, the right rotary switch is in the closed state, and the left rotary proportional solenoid valve is in the no-input state, it is determined that the right rotary operation needs to be started.
Specifically, in step (a 1), the control of the rotary hydraulic motor to start the left-hand rotation action includes, for example:
(a11) The left rotation start control current is determined according to the following equation:
and
(a12) The left-hand rotation start control current is output to the left-hand rotation proportional solenoid valve to control the rotary hydraulic motor to start the left-hand rotation action.
The lr_current1 is a left rotation starting control current, lr_currentmin is a minimum control current required for opening a valve core of the left rotation proportional electromagnetic valve, lr_currentmax is a minimum control current required for fully opening the valve core of the left rotation proportional electromagnetic valve, lr_t1 is a time length when the distance control rotary hydraulic motor at the current moment starts to start left rotation, Δt1 is a first time length, and Δt2 is a second time length.
Specifically, in step (a 2), the control of the rotary hydraulic motor to start the right rotation action includes, for example:
(a21) The right rotation start control current is determined according to the following equation:
and
(a22) The right rotation start control current is output to the right rotation proportional solenoid valve to control the rotation hydraulic motor to start the right rotation action.
Wherein, rr_current1 is right rotation start control current, rr_currentmin is minimum control current required for opening the valve core of the right rotation proportional electromagnetic valve, rr_currentmax is minimum control current required for fully opening the valve core of the right rotation proportional electromagnetic valve, rr_t1 is the time length when the distance control rotation hydraulic motor starts right rotation action at the present moment, Δt1 is the first time length, and Δt2 is the second time length.
Specifically, the minimum control current required for opening the valve core of the left rotary proportional solenoid valve is, for example, 200mA-400mA, that is, any value between 200mA-400mA, such as 200mA, 250mA, 380mA, 400mA, etc. The minimum control current required by the full opening of the valve core of the left rotary proportional solenoid valve is, for example, 500mA-800mA, namely, any value between 500mA-800mA, such as 500mA, 680mA, 750mA, 800mA and the like. The minimum control current required for opening the valve core of the right rotary proportional solenoid valve is, for example, 200mA-400mA, namely, any one value between 200mA-400mA, such as 200mA, 250mA, 380mA, 400mA and the like. The minimum control current required by the full opening of the valve core of the right rotary proportional solenoid valve is, for example, 500mA-800mA, namely, any value between 500mA-800mA, such as 500mA, 680mA, 750mA, 800mA and the like. The first duration may have a value ranging from, for example, 0 to 0.5s, i.e., any value between 0 and 0.5s, such as 0, 0.15s, 0.28s, 0.3s, 0.46s, 0.5s, etc. The second duration may have a value ranging from 0.1s to 2s, for example, that is, any value ranging from 0.1s to 2s, such as 0.1s, 0.2s, 1.1s, 1.6s, 2s, etc.
Further, the rotary operation of the rotary hydraulic motor is controlled according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve, that is, step S130 further includes, for example:
(a3) When the left rotary switch is in an off state and the left rotary proportional solenoid valve is in an input state, the rotary hydraulic motor is controlled to stop the left rotary operation. That is, when the left rotary switch is in the off state and the left rotary proportional solenoid valve is in the input state, it is determined that the left rotary operation needs to be stopped. And
(a4) When the right rotary switch is in an off state and the right rotary proportional solenoid valve is in an input state, the rotary hydraulic motor is controlled to stop the right rotary operation. That is, when the right rotary switch is in the off state and the right rotary proportional solenoid valve is in the input state, it is determined that the right rotary operation needs to be stopped.
Specifically, in step (a 3), the control of the rotary hydraulic motor to stop the left-hand rotation action includes, for example:
(a31) The left rotation stop control current is determined according to the following equation:
and
(a32) The left rotation stop control current is output to the left rotation proportional solenoid valve to control the rotary hydraulic motor to stop the left rotation action.
Wherein lr_current2 is a left rotation stop control current, lr_currentmin is a minimum control current required for opening the valve element of the left rotation proportional solenoid valve, lr_currentmax is a minimum control current required for fully opening the valve element of the left rotation proportional solenoid valve, lr_t2 is a time period from when the stop of the left rotation action of the control rotation hydraulic motor at the current moment starts, and Δt3 is a third time period.
Specifically, in step (a 4), the control of the rotary hydraulic motor to stop the right rotation action includes, for example:
(a41) The right rotation stop control current is determined according to the following equation:
and
(a42) The right rotation stop control current is output to the right rotation proportional solenoid valve to control the rotary hydraulic motor to stop the right rotation action.
Wherein, rr_current2 is right rotation stop control current, rr_currentmin is minimum control current required for opening the valve core of the right rotation proportional electromagnetic valve, rr_currentmax is minimum control current required for fully opening the valve core of the right rotation proportional electromagnetic valve, rr_t2 is the time length when the distance control rotation hydraulic motor stops right rotation action at the present moment starts, and Deltat 3 is the third time length.
Specifically, the minimum control current required for opening the valve core of the left rotary proportional solenoid valve is, for example, 200mA-400mA, that is, any value between 200mA-400mA, such as 200mA, 250mA, 380mA, 400mA, etc. The minimum control current required by the full opening of the valve core of the left rotary proportional solenoid valve is, for example, 500mA-800mA, namely, any value between 500mA-800mA, such as 500mA, 680mA, 750mA, 800mA and the like. The minimum control current required for opening the valve core of the right rotary proportional solenoid valve is, for example, 200mA-400mA, namely, any one value between 200mA-400mA, such as 200mA, 250mA, 380mA, 400mA and the like. The minimum control current required by the full opening of the valve core of the right rotary proportional solenoid valve is, for example, 500mA-800mA, namely, any value between 500mA-800mA, such as 500mA, 680mA, 750mA, 800mA and the like. The third duration may have a value ranging from 0.1s to 2s, for example, that is, any value ranging from 0.1s to 2s, such as 0.1s, 0.2s, 1.1s, 1.6s, 2s, etc.
Further, the rotary operation of the rotary hydraulic motor is controlled according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve, that is, step S130 further includes, for example:
(a5) When the duration of time that the left rotary proportional solenoid valve is in the input state exceeds the fourth duration, the output of the control current to the left rotary proportional solenoid valve is stopped to stop the left rotary motion of the rotary hydraulic motor. That is, when the duration of time that the left rotary proportional solenoid valve is in the input state exceeds the fourth duration, it is determined that the left rotary motion needs to be stopped, and at this time, the control current is stopped from being output to the left rotary proportional solenoid valve to stop the right rotary motion of the rotary hydraulic motor. And
(a6) When the duration of time that the right rotary proportional solenoid valve is in the input state exceeds the fourth duration, the output of the control current to the right rotary proportional solenoid valve is stopped so that the right rotary operation of the rotary hydraulic motor is stopped. That is, when the duration of time that the right rotary proportional solenoid valve is in the input state exceeds the fourth duration, it is determined that the right rotary motion needs to be stopped, and at this time, the control current is stopped from being output to the right rotary proportional solenoid valve to stop the right rotary motion of the rotary hydraulic motor.
Specifically, the value range of the fourth duration is, for example, 3s-5s, that is, the value is any one of 3s-5s, such as 3s, 3.2s, 3.9s, 4.6s, 5s, and the like.
Further, the control method 100 for a driver rotation device may further comprise the step of obtaining relevant parameters such as the first time period, the second time period, the third time period and/or the fourth time period, for example. Specifically, an operator sets related parameters such as a first time period, a second time period, a third time period and/or a fourth time period through a manual interaction device such as a display, the display after setting sends a parameter setting signal including a target setting parameter and a setting value corresponding to the target setting parameter, and the set parameter value can be determined according to the received parameter setting signal. Of course, the embodiment of the present invention is not limited to this, and the related parameters of the first duration, the second duration, the third duration, and/or the fourth duration may be, for example, obtained by reading in a local pre-storing manner, or may be parameters preset in advance, without requiring an additional step of obtaining the parameters.
The control method 100 for a pile driver rotation device according to an embodiment of the present invention may be implemented in a controller, for example, specifically, a complete machine controller of an excavator where a pile driver is located.
In an embodiment of the invention, a controller is provided, for example configured to perform the control method 100 for a pile driver rotation device according to any of the previous embodiments.
The specific function and details of the control method 100 for the rotation device of the pile driver are described with reference to the previous embodiments, and will not be repeated here.
Specifically, the controller may be, for example, a control device such as an industrial personal computer, an embedded system, a microprocessor, a programmable logic device, and the like, and may be, for example, a complete machine controller of an excavator where the pile driver is located.
As shown in fig. 2, in an embodiment of the present invention, there is provided a control apparatus 200 for a pile driver rotation apparatus including a rotary hydraulic motor, the control apparatus 200 for a pile driver rotation apparatus including: a controller 210, a left rotary switch 230, a right rotary switch 250, a left rotary proportional solenoid valve 270, and a right rotary proportional solenoid valve 290.
Wherein the controller 210 is, for example, a controller according to any of the previous embodiments. The specific functions and details of the controller 210 may be referred to the related descriptions of the foregoing embodiments, and will not be repeated herein.
The left rotary switch 230 is configured to control, for example, the start and stop of the left rotary action of the rotary hydraulic motor.
The right rotary switch 250 is configured to control, for example, the start and stop of the right rotary action of the rotary hydraulic motor.
The left rotary proportional solenoid valve 270 is configured to control a rotational speed of a left rotary motion of the rotary hydraulic motor, for example.
The right rotation proportional solenoid valve 290 is configured to control a rotation speed of a right rotation operation of the rotary hydraulic motor, for example.
In an embodiment of the present invention, there is provided a pile driver rotation device 300 comprising: a control device 310 and a rotary hydraulic motor 330.
Wherein the control device 310 is for example a control device 200 for a pile driver rotation device according to any of the previous embodiments. The specific function and details of the control device 310 may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.
The rotary hydraulic motor 330 is configured to effect, for example, a left-hand and right-hand rotary motion of the pile driver rotary device.
The control method 100 for a driver rotation device, the control device 200 for a driver rotation device and the driver rotation device 300 according to an embodiment of the present invention will be described in detail with reference to a specific example, and the specific contents of the examples of the present invention are as follows:
as shown in fig. 4, an example of the present invention provides a control system of a rotary device of a pile driver, mainly comprising a display (VDU) 100, a left rotary switch 101, a right rotary switch 102, an Engine Controller (ECM) 201, a complete machine controller (VCU) 202, an engine 203, a main pump 204, a left rotary electromagnetic proportional valve 302, a right rotary electromagnetic proportional valve 303, and a rotary hydraulic motor 304. A display (VDU) 100, a left rotary switch 101 and a right rotary switch 102 are for example provided in the cab of the excavator in which the pile driver is located. The main control logic of the control system of the pile driver rotary device of the present example is described below.
The control system of the pile driver rotating device adopts the proportional electromagnetic valve, and combines the rotating action control strategy, so that the hydraulic impact can be reduced, and the responsiveness and the sensitivity are higher.
(1) Start left rotation
As shown in fig. 5, when the complete machine controller 202 detects that the right rotary switch 102 is in the off state, that is, the switch signal of the right rotary switch 102 is not received, the control current output to the right rotary proportioning solenoid valve 303 is 0, that is, the right rotary proportioning solenoid valve 303 is in the no-input state, and the left rotary switch 101 is in the on state, that is, the switch signal of the left rotary switch 101 is received, that is, the condition for starting the left rotary motion is satisfied at this time, the complete machine controller 202 determines that it is currently required to control the driver rotary device to start the left rotary motion.
The process of controlling the pile driver rotation means to initiate a left-hand rotation action is as follows:
as shown in fig. 5, in the start-up stage, in order to avoid the erroneous operation, the dead time of t1 is set so that the control current is not outputted to the left-hand rotary proportional solenoid valve 302 for the time period t1 (the value range 0 to 0.5 s) after the condition for starting the left-hand rotary operation is satisfied. Thereafter, the magnitude of the control Current output to the left rotary proportional solenoid valve 302 increases linearly from current_min to current_max for the next time period t2 (value range 0.1s-2 s), and thereafter the magnitude of the control Current output to the left rotary proportional solenoid valve 302 remains at current_max. The current_min is the minimum control Current required for opening the valve element of the left rotary proportional solenoid valve 302, and the value range is 200mA-400mA. Current Max is the minimum control Current required for fully opening the valve core of the left rotary proportional solenoid valve 302, and the value range is 500-800mA.
(2) Stop the left rotation
As shown in fig. 5, when the complete machine controller 202 detects that the left rotary switch 101 is in the off state, that is, the switch signal of the left rotary switch 101 is not received and the control current output to the left rotary proportioning solenoid valve 302 is not 0, that is, the left rotary proportioning solenoid valve 302 is in the input state, that is, the condition of stopping the left rotary action is satisfied at this time, the complete machine controller 202 determines that it is currently necessary to control the pile driver rotating device to stop the left rotary action.
The process of controlling the pile driver rotation means to stop the left-hand rotation action is as follows:
when it is determined that it is necessary to control the driver rotating device to stop the left-hand rotation, the complete machine controller 202 linearly reduces the magnitude of the control Current output to the left-hand rotation proportional solenoid valve 302 from current_max to current_min and further directly to 0 within a time period t3 (a value range of 0.1s-2 s) after the condition for stopping the left-hand rotation is satisfied in order to reduce the stop shock.
(3) Start right rotation action and stop right rotation action:
the control principle of starting the right rotation action is the same as that of starting the left rotation action, and the control principle of stopping the right rotation action is the same as that of starting the left rotation action, and specific reference may also be made to the foregoing embodiments and the related descriptions in the examples of the present invention, which are not repeated here.
The process of rapidly switching the left rotation operation to the right rotation operation as shown in fig. 6 merges four operation cases of starting the left rotation operation, stopping the left rotation operation, starting the right rotation operation, and stopping the right rotation operation, and several time points in the figure are described as follows:
(1) node for switching left rotary switch from open state to closed state
(2) Node for switching left rotary proportional solenoid valve from no-input state to input state
(3) Node for switching left rotary switch from closed state to open state
(4) Node for switching right rotary switch from open state to closed state
(5) Node for switching left rotary proportional solenoid valve from input state to no-input state
(6) Node for switching right rotary proportional solenoid valve from no-input state to input state
When the node (4) at which the right rotary switch 102 is switched from the open state to the closed state is located before the node (5) at which the left rotary proportional solenoid valve 302 is switched from the input state to the no-input state, that is, when the complete machine controller 202 is still in the closed state when the control current is output to the left rotary proportional solenoid valve 302, the current is a process of rapidly switching the left rotary operation to the right rotary operation, and in this state, when the complete machine controller 202 just detects the switching signal of the right rotary switch 102, that is, when the right rotary switch 102 is switched to the closed state, the complete machine controller 202 continues to output the corresponding control current to the left rotary proportional solenoid valve 302 according to the control logic which is executed to start the left rotary operation, and does not respond to the switching signal of the right rotary switch 102. Until the complete machine controller 202 detects that the switching state of the left rotary switch 101 is switched to the off state, the complete machine controller 202 determines that the left rotary motion needs to be stopped currently, so that the corresponding control current is output to the left rotary proportional solenoid valve 302 according to the control logic for stopping the left rotary motion until the control current output to the left rotary proportional solenoid valve 302 is reduced to 0, and the switching signal of the right rotary switch 102 is not responded during the period of reducing to 0. When the control Current output to the left rotary proportional solenoid valve 302 decreases to 0, the complete machine controller 202 starts to respond to the switching signal of the right rotary switch 102, and determines that the right rotary action is required to be started currently, so that the corresponding control Current is output to the right rotary proportional solenoid valve 303 according to the control logic for starting the right rotary action until the control Current output to the right rotary proportional solenoid valve 303 increases from 0 to current_max, and then the control Current output to the right rotary proportional solenoid valve 303 is maintained at current_max until the complete machine controller 202 detects that the right rotary switch 102 is switched to an off state, and at this time, the left rotary proportional solenoid valve 302 is also in an input-free state, and determines that the right rotary action is required to be stopped currently, so that the corresponding control Current is output to the right rotary proportional solenoid valve 303 according to the control logic for stopping the right rotary action until the control Current output to the right rotary proportional solenoid valve 303 decreases to 0.
The control principle of the process of rapidly switching the right rotation action to the left rotation action is the same as that of the process of rapidly switching the left rotation action to the right rotation action, and will not be described again.
(4) Duration limit for unidirectional rotational motion
Whether the left rotary motion or the right rotary motion, the duration of the control current corresponding to the single-direction rotary motion, that is, the duration of the control current output to the single-rotary proportional solenoid valve is not 0, is not longer than a preset duration t4, for example, 5s, and if the duration of the control current of any one rotary proportional solenoid valve, for example, the left rotary proportional solenoid valve 302 or the right rotary proportional solenoid valve 303, is not longer than the preset duration, the whole machine controller 102 directly stops outputting the control current to the rotary proportional solenoid valve, that is, the magnitude of the control current becomes 0, so that the following problems are avoided: when the pile driver works, the operator mistakenly touches the operation or machine faults to continuously input corresponding rotary switch signals to the whole machine controller 202, so that the rotation angle of the rotary device of the pile driver is excessively large, such as more than 90 degrees, and the hydraulic pipeline is mutually twisted and damaged and the safety accident is caused when the pile is driven. Meanwhile, the display 100 may also perform an alarm prompt, and display an operation method for releasing the current state, if an operator needs to release the current state, the operator may perform a corresponding operation according to the operation method for displaying the operation for releasing the current state, and after the operation, the complete machine controller 202 receives a related signal for releasing the current state, and the complete machine controller 202 responds to the operation of the current rotary switch normally.
(5) Parameter adjustment
In order to meet different working conditions and operating habits of drivers, the present example may also adjust relevant parameters such as t1, t2, t3, t4, current_min, current_max, etc. by using the display 100, so as to adjust the rotation response speed, specifically, an operator performs a parameter adjustment operation on the display 100, after the operation, the display 100 sends a parameter setting signal (including a target setting parameter and a corresponding setting value) to the overall controller 202, and the overall controller 202 sets the value of the corresponding parameter to the setting value set by the operator through the display 100 when receiving the parameter setting signal.
In summary, the foregoing embodiments of the present invention may achieve some or all of the following technical effects: the control strategy of starting the rotating action and stopping the rotating action is innovated by adopting the proportional electromagnetic valve instead of the electromagnetic switch valve, and the slope control strategy is increased in the processes of starting the rotating action and stopping the rotating action, so that the control effect during quick change of the left rotating action and the right rotating action can be improved, the hydraulic impact and the inertia are reduced, the operation convenience and the comfort are effectively improved, the requirements of different working conditions can be met, the operation driving habit of a driver is met, and the operation difficulty is reduced. The relevant parameters can be conveniently adjusted in the display, so that the rotation response speed of the rotation device of the pile driver can be set according to the requirement. The judgment delay control is added in the process of starting the rotation action, the single-direction rotation duration time judgment and control are added, and the potential safety hazards caused by self twisting damage and rotation misoperation during working when the pile driver rotates can be effectively avoided.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.

Claims (6)

1. A control method for a rotary device of a pile driver, the rotary device of the pile driver comprising a left rotary switch, a right rotary switch, a left rotary proportional solenoid valve, a right rotary proportional solenoid valve, and a rotary hydraulic motor, the control method comprising:
acquiring a switching state of the left rotary switch, a switching state of the right rotary switch, an input state of the left rotary proportional solenoid valve and an input state of the right rotary proportional solenoid valve; and
controlling a rotation motion of the rotary hydraulic motor according to a switching state of the left rotary switch, a switching state of the right rotary switch, an input state of the left rotary proportional solenoid valve, and an input state of the right rotary proportional solenoid valve;
the control of the rotation motion of the rotary hydraulic motor according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve includes:
Controlling the rotary hydraulic motor to start a left rotary action when the left rotary switch is in a closed state, the right rotary switch is in an open state and the right rotary proportional solenoid valve is in a no-input state; and
controlling the rotary hydraulic motor to start a right rotary action under the condition that the left rotary switch is in an open state, the right rotary switch is in a closed state and the left rotary proportional electromagnetic valve is in a no-input state;
the controlling the rotary hydraulic motor to start a left rotary motion includes:
the left rotation start control current is determined according to the following equation:
and
Outputting the left rotation start control current to the left rotation proportional solenoid valve to control the rotary hydraulic motor to start a left rotation action;
wherein,lr_current1 is the left rotation start control current,lr_current_minthe minimum control current required for the left rotary proportioning solenoid valve spool to open,lr_current_maxthe minimum control current required for full opening of the spool of the left rotary proportioning solenoid valve,lr_t1 is the time length when the distance at the current moment controls the left rotation action of the rotary hydraulic motor to start, deltat1 is a first time length, deltat2 is a second duration;
The controlling the rotary hydraulic motor to start a right rotary motion includes:
the right rotation start control current is determined according to the following equation:
and
Outputting the right rotation start control current to the right rotation proportional solenoid valve to control the rotary hydraulic motor to start a right rotation action;
wherein,rr_current1 is the right rotation start control current,rr_current_minthe minimum control current required for opening the spool of the right rotary proportional solenoid valve,rr_current_maxthe minimum control current required for the full opening of the spool of the right rotary proportioning solenoid valve,rr_t1 is the time length when the distance control of the current moment starts the right rotation action of the rotary hydraulic motor, deltat1 is the first time length, deltat2 is the second duration;
the control of the rotation of the rotary hydraulic motor according to the state of the left rotary switch, the state of the right rotary switch, the input state of the left rotary proportional solenoid valve, and the input state of the right rotary proportional solenoid valve further includes:
when the left rotary switch is in an off state and the left rotary proportional solenoid valve is in an input state, controlling the rotary hydraulic motor to stop left rotary action; and
When the right rotary switch is in an off state and the right rotary proportional solenoid valve is in an input state, controlling the rotary hydraulic motor to stop the right rotary action;
the controlling the rotary hydraulic motor to stop the left rotary motion includes:
the left rotation stop control current is determined according to the following equation:
and
Outputting the left rotation stop control current to the left rotation proportional solenoid valve to control the rotary hydraulic motor to stop a left rotation action;
wherein,lr_current2 is the left rotation stop control current,lr_current_minthe minimum control current required for the left rotary proportioning solenoid valve spool to open,lr_current_maxthe minimum control current required for full opening of the spool of the left rotary proportioning solenoid valve,lr_t2 is the time length when the distance control of the current moment stops the left rotation action of the rotary hydraulic motor, deltat3 is a third duration;
the controlling the rotary hydraulic motor to stop the right rotary motion includes:
the right rotation stop control current is determined according to the following equation:
and
Outputting the right rotation stop control current to the right rotation proportional solenoid valve to control the rotary hydraulic motor to stop a right rotation action;
Wherein,rr_current2 is the right rotation stop control current,rr_current_minthe minimum control current required for opening the spool of the right rotary proportional solenoid valve,rr_current_maxthe minimum control current required for the full opening of the spool of the right rotary proportioning solenoid valve,rr_t2 is the time length when the distance control of the current moment stops the right rotation action of the rotary hydraulic motor, deltatAnd 3 is the third duration.
2. The control method for a rotary device of a pile driver according to claim 1, wherein said controlling the rotary action of said rotary hydraulic motor according to the state of said left rotary switch, the state of said right rotary switch, the input state of said left rotary proportional solenoid valve and the input state of said right rotary proportional solenoid valve, further comprises:
stopping outputting a control current to the left rotary proportional solenoid valve to stop the left rotary action of the rotary hydraulic motor when the duration of time that the left rotary proportional solenoid valve is in the input state exceeds a fourth duration; and
and stopping outputting a control current to the right rotary proportional solenoid valve to stop the right rotary action of the rotary hydraulic motor when the duration of the right rotary proportional solenoid valve in the input state exceeds the fourth duration.
3. A control method for a rotary device of a pile driver according to claim 2, characterised in that the fourth time period has a value in the range 3s-5s.
4. A controller configured to perform the control method for a pile driver rotation device according to any one of claims 1 to 3.
5. A control device for a pile driver rotation device, the pile driver rotation device comprising a rotary hydraulic motor, the control device comprising:
a left rotary switch configured to control start and stop of a left rotary motion of the rotary hydraulic motor;
a right rotary switch configured to control start and stop of a right rotary motion of the rotary hydraulic motor;
a left rotation proportional solenoid valve configured to control a rotation speed of a left rotation action of the rotary hydraulic motor;
a right rotation proportional solenoid valve configured to control a rotation speed of a right rotation action of the rotary hydraulic motor; and
the controller of claim 4.
6. A pile driver rotation apparatus comprising:
a rotary hydraulic motor configured to effect left and right rotary motions of the pile driver rotary device; and
A control device for a pile driver rotation device according to claim 5.
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