CN115657744B - Control system and control method for working traveling speed of pavement cold recycling machine - Google Patents
Control system and control method for working traveling speed of pavement cold recycling machine Download PDFInfo
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- CN115657744B CN115657744B CN202211674175.1A CN202211674175A CN115657744B CN 115657744 B CN115657744 B CN 115657744B CN 202211674175 A CN202211674175 A CN 202211674175A CN 115657744 B CN115657744 B CN 115657744B
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Abstract
The invention discloses a control system and a control method for the working travelling speed of a pavement cold recycling machine, wherein the control method comprises the steps of starting a system, operating a milling drum, measuring operation parameters, calculating the current pavement strength, determining the working cutting amount, determining the target vehicle speed and formally starting milling operation; the control system comprises a sensor assembly, a controller and a display terminal, wherein signals of the sensor assembly are transmitted to the controller, the controller calculates target speed according to signals of the sensor assembly and displays the target speed through the display terminal, and the sensor assembly comprises a working pressure sensor, a milling drum rotating speed sensor and a vehicle speed sensor. Has the advantages that: according to the invention, the pavement strength value is obtained through a short testing distance, the target speed is determined according to the pavement strength, and the operator controls the current speed of the whole vehicle according to the calculated target speed, so that the working efficiency is improved; provides technical guarantee for construction quality and improves construction efficiency.
Description
Technical Field
The invention relates to a control system and a control method of engineering mechanical equipment, in particular to a control system and a control method of the working traveling speed of a pavement cold recycling machine, and belongs to the technical field of engineering machinery.
Background
The cold regenerating machine for road surface is an environment-protecting and high-efficiency road construction equipment designed and manufactured for adapting to the construction of urban and rural roads, and when in operation, old asphalt road surface is milled and crushed, at the same time, stabilizing agent (cement, lime, water, etc.) is added, and mixed in situ, and formed into new road base layer by means of shaping and compacting.
When the pavement cold recycling machine starts to be constructed, the working walking speed is generally set for a certain distance by experience, then whether the crushing degree and the mixing uniformity meet the construction requirements is checked, if not, the walking speed is changed for testing, and the pavement cold recycling machine works according to the qualified construction speed after being checked to be qualified, so that the process is sometimes complicated and the working efficiency is influenced; in addition, the hydraulic pavement cold recycling machine is not provided with a speedometer, the traveling speed is judged only by the relative position of the traveling handle, the error is large, the judgment and the discovery are not easy, and the construction quality is unstable.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a control system and a control method for the working traveling speed of a pavement cold recycling machine, which can improve the working efficiency and ensure the construction quality, aiming at the problems that the working traveling speed is difficult to determine and the construction quality is unstable in the prior art.
The technical scheme is as follows: a control system for the working traveling speed of a pavement cold recycling machine comprises a sensor assembly, a controller and a display terminal, wherein a signal of the sensor assembly is transmitted to the controller, the controller calculates a target speed according to a signal of the sensor assembly and displays the target speed through the display terminal, and the sensor assembly comprises a working pressure sensor, a milling drum rotating speed sensor and a vehicle speed sensor; the controller comprises a calculation module, an output module and a data module for the corresponding relation between the road surface strength and the work cutting amount, the display terminal comprises a target vehicle speed display unit,
the sensor assembly comprises a working pressure sensor, a milling drum rotating speed sensor and a vehicle speed sensor which respectively transmit measured working hydraulic system pressure signals, milling drum rotating speed signals and test vehicle speed signals to a calculation module,
the calculation module calculates the current road surface strength, reads preset data in a data module of the corresponding relation between the road surface strength and the work cutting amount, selects a corresponding target vehicle speed value according to the calculated current road surface strength, and transmits the target vehicle speed value to the target vehicle speed display unit through the output module, and the target vehicle speed display unit displays the target vehicle speed value.
The invention collects the pressure signal of the working hydraulic system, the milling drum rotating speed signal and the test vehicle speed signal through the sensor assembly, calculates the current road strength by combining the fixed parameters of the vehicle, compares the preset data in the data module of the corresponding relation between the road strength and the work cutting amount, selects the corresponding target vehicle speed value, and feeds back the target vehicle speed value to the display terminal through the output module, thereby reminding the operator that the current working walking speed cannot exceed the target vehicle speed value of the display terminal, providing technical guarantee for the construction quality and improving the construction efficiency.
Preferably, in order to facilitate the control of the whole vehicle by the operator, the display terminal comprises a current vehicle speed display unit, and the controller displays the current vehicle speed measured by the vehicle speed sensor through the current vehicle speed display unit. The whole machine displays the current speed under the condition of displaying the target speed, so that the overspeed of an operator can be effectively avoided, the construction quality is further influenced, and the problem that the existing pavement cold recycling machine does not have a speedometer is solved.
Preferably, in order to further improve the reliability, the display terminal comprises an overspeed alarm unit, and when the current vehicle speed value exceeds the target vehicle speed value, the controller starts the overspeed alarm unit to send out an alarm prompt. The alarm unit can effectively prompt operators and reduce the possibility of misoperation.
Preferably, in order to expand the data information of the corresponding relationship between the road surface strength and the work cutting amount, the controller comprises a storage module, and the storage module is respectively in communication connection with the calculation module and the data module. The storage module records the road strength, the target vehicle speed and the actual working traveling speed in each construction process and forms an independent data packet, and the independent data packet can be used for updating or filling data information of the corresponding relation between the road strength and the working cutting amount in the data module. Construction data can be acquired by more hands, and self-updating and upgrading of the actual system can be realized.
Preferably, in order to upgrade the system and read the construction data, the controller is externally connected with a communication interface, and the communication interface is respectively connected with the storage module and the data module. One hand of data in the construction process can be read through the communication interface, so that the construction process is convenient to study, and more optimal data in the storage module can be updated or expanded into the data module through the communication interface. The updating and upgrading of the control system and the reading of construction data are facilitated.
A control method of a road surface cold recycling machine working traveling speed control system comprises the following steps:
step one, starting a system, wherein the whole machine is static, an engine is at a rated rotating speed, and a milling drum is started;
secondly, operating the milling drum, and operating the milling drum to fall until the milling depth is reached;
measuring operation parameters, operating the whole machine to advance for a set test distance at a set test vehicle speed, and recording the walking speed, the rotating speed of the milling drum and the working pressure of a working hydraulic system for driving the milling drum to rotate;
step four, calculating the current road surface strength, and calculating the current road surface strength according to the parameters obtained in the step three;
step five, determining the working cutting amount, and selecting the corresponding working cutting amount according to the current road surface strength calculated in the step four in a data module of the corresponding relation between the road surface strength preset by the system and the working cutting amount;
step six, determining a target vehicle speed, and determining the target vehicle speed according to the working cutting amount and the rotating speed of the milling drum;
and seventhly, formally starting milling operation, and controlling the current actual working travelling speed of the complete machine according to the working travelling speed obtained in the sixth step.
According to the invention, the road surface strength value is calculated through the obtained running speed of the whole machine during operation, the rotating speed of the milling drum and the working pressure of the working hydraulic system for driving the milling drum to rotate in a short test distance, the target vehicle speed can be determined quickly according to the corresponding relation between the road surface strength and the working cutting amount, the current vehicle speed of the whole vehicle is controlled by an operator according to the calculated target vehicle speed, the target vehicle speed is taken as the speed limit value of the current vehicle speed, the current vehicle speed value does not exceed the target vehicle speed value, the complicated process of determining the working running speed through an experimental road section is reduced, and the working efficiency is improved.
Preferably, in order to accurately calculate the current road strength, the method for calculating the current road strength in the fourth step is based on the test vehicle speed obtained in the third stepv、Rotational speed of milling drumnAnd the working pressure of a working hydraulic system for driving the milling drum to rotatepCalculating the current road surface strength according to the formula (1)M，
M=（p•q•n 1 ）/( 60000×k×b×h×v) (1)
In the formula:Mthe current road surface strength (MPa),pthe pressure (MPa) of the working hydraulic system,qdisplacement (cm) of motor for driving milling drum 3 /r)，n 1 For milling drum rotational speed (r/min),kin order to obtain a coefficient of cutting resistance,bin order to mill and mix the width (m),hin order to mill and mix the depth (m),vto test vehicle speed (m/s).
The displacement of a motor driving the milling drum, the coefficient of cutting resistance, the milling width and the milling depth are fixed constant valueskThe constant is taken as 2.
Preferably, in order to accurately calculate the target vehicle speed, the target vehicle speed in the sixth step is calculated according to the work cutting amount delta selected in the fifth step and the rotating speed of the milling drumn 1 The target vehicle speed V is obtained by calculation with the formula (2) as an input value 0 ：
V 0 =δ•n 1 (2)
In the formula: v 0 A target vehicle speed, delta a work cut (mm/r),n 1 the rotational speed of the milling drum (r/min).
Has the beneficial effects that: according to the invention, the road surface strength value is calculated through the obtained running speed of the whole machine during operation, the rotating speed of the milling drum and the working pressure of a working hydraulic system for driving the milling drum to rotate in a short test distance, the target vehicle speed can be determined quickly according to the corresponding relation between the road surface strength and the working cutting amount, an operator controls the current vehicle speed of the whole vehicle according to the calculated target vehicle speed, the target vehicle speed is taken as the speed limit value of the current vehicle speed, the current vehicle speed value does not exceed the target vehicle speed value, the complicated process of determining the working running speed through an experimental road section is reduced, and the working efficiency is improved; the invention collects the pressure signal of the working hydraulic system, the milling drum rotating speed signal and the test vehicle speed signal through the sensor assembly, calculates the current road strength by combining the fixed parameters of the vehicle, compares the preset data in the data module of the corresponding relation between the road strength and the work cutting amount, selects the corresponding target vehicle speed value, and feeds back the target vehicle speed value to the display terminal through the output module, thereby reminding the operator that the current working walking speed cannot exceed the target vehicle speed value of the display terminal, providing technical guarantee for the construction quality and improving the construction efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a flow chart of a control method of the present invention;
fig. 2 is a schematic diagram of the control system of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1, a control method of a work traveling speed control system of a road surface cold recycling machine comprises the following steps:
step one, starting a system, wherein the whole machine is static, an engine is at a rated rotating speed, and a milling drum is started;
secondly, operating the milling drum, and operating the milling drum to fall until the milling depth is reached;
measuring operation parameters, operating the whole machine to advance for a set test distance at a set test vehicle speed, and recording the walking speed, the rotating speed of the milling drum and the working pressure of a working hydraulic system for driving the milling drum to rotate;
step four, calculating the current road surface strength, and calculating the current road surface strength according to the parameters obtained in the step three;
step five, determining the working cutting amount, and selecting the corresponding working cutting amount according to the current road surface strength calculated in the step four in a data module of the corresponding relation between the road surface strength preset by the system and the working cutting amount;
step six, determining a target vehicle speed, and determining the target vehicle speed according to the working cutting amount and the rotating speed of the milling drum;
and seventhly, formally starting milling operation, and controlling the current actual working travelling speed of the complete machine according to the working travelling speed obtained in the sixth step.
According to the invention, the road surface strength value is calculated through the obtained running speed of the whole machine during operation, the rotating speed of the milling drum and the working pressure of the working hydraulic system for driving the milling drum to rotate in a short test distance, the target vehicle speed can be determined quickly according to the corresponding relation between the road surface strength and the working cutting amount, the current vehicle speed of the whole vehicle is controlled by an operator according to the calculated target vehicle speed, the target vehicle speed is taken as the speed limit value of the current vehicle speed, the current vehicle speed value does not exceed the target vehicle speed value, the complicated process of determining the working running speed through an experimental road section is reduced, and the working efficiency is improved.
In order to accurately calculate the current road strength, the method for calculating the current road strength in the fourth step is based on the test vehicle speed obtained in the third stepv、Milling drum speednAnd the working pressure of a working hydraulic system for driving the milling drum to rotatepCalculating the current road surface strength according to the formula (1)M，
M=（p•q•n 1 ）/( 60000×k×b×h×v) (1)
In the formula:Mthe current road surface strength (MPa),pthe pressure (MPa) of the working hydraulic system,qdisplacement (cm) of motor for driving milling drum 3 /r)，n 1 For milling drum rotational speed (r/min),kin order to obtain a coefficient of cutting resistance,bin order to mill the width (m),hin order to mill the depth (m),vto test vehicle speed (m/s).
The displacement of a motor driving the milling drum, the coefficient of cutting resistance, the milling width and the milling depth are fixed constant valueskTake the constant 2.
In order to accurately calculate the target vehicle speed, the target vehicle speed in the sixth step is calculated according to the work cutting amount delta selected in the fifth step and the rotating speed of the milling drumn 1 The target vehicle speed V is obtained by calculation with the formula (2) as an input value 0 ：
V 0 =δ•n 1 (2)
In the formula: v 0 A target vehicle speed, delta a work cut (mm/r),n 1 the rotational speed of the milling drum (r/min).
As shown in fig. 2, a system for controlling the working traveling speed of a pavement cold recycling machine comprises a sensor assembly, a controller and a display terminal, wherein a signal of the sensor assembly is transmitted to the controller, the controller calculates a target speed according to the signal of the sensor assembly and displays the target speed through the display terminal, and the sensor assembly comprises a working pressure sensor, a milling drum rotation speed sensor and a vehicle speed sensor; the controller comprises a calculation module, an output module and a data module for the corresponding relation between the road surface strength and the work cutting amount, and the display terminal comprises a target vehicle speed display unit;
the sensor assembly comprises a working pressure sensor, a milling drum rotating speed sensor and a vehicle speed sensor which respectively transmit measured working hydraulic system pressure signals, milling drum rotating speed signals and test vehicle speed signals to a calculation module,
the calculation module calculates the current road surface strength, reads preset data in a data module of the corresponding relation between the road surface strength and the work cutting amount, selects a corresponding target vehicle speed value according to the calculated current road surface strength, and transmits the target vehicle speed value to the target vehicle speed display unit through the output module, and the target vehicle speed display unit displays the target vehicle speed value.
According to the invention, a sensor assembly is used for acquiring a pressure signal of a working hydraulic system, a milling drum rotating speed signal and a test vehicle speed signal, and a fixed parameter of a vehicle is combined to calculate the current road surface strength, then preset data in a data module for comparing the road surface strength with a working cutting amount corresponding relation is compared to select a corresponding target vehicle speed value, and the corresponding target vehicle speed value is fed back to a display terminal through an output module to remind an operator that the current working walking speed cannot exceed the target vehicle speed value of the display terminal, so that technical guarantee is provided for construction quality, and the construction efficiency is improved.
In order to facilitate the control of an operator on the whole vehicle, the display terminal comprises a current vehicle speed display unit, and the controller displays the current vehicle speed measured by the vehicle speed sensor through the current vehicle speed display unit. The whole machine displays the current speed under the condition of displaying the target speed, so that the overspeed of an operator can be effectively avoided, the construction quality is further influenced, and the problem that the existing pavement cold recycling machine does not have a speedometer is solved.
In order to further improve the reliability, the display terminal comprises an overspeed alarm unit, and when the current vehicle speed value exceeds the target vehicle speed value, the controller starts the overspeed alarm unit to give an alarm prompt. The alarm unit can effectively prompt operators and reduce the possibility of misoperation.
In order to expand the data information of the corresponding relation between the road surface strength and the working cutting amount, the controller comprises a storage module, and the storage module is respectively in communication connection with the calculation module and the data module. The storage module records the road strength, the target vehicle speed and the actual working traveling speed in each construction process and forms an independent data packet, and the independent data packet can be used for updating or filling data information of the corresponding relation between the road strength and the working cutting amount in the data module. Construction data can be acquired by more hands, and self-updating and upgrading of the actual system can be realized.
In order to upgrade the system and read the construction data, the controller is externally connected with a communication interface, and the communication interface is respectively connected with the storage module and the data module. One hand of data in the construction process can be read through the communication interface, so that the construction process is convenient to study, and more optimal data in the storage module can be updated or expanded into the data module through the communication interface. The updating and upgrading of the control system and the reading of construction data are facilitated.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (8)
1. The utility model provides a control system of road surface cold recycling machine work walking speed, includes sensor assembly, controller and display terminal, the signal transmission of sensor assembly to controller, the controller calculates target speed and shows through display terminal according to sensor assembly signal, its characterized in that: the sensor assembly comprises a working pressure sensor, a milling drum rotating speed sensor and a vehicle speed sensor; the controller comprises a calculation module, an output module and a data module of the corresponding relation between the road surface strength and the working cutting amount, and the display terminal comprises a target vehicle speed display unit;
the sensor assembly comprises a working pressure sensor, a milling drum rotating speed sensor and a vehicle speed sensor, wherein the working pressure sensor, the milling drum rotating speed sensor and the vehicle speed sensor respectively transmit measured working hydraulic system pressure signals, milling drum rotating speed signals and test vehicle speed signals to a calculation module, the calculation module calculates the current road surface strength, the calculation module reads preset data in a data module of the corresponding relation between the road surface strength and the working cutting amount, a corresponding target vehicle speed value is selected according to the calculated current road surface strength and is transmitted to a target vehicle speed display unit through an output module, and the target vehicle speed display unit displays the target vehicle speed value.
2. The control system for the working traveling speed of the road surface cold recycling machine according to claim 1, characterized in that: the display terminal comprises a current vehicle speed display unit, and the controller displays the current vehicle speed measured by the vehicle speed sensor through the current vehicle speed display unit.
3. The control system for the working traveling speed of the road surface cold recycling machine according to claim 1 or 2, characterized in that: the display terminal comprises an overspeed alarm unit, and when the current vehicle speed value exceeds the target vehicle speed value, the controller starts the overspeed alarm unit to send out an alarm prompt.
4. The control system for the working traveling speed of the road surface cold recycling machine according to claim 1, characterized in that: the controller comprises a storage module, and the storage module is in communication connection with the calculation module and the data module respectively.
5. The system for controlling the working and traveling speed of the road surface cold recycling machine according to claim 4, characterized in that: the controller is externally connected with a communication interface, and the communication interface is respectively connected with the storage module and the data module.
6. A control method of a control system for the working traveling speed of a pavement cold recycling machine is characterized by comprising the following steps:
step one, starting a system, wherein the whole machine is static, an engine is at a rated rotating speed, and a milling drum is started;
secondly, operating the milling drum, and operating the milling drum to fall until the milling depth is reached;
measuring operation parameters, operating the whole machine to advance for a set test distance at a set test vehicle speed, and recording the walking speed, the rotating speed of the milling drum and the working pressure of a working hydraulic system for driving the milling drum to rotate;
step four, calculating the current road surface strength, and calculating the current road surface strength according to the parameters obtained in the step three;
step five, determining the working cutting amount, and selecting the corresponding working cutting amount according to the current road surface strength calculated in the step four in a data module of the corresponding relation between the road surface strength preset by the system and the working cutting amount;
step six, determining a target vehicle speed, and determining the target vehicle speed according to the working cutting amount and the rotating speed of the milling drum;
and seventhly, formally starting milling operation, and controlling the current actual working travelling speed of the whole machine according to the working travelling speed obtained in the sixth step.
7. The method for controlling the system for controlling the operational traveling speed of a road surface cold recycling machine according to claim 6, wherein the method for calculating the current road surface strength in the fourth step is to calculate the current road surface strength M according to the formula (1) based on the test vehicle speed v, the milling drum rotation speed n and the operating pressure p of the operating hydraulic system for driving the milling drum to rotate, which are obtained in the third step,
M＝(p·q·n 1 )/( 60000×k×b×h×v) (1)
in the formula: m is the current pavement strength and the unit is MPa; p is the pressure of a working hydraulic system and the unit is MPa; q is the displacement of the motor driving the milling drum, in cm 3 /r；n 1 The unit is r/min for the rotating speed of the milling drum; k is the cutting resistance coefficient, b is the milling width, and the unit is m; h is the milling depth, and the unit is m; and v is the test vehicle speed and has the unit of m/s.
8. The control method of the control system of the work traveling speed of the road surface cold recycling machine according to claim 7, characterized in that: in the sixth step, the target vehicle speed is the working cutting quantity delta selected in the fifth step and the rotating speed n of the milling drum 1 The target vehicle speed V is obtained by calculation with the formula (2) as an input value 0 ：
V 0 ＝δ·n 1 (2)
In the formula: v 0 Setting the target speed as delta as work cutting amount in mm/r; n is a radical of an alkyl radical 1 The rotational speed of the milling drum is given in r/min.
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