CN117702853A - Control system and method for unstable action of working device - Google Patents
Control system and method for unstable action of working device Download PDFInfo
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- CN117702853A CN117702853A CN202311623677.6A CN202311623677A CN117702853A CN 117702853 A CN117702853 A CN 117702853A CN 202311623677 A CN202311623677 A CN 202311623677A CN 117702853 A CN117702853 A CN 117702853A
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Abstract
The invention relates to the technical field of engineering machinery, and discloses a control system and a control method for unstable action of a working device, wherein a working device control sensor acquires control signals and transmits the control signals to a controller at the beginning stage of operating a working device control handle; when the working device is in a starting stage and the gravity corresponding to the working device plays a role in assisting, the control method is started, and the controller controls the action valve of the working device to be in a non-full-open state; when the working device is in the beginning stage and the gravity of the working device is corresponding to the working device to play a non-boosting role, the strategy of the control method is not used. The beneficial effects of the invention are as follows: the action of the working device starts to prevent the unstable action problem at the beginning stage, so that the unstable action problem at the beginning stage of the whole working device can not occur.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a control system and method for unstable action of a working device.
Background
A problem arises in that a work implement of a construction machine (e.g., an excavator) is unstable due to the influence of gravity. For example, gravity and hydraulic force are mainly applied in the process of swinging the bucket rod outwards, and the gravity plays a role of forward pulling (namely a booster effect) firstly and plays a role of resistance after exceeding 90 degrees. The angle of the working device before the working device starts working (i.e. the starting stage) has a relatively large influence on the system pressure in the starting stage, for example, when the included angle of a certain working device with the cab is acute before the working device starts working, the swing angle of the working device after the working device is started gradually changes from an acute angle to an obtuse angle; then, under the condition that the system pressure is established later in the starting stage, the assistance effect from the sharp angle is changed into the resistance effect of the obtuse angle, and extremely serious change is brought to the system pressure, so that the system pressure is unstable, the bucket rod is unstable in stress, the problems of two speed, clamping in the process and the like are caused, and other working devices are similar. It is necessary to improve the stability of the system pressure at the beginning of the working device.
At present, the influence of unstable operation caused by gravity is generally attempted to be counteracted by a flow loading mode (such as a method of reducing flow acceleration, delaying the starting time of flow loading, loading two pumps at different flows simultaneously, and the like). However, the optimization of the flow loading method has poor effect on improving the above problems.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a control system and a control method for unstable action of a working device, so that the problem of unstable action of the working device is prevented from happening at the beginning stage of the action of the working device, and the problem of unstable action of the whole working device can not happen at the beginning stage of the working device.
In order to achieve the above purpose, the present invention provides the following technical solutions:
in a first aspect, the present invention provides a method for controlling unstable motion of a working device, including the following steps:
in the beginning stage of operating the operating handle of the working device, the operating sensor of the working device collects an operating signal and transmits the operating signal to the controller, the controller receives the operating signal and then sends a flow loading instruction to the main pump, and the opening of the corresponding operating valve of the working device is increased through the electromagnetic valve corresponding to the operating valve of the working device;
when the working device is in a starting stage and the gravity corresponding to the working device plays a role in assisting, the control method is started, and the controller controls the action valve of the working device to be in a non-full-open state; when the working device is in the beginning and its gravity corresponding to the working device acts as a non-boosting function (i.e. a resistance function), the control method strategy of the present invention is not used/exited.
It should be noted that: at the beginning of operating the operating handle of the working device, the operating handle is in a full-open state.
In combination with the first aspect, further, in the beginning stage of the working device, the method for judging whether the gravity of the working device plays a role of assisting is as follows: judging whether the gravity of the working device plays a role of boosting or not by observing the pressure and time of the system; when the system pressure is greater than N in T milliseconds after the action is started, judging that the gravity of the current working device plays a role in assisting; on the contrary, the gravity of the current working device plays a non-boosting role.
With reference to the first aspect, further, the value range of T is 100 ms-150 ms, and the value range of n is 8-20 bar.
In combination with the first aspect, further, a working device angle sensor is added to a control system based on the control method to replace a method for judging whether gravity of the working device plays a role in assisting by observing a system pressure value and time, and the position (namely, the swing angle) of the working device is directly detected by the working device angle sensor, so that whether gravity plays a role in assisting in the starting stage of the working device can be directly judged (for example, the gravity swings outside the bucket rod from a 90-degree position to a position range of a driver side for playing a role in assisting, and a resistance is played when the gravity exceeds 90 degrees).
In combination with the first aspect, further, the specific method for controlling the working device to operate the valve to maintain the non-fully opened state at a certain opening value by the controller includes: in the whole process that the working device operation valve is in a non-full-open state, the opening degree of the working device operation valve and the holding time of the corresponding opening degree are adjusted according to the system pressure value and the system pressure change slope.
In combination with the first aspect, further, the method for adjusting the opening of the working device operation valve includes:
S=k*cosθ*P1/Pm*a*S0
wherein S is the opening value of the working device action valve, theta is the included angle between the movement direction of the working device and the vertical direction at the beginning, P1 is the maximum value reached by the system pressure at the beginning stage when the control method is not used, pm is the system overflow pressure, generally 340bar, a is the flow acceleration set by the control system, a is the preset target value of the control system, S0 is the maximum opening of the working device action valve, k is the debugging coefficient, and the parameter related to the working device of the excavator is unknown.
With reference to the first aspect, further, the method for determining the retention time of the corresponding opening degree includes: when the current system pressure reaches the maximum value, the holding limit of the current corresponding opening degree is ended, and the state of the other opening degree is entered.
With reference to the first aspect, further, the method for determining whether the current system pressure reaches the maximum value is: collecting 4 pressure values of continuous change of system pressure, namely point1, point2, point3 and point4, in real time through a system pressure sensor, wherein the slope between point1 and point2 is dp0, the slope between point2 and point3 is dp1, the slope between point3 and point4 is dp2, and when dp0>0 and dp2<0, judging that the system pressure reaches the maximum value; otherwise, the system pressure does not reach a maximum value.
In a second aspect, the present invention provides a control system for unstable motion of a working device, including a working device manipulation sensor, a controller, a main pump pressure sensor, a working device motion valve, and a solenoid valve corresponding to the working device motion valve; the device also comprises a working device angle sensor; the working device manipulation sensor and the working device angle sensor are respectively connected with the controller in a communication way and are used for transmitting the data acquired by the working device manipulation sensor and the working device angle sensor to the controller; the electromagnetic valves corresponding to the main pump pressure sensor and the working device action valve are respectively and electrically connected with the controller; the main pump pressure sensor is mechanically connected with the main pump, and the electromagnetic valve corresponding to the working device action valve is mechanically connected with the working device action valve; the main pump pressure sensor is used for collecting the pressure of the main pump and transmitting the pressure data of the main pump to the controller; the electromagnetic valve corresponding to the working device action valve is used for receiving the command transmitted by the controller and adjusting the opening of the working device action valve.
With reference to the second aspect, further, the working device manipulation sensor includes a pressure sensor for detecting an electric control handle and a corresponding action pilot pressure, the electric control handle and the pressure sensor corresponding to the action pilot pressure are respectively connected with the controller in a communication manner, and the electric control handle sends a signal of an operator to the controller; the pressure sensor corresponding to the action pilot pressure is used for collecting pilot pressure data corresponding to each action of the working device and transmitting the pressure data to the controller.
With reference to the second aspect, further, the pressure sensor corresponding to the action pilot pressure includes a pressure sensor for collecting the arm swing pilot pressure, a pressure sensor for collecting the bucket swing pilot pressure, and a pressure sensor for collecting the boom swing pilot pressure.
With reference to the second aspect, further, the working device manipulation sensor and the working device angle sensor are connected with the controller through CAN communication or electrically.
With reference to the second aspect, further, the working device operation valve includes a boom selector valve, a bucket selector valve, and a boom selector valve, and the solenoid valve corresponding to the working device operation valve includes a boom selector valve solenoid valve, a bucket selector valve solenoid valve, and a boom selector valve solenoid valve.
With reference to the second aspect, further, the working device actuation valve is integrated in a main valve of the working machine; the bucket rod selector valve, the bucket selector valve and the movable arm selector valve are integrated together, and the assembly and integration method is the prior art.
Compared with the prior art, the invention provides a control system and a control method for unstable action of a working device, which have the following beneficial effects:
(1) According to the control system disclosed by the invention, the angle sensor of the working device is added, the swing angle of the working device (such as a bucket rod) acquired in real time is transmitted to the controller, the swing angle is compared with a preset angle value by the controller, the result of whether the valve is fully opened or not is obtained, and the problem of unstable action of the working device is solved by the fact that the valve is not fully opened and is maintained for a certain time.
(2) The control method of the invention enables the working device to start to prevent the unstable motion problem at the beginning stage of the working device, thereby preventing the unstable motion problem at the beginning stage of the whole working device
(3) The control method is applied to the movement of the working device of the excavator, and in the state that the movement handle is fully opened, the main valve maintains a certain opening degree and lasts for a certain time according to the system pressure at the beginning of the movement, so that the problem of unstable movement of the working device is solved.
Drawings
FIG. 1 is a schematic diagram showing the composition of a control system in embodiment 1 of the present invention;
FIG. 2 is a flow chart of a control method of embodiment 1 of the present invention;
FIG. 3 is a graph of the main pump pressure change and the stick out pilot pressure change recorded on a recorder prior to implementation of the control method of the present invention;
fig. 4 is a main pump pressure change map and an arm swing pilot pressure change map recorded on a recorder after the control method of the present invention is implemented.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may also include different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the protection of the present invention.
Example 1
As shown in fig. 2, the control method of the present invention includes the steps of:
in the beginning stage of operating the operating handle of the working device, the operating sensor of the working device collects an operating signal and transmits the operating signal to the controller, the controller receives the operating signal and then sends a flow loading instruction to the main pump, and the opening of the corresponding operating valve of the working device is increased through the electromagnetic valve corresponding to the operating valve of the working device;
when the working device starts, and gravity corresponding to the working device plays a role in assisting, the control method of the invention is started, and the controller controls the action valve of the working device to be in a non-full-open state; when the working device is started and its gravity corresponding to the working device acts as a non-booster (i.e. a resistive force), the control method strategy of the present invention is not used/exited.
It should be noted that: at the beginning of operating the operating handle of the working device, the operating handle is in a full-open state.
In a specific implementation manner of this embodiment, at a beginning stage of the working device, a method for judging whether gravity of the working device has a boosting effect is as follows: judging whether the gravity of the working device plays a role of boosting or not by observing the pressure and time of the system; when the system pressure is greater than N in T milliseconds after the action is started, judging that the gravity of the current working device plays a role in assisting; on the contrary, the gravity of the current working device plays a non-boosting role.
In a specific implementation of this embodiment, the range of value of T is 100 ms-150 ms, and the range of value of N is 8-20 bar; the values of T and N are different for different working devices, typically empirically, for example, when the working device is a stick, typically T takes 100ms or 150ms and N takes 10bar.
In a specific implementation manner of this embodiment, the specific method for controlling the working device operation valve to be kept in the non-fully opened state by the controller with a certain opening value is as follows: in the whole process that the working device operation valve is in a non-full-open state, the opening degree of the working device operation valve and the holding time of the corresponding opening degree are adjusted according to the system pressure value and the system pressure change slope.
In a specific implementation manner of this embodiment, the method for adjusting the opening degree of the working device operation valve is:
S=k*cosθ*P1/Pm*a*S0
wherein S is the opening value of the working device action valve, theta is the included angle between the movement direction of the working device and the vertical direction at the beginning, P1 is the maximum value reached by the system pressure at the beginning stage when the control method is not used, pm is the system overflow pressure, generally 340bar, a is the flow acceleration set by the control system, a is the preset target value of the control system, S0 is the maximum opening of the working device action valve, k is the debugging coefficient, and the parameter related to the working device of the excavator is unknown.
In a specific implementation manner of this embodiment, the method for determining the retention time of the corresponding opening degree is: when the current system pressure reaches the maximum value, the holding limit of the current corresponding opening degree is ended, and the state of the other opening degree is entered.
In a specific implementation manner of this embodiment, the method for determining whether the current system pressure reaches the maximum value is: collecting 4 pressure values of continuous change of system pressure, namely point1, point2, point3 and point4, in real time through a system pressure sensor, wherein the slope between point1 and point2 is dp0, the slope between point2 and point3 is dp1, the slope between point3 and point4 is dp2, and when dp0>0 and dp2<0, judging that the system pressure reaches the maximum value; otherwise, the system pressure does not reach a maximum value.
As can be seen from a comparison of fig. 3 and fig. 4, with the control method of the present invention, the pressure of the main pump, i.e., the pressure fluctuation of the system, is significantly reduced, which indicates that the stability of the operation of the working device is increased.
Example 2
Example 2 differs from example 1 in that: the control method is based on a control system, and a working device angle sensor is added to replace a method for judging whether the gravity of the working device plays a role of assisting by observing the pressure value and the time of the system.
As shown in fig. 1 and 2, in the control system based on the control method of the present invention, instead of the method of judging whether the gravity of the working device plays a role of assisting by observing the pressure value and time of the system, the position (i.e., the swing angle) of the working device is directly detected by the working device angle sensor, so that it can be directly judged whether the gravity plays a role of assisting in the starting stage of the working device (if the gravity swings outside the arm in the range from the 90 ° position to the driver side of the arm, the gravity plays a role of assisting, and if the gravity exceeds 90 °).
Example 3
As shown in fig. 1, the present invention further provides a control system, including a working device manipulation sensor, a controller, a main pump pressure sensor, a working device action valve, and a solenoid valve corresponding to the working device action valve; the device also comprises a working device angle sensor; the working device operating sensor and the working device angle sensor are respectively connected with the controller in a communication way and are used for transmitting the respectively acquired data to the controller; the electromagnetic valves corresponding to the main pump pressure sensor and the working device action valve are respectively and electrically connected with the controller; the main pump pressure sensor is mechanically connected with the main pump, and the electromagnetic valve corresponding to the working device action valve is mechanically connected with the working device action valve; the main pump pressure sensor is used for collecting the pressure of the main pump and transmitting the pressure data of the main pump to the controller; the electromagnetic valve corresponding to the working device action valve is used for receiving the command transmitted by the controller and adjusting the opening of the working device action valve.
In a specific implementation manner of this embodiment, the working device manipulation sensor includes a pressure sensor for detecting an electric control handle and a corresponding action pilot pressure, the electric control handle and the pressure sensor corresponding to the action pilot pressure are respectively connected with the controller in a communication manner, and the electric control handle sends a signal of an operator to the controller; the pressure sensor corresponding to the action pilot pressure is used for collecting pilot pressure data corresponding to each action of the working device and transmitting the pressure data to the controller.
In a specific implementation of this embodiment, the pressure sensor corresponding to the action pilot pressure includes a pressure sensor for collecting the arm swing pilot pressure, a pressure sensor for collecting the bucket swing pilot pressure, and a pressure sensor for collecting the boom swing pilot pressure.
In one embodiment of the present embodiment, the work implement manipulation sensor and the work implement angle sensor are connected to the controller via CAN communication or electrically.
In one specific implementation of this embodiment, the working device operation valve includes an arm selection valve, a bucket selection valve, and a boom selection valve, and the solenoid valve corresponding to the working device operation valve includes an arm selection valve solenoid valve, a bucket selection valve solenoid valve, and a boom selection valve solenoid valve.
In one specific implementation of this embodiment, the work device actuation valve is integrated into a main valve of the work machine; the bucket rod selector valve, the bucket selector valve and the movable arm selector valve are integrated together, and the assembly and integration method is the prior art. It is noted that in this application relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, 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 the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The method for controlling the unstable action of the working device is characterized by comprising the following steps:
in the beginning stage of operating the operating handle of the working device, the operating sensor of the working device collects the operating signal and transmits the operating signal to the controller;
when the working device is in a starting stage and the gravity corresponding to the working device plays a role in assisting, the control method is started, and the controller controls the action valve of the working device to be in a non-full-open state; when the working device is in the beginning stage and the gravity of the working device is corresponding to the working device to play a non-boosting role, the strategy of the control method is not used.
2. The method for controlling unstable motion of a working device according to claim 1, wherein the method for determining whether gravity of the working device acts as a booster in the starting phase of the working device is as follows: judging whether the gravity of the working device plays a role of boosting or not by observing the pressure and time of the system; when the system pressure is greater than N in T milliseconds after the action is started, judging that the gravity of the current working device plays a role in assisting; on the contrary, the gravity of the current working device plays a non-boosting role.
3. A method for controlling operational instability of a working apparatus according to claim 2, wherein: the working device angle sensor is added to judge whether the gravity of the working device plays a role in assisting by observing the pressure value of the system, and the position of the working device is directly detected by the working device angle sensor, so that whether the gravity plays a role in assisting in the starting stage of the working device can be directly judged.
4. The method for controlling unstable motion of a working device according to claim 1, wherein the specific method for controlling the working device operation valve to be kept in a non-fully opened state with a certain opening value by the controller comprises the following steps: in the whole process that the working device operation valve is in a non-full-open state, the opening degree of the working device operation valve and the holding time of the corresponding opening degree are adjusted according to the system pressure value and the system pressure change slope.
5. The method for controlling unstable operation of a working device according to claim 4, wherein the method for adjusting the opening degree of the working device operation valve is:
S=k*cosθ*P1/Pm*a*S0
wherein S is the opening value of the working device action valve, theta is the included angle between the movement direction of the working device and the vertical direction at the beginning, P1 is the maximum value reached by the system pressure at the beginning when the control method is not used, pm is the system overflow pressure, a is the flow acceleration set by the control system, S0 is the maximum opening of the working device action valve, k is the debugging coefficient, and the parameter related to the working device of the excavator is unknown.
6. The method for controlling unstable motion of a work implement according to claim 4, wherein the method for determining the holding time of the corresponding opening degree is as follows: when the current system pressure reaches the maximum value, the holding limit of the current corresponding opening degree is ended, and the state of the other opening degree is entered.
7. The method for controlling unstable motion of a working device according to claim 6, wherein the method for determining whether the current system pressure reaches a maximum value is as follows: collecting 4 pressure values of continuous change of system pressure, namely point1, point2, point3 and point4, in real time through a system pressure sensor, wherein the slope between point1 and point2 is dp0, the slope between point2 and point3 is dp1, the slope between point3 and point4 is dp2, and when dp0>0 and dp2<0, judging that the system pressure reaches the maximum value; otherwise, the system pressure does not reach a maximum value.
8. The utility model provides a control system that working device action is unstable, includes working device manipulation sensor, controller, main pump pressure sensor, working device action valve and the solenoid valve that working device action valve corresponds, its characterized in that: the device also comprises a working device angle sensor; the working device manipulation sensor and the working device angle sensor are respectively connected with the controller in a communication way and are used for transmitting the data acquired by the working device manipulation sensor and the working device angle sensor to the controller; the electromagnetic valves corresponding to the main pump pressure sensor and the working device action valve are respectively connected with the controller; the main pump pressure sensor is connected with the main pump, and the electromagnetic valve corresponding to the working device action valve is connected with the working device action valve; the main pump pressure sensor is used for collecting the pressure of the main pump and transmitting the pressure data of the main pump to the controller; the electromagnetic valve corresponding to the working device action valve is used for receiving the command transmitted by the controller and adjusting the opening of the working device action valve.
9. A control system for operational instability of a working apparatus according to claim 8, wherein: the working device control sensor comprises a pressure sensor for detecting an electric control handle and a corresponding action pilot pressure, the electric control handle and the pressure sensor corresponding to the action pilot pressure are respectively connected with the controller in a communication way, and the electric control handle sends a signal of an operator operation handle to the controller; the pressure sensor corresponding to the action pilot pressure is used for collecting pilot pressure data corresponding to each action of the working device and transmitting the pressure data to the controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311623677.6A CN117702853A (en) | 2023-11-30 | 2023-11-30 | Control system and method for unstable action of working device |
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| CN202311623677.6A CN117702853A (en) | 2023-11-30 | 2023-11-30 | Control system and method for unstable action of working device |
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