CN118107332B - Control method of mine car rear suspension cylinder and mine car rear suspension cylinder control assembly - Google Patents
Control method of mine car rear suspension cylinder and mine car rear suspension cylinder control assembly Download PDFInfo
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Abstract
The invention discloses a control method of a rear suspension cylinder of a mine car and a control assembly of the rear suspension cylinder of the mine car. The control method realizes the control of each cavity of the two groups of rear suspension cylinders by adjusting the valve assembly after the mine car enters idle speed, loading and unloading and running states. When the mine car is in a loading and unloading state, the power supply of the second valve assembly is cut off, and the second valve assembly is communicated with the first upper chamber of the rear suspension cylinder and the fourth upper chamber of the other group of rear suspension cylinders. If the load of the rear suspension cylinder is too large to quickly compress the second cylinder body, the second valve assembly positively adjusts the other rear suspension cylinder, and simultaneously speeds up the descending speed of the second cylinder body of the other rear suspension cylinder, so that the overall balance of the rear suspension during power failure is realized. The feed-forward working mode does not depend on the hydraulic output force of the first pump body, and the increase of the energy consumption of the long-time loading and unloading of the mine car can be avoided. When the mine car is in an idle state, the height of the first upper chamber is adjusted through the air storage tank or the exhaust tank, and an adjustment allowance is provided for the next loading and unloading state.
Description
Technical Field
The invention relates to the technical field of suspension control of engineering vehicles, in particular to a control method of a rear suspension cylinder of a mine car and a control assembly of the rear suspension cylinder of the mine car.
Background
The mine car generally adopts an oil-gas suspension, and the oil-gas suspension has good environment adaptability and can play a role in buffering and vibration reduction under the working condition of empty and full load. Chinese patent application publication No. CN109050192a discloses a hydro-pneumatic suspension and active suspension switching control loop. The control loop can realize three control modes of oil gas control, active control and rigid control of the suspension system. When the vehicle is traveling on a flat road or a rough road, the suspension is switched to the hydro-pneumatic suspension mode; when the vehicle is traveling on a complex, variable and severe road, the suspension is switched to the active suspension mode. The active regulation is suitable for small vehicles with single working modes, and is not suitable for engineering vehicles with continuously switched load states.
Chinese patent publication No. CN112895832B describes a vehicle posture and damping adjustment control method. The vehicle state is classified into two control modes, static and dynamic. In a static control mode, after judging the load condition of the vehicle by collecting pressure signals of all hydro-pneumatic springs, adjusting the damping force of the suspension system; under the dynamic control mode, the stroke and the internal pressure change of each wheel hydro-pneumatic spring are extracted, and the dynamic adjustment of the vehicle posture and the damping is synchronously carried out. The unbalanced load of the mine car easily causes unbalanced stress on the rear suspension of the mine car, so that dumping accidents or tire burst accidents are caused, and the working states of suspension cylinders of the same group of wheels need to be coordinated and controlled.
Chinese patent application publication No. CN116512847a describes an active pressure regulating system for unbalanced load of a front axle of a truck, which automatically detects whether the front axle is in a balanced state through a front axle balance detecting mechanism, and then the front axle balance detecting mechanism controls a pressure regulating executing mechanism to regulate the pressures of air chambers of hydro-pneumatic suspensions on the left side and the right side of the front axle, so that the axle is in a balanced state finally, and the engineering vehicle is prevented from rolling. This patent application implements coordinated control of the same set of suspension cylinders. However, the adjusting system adopts active control, relies on continuous power supply of the mine car, and if the power supply system is disconnected due to long-time stopping and loading, the suspension cylinder cannot continuously perform load monitoring. Accordingly, there is a need for further improvements in the art.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a control method of a rear suspension cylinder of a mine car and a control assembly of the rear suspension cylinder of the mine car, wherein when the mine car is in a running state, the damping control of the rear suspension under the condition of power-on is realized through a composite control mode, and when the mine car is in a loading and unloading state, the balance of the rear suspension under the condition of power-off is realized through a feedforward working mode. Furthermore, a linkage calibration mode is provided when the mine car is in an idle state, so that the adjustment allowance of the feedforward working mode in the next loading and unloading process is ensured.
The technical scheme of the invention is realized as follows:
a control method of a rear suspension cylinder of a mine car comprises the following steps:
step 1: two groups of rear suspension cylinders are arranged on the mine car, each group of rear suspension cylinders comprises a first cylinder body and a second cylinder body, the first cylinder body is provided with a lower cavity, and the second cylinder body is provided with an upper cavity;
Step 2: connecting the first cylinder to a suspension assembly, connecting the second cylinder to a chassis of the mine car, connecting the suspension assembly to the rear wheel, and controlling the current stroke of the second cylinder by the lower cavity and the upper cavity;
Step 3: the lower cavity is divided into a first lower cavity, a second lower cavity and a third lower cavity in sequence through the second cylinder body and the first piston, and the upper cavity is divided into a first upper cavity, a second upper cavity, a third upper cavity and a fourth upper cavity through the outer cylinder rod, the inner cylinder rod and the second piston;
Step 4: before the mine car is started, the rear suspension cylinder is in a passive working mode, and the first energy accumulator is communicated with the third lower chamber through the unidirectional damper;
step 5: after the mine car is started, if the mine car is in an idle state, entering a step 6, if the mine car is in a loading and unloading state, entering a step 7, and if the mine car is in a running state, entering a step 9;
Step 6: the rear suspension cylinder enters a linkage calibration mode, the gas fluctuation number is determined according to the current heights of the first upper chamber and the fourth upper chamber, the first valve component adjusts the gas medium of the first upper chamber according to the gas fluctuation number, and the step 5 is returned;
step 7: the rear suspension cylinder enters a feedforward working mode, the second valve component is communicated with the first upper chamber of the rear suspension cylinder and the fourth upper chamber of the other group of rear suspension cylinders, and meanwhile, the second valve component is communicated with the fourth upper chamber of the rear suspension cylinder and the first upper chamber of the other group of rear suspension cylinders;
step 8: detecting the first air pressure of the first upper chamber, communicating the second lower chamber of the suspension cylinder with the second lower chamber of the other suspension cylinder through a flow controller by the third valve assembly, determining a target flow by the flow controller according to the first air pressure, and returning to the step 5;
Step 9: the rear suspension cylinder enters a compound control mode, measures the road surface excitation signal and generates a hydraulic output force, which is provided by the fourth valve assembly to the second upper chamber or the third upper chamber, and returns to step 5.
In the invention, in step 4, the first valve assembly and the second valve assembly enter a cut-off state, the third valve assembly is communicated with the second lower chamber and the third lower chamber, and the fourth valve assembly is communicated with the second upper chamber and the third upper chamber.
In the present invention, in step 6, the volume adjustment amount of the first upper chamber is calculated according to the current heights of the first upper chamber and the fourth upper chamber, and then the gas fluctuation number is calculated according to the volume adjustment amount and the gas temperature.
In the present invention, in step 6, the first valve assembly connects the throttle to the first upper chamber, the fifth valve assembly connects the gas reservoir to the throttle if the number of gas variations is greater than zero, and the fifth valve assembly connects the exhaust tank to the throttle if the number of gas variations is less than zero.
In the invention, in step 8, the load of the two groups of rear suspension cylinders and the current height of the first upper chamber are measured, then the section adjustment coefficient of the flow controller is calculated, and the target flow is calculated according to the section coefficient and the second air pressure of the first upper chamber.
In the present invention, in step 9, the first valve assembly is brought into a shut-off state and the second pump body draws the gaseous medium of the exhaust tank into the gas reservoir.
In the present invention, in step 9, a target stroke of the second cylinder is determined based on the road surface excitation signal, and the hydraulic output force is calculated based on the target stroke.
The control assembly comprises two groups of rear suspension cylinders, wherein each rear suspension cylinder comprises a first cylinder body, a second cylinder body, a first energy accumulator, a one-way damper, a first valve assembly, a second valve assembly, a third valve assembly and a fourth valve assembly, the first cylinder body is provided with a lower cavity, the second cylinder body is provided with an upper cavity, the first cylinder body is connected with a suspension assembly, the second cylinder body is connected with a chassis of the mine car, the lower cavity is divided into a first lower cavity, a second lower cavity and a third lower cavity by the second cylinder body and a first piston in sequence, the upper cavity is divided into a first upper cavity, a second upper cavity, a third upper cavity and a fourth upper cavity by an outer cylinder rod, an inner cylinder rod and a second piston,
Before the mine car is started, the first energy accumulator is communicated with the third lower chamber through the unidirectional damper;
If the mine car is in an idle state, the first valve component adjusts the gas medium of the first upper chamber according to the gas fluctuation number;
If the mine car is in a loading and unloading state, the second valve assembly is communicated with the first upper chamber of the rear suspension cylinder and the fourth upper chamber of the other group of rear suspension cylinders, the second valve assembly is communicated with the fourth upper chamber of the rear suspension cylinder and the first upper chamber of the other group of rear suspension cylinders, and the third valve assembly is communicated with the second lower chamber of the rear suspension cylinder and the second lower chamber of the other group of rear suspension cylinders through a flow controller;
The fourth valve assembly provides the hydraulic output force to the second upper chamber or the third upper chamber if the mine car is in a traveling condition.
In the invention, the mine car rear suspension cylinder control assembly further comprises a first pump body and a second oil collecting tank, wherein the input end of the first pump body is connected to the second oil collecting tank, and the output end of the first pump body is connected to the fourth valve assembly.
In the invention, the mine car rear suspension cylinder control assembly further comprises a throttle, a fifth valve assembly, a gas storage tank and an exhaust tank, wherein the throttle is connected with the first upper chamber through the first valve assembly, and the fifth valve assembly is connected with the gas storage tank or the exhaust tank to the throttle.
The control method of the mine car rear suspension cylinder and the mine car rear suspension cylinder control assembly have the following beneficial effects: the invention realizes the balance control of the rear suspension in the electric state through the composite control mode. The first energy accumulator and the unidirectional damper provide rigidity and damping through the third lower chamber, so that the purpose of hydro-pneumatic suspension vibration reduction is achieved. When the mine car is in a running state, the fourth valve assembly provides hydraulic output force through the second upper chamber or the third upper chamber, so that the hydraulic output force is prevented from directly acting on the first energy accumulator, and the hydraulic coupling phenomenon is reduced.
When the mine car is in a loading and unloading state, the power supply of the second valve assembly is cut off, the second valve assembly is communicated with the first upper chamber of the rear suspension cylinder and the fourth upper chamber of the other group of rear suspension cylinders, and the fourth upper chamber of the rear suspension cylinder is communicated with the first upper chamber of the other group of rear suspension cylinders. If the load of one of the rear suspension cylinders is too large to quickly compress the second cylinder body, the second valve assembly positively adjusts the other rear suspension cylinder, and simultaneously speeds up the descending speed of the second cylinder body of the other rear suspension cylinder, so that the overall balance of rear suspension during power failure is realized. The feed-forward working mode does not depend on the hydraulic output force of the first pump body, and the increase of the energy consumption of the long-time loading and unloading of the mine car can be avoided.
When the mine car is in an idle state, the height of the first upper chamber is adjusted through the air storage tank or the exhaust tank, so that the volumes of the first upper chamber and the fourth upper chamber are ensured to be equal, and an adjustment allowance is provided for the next loading and unloading state.
Further, since the gas compression ratio is large, the load change is large during rapid loading and unloading, and the moving speed of the second cylinder is too high, the mine car is easy to be unbalanced, and the danger is caused. According to the invention, the feedback adjustment of the second cylinder body is realized through the second lower chambers of the two groups of rear suspension cylinders, so that the height change of the first upper chamber and the fourth upper chamber is partially counteracted, and the moving speed of the second cylinder body is delayed.
Drawings
FIG. 1 is a schematic view of a rear suspension of a mining vehicle;
FIG. 2 is a flow chart of a method of controlling a rear suspension cylinder of a mining vehicle in accordance with the present invention;
FIG. 3 is a hydraulic schematic of a method of controlling the rear suspension cylinders of the mining vehicle of the present invention;
FIG. 4 is a cross-sectional view of the rear suspension cylinder of the present invention;
FIG. 5 is a schematic view of the valve control process of the rear suspension cylinder of the present invention;
FIG. 6 is a flow chart of a method of determining the status of a mine car according to the present invention;
FIG. 7 is a schematic diagram of the wiring connection of two sets of rear suspension cylinders of the present invention;
FIG. 8 is a schematic illustration of a compound control mode of the rear suspension cylinder of the present invention;
FIG. 9 is a block diagram of a rear suspension cylinder control assembly for the mining vehicle of the present invention;
FIG. 10 is a schematic view of the installation of the rear suspension cylinder control assembly of the mining vehicle of the present invention, with the dashed lines indicating the direction of signal transmission.
The reference numerals in the drawings are: first valve assembly 11, throttle 12, second valve assembly 21, pressure sensor 22, third valve assembly 31, flow controller 32, fourth valve assembly 41, second sump 42, first pump body 43, first spill valve 44, fifth valve assembly 51, exhaust tank 52, second pump body 53, second spill valve 54, air reservoir 55, first cylinder 61, second cylinder 62, outer rod 63, inner rod 64, first piston 65, second piston 66, first sump 71, unidirectional damper 72, first accumulator 73, rear suspension cylinder 100, chassis 200, suspension assembly 300, rear wheel 400.
Detailed Description
The present application will be described and illustrated with reference to the accompanying drawings and examples for a clearer understanding of the objects, technical solutions and advantages of the present application.
The rear suspension of the mine car is used for supporting a hopper of the mine car. The hopper has large height and large load mass, and hydro-pneumatic active suspension or semi-active suspension is usually adopted. In the quick loading and unloading process, the load change of the two groups of rear suspension assemblies generates travel difference, and a vehicle hopper with excessive travel difference easily generates side-turning risks, as shown in fig. 1. The invention reduces the travel difference of the rear suspension assembly through feedforward adjustment in the loading and unloading process of the hopper, and improves the balance of the hopper during loading and unloading.
Example 1
The control method of the rear suspension cylinder of the mine car according to the present invention as shown in fig. 2 to 6 includes the following steps.
Step 1: two sets of rear suspension cylinders are provided in the mine car, each set of rear suspension cylinders comprising a first cylinder body 61 and a second cylinder body 62, the first cylinder body 61 having a lower cavity and the second cylinder body 62 having an upper cavity. The mine car is provided with an external hopper which is borne on the chassis and is used for conveying materials such as coal, waste rocks and the like. Mine cars include, but are not limited to, rail cars, mountain tire type mine cars. The two sets of rear suspension cylinders are symmetrically arranged, and for convenience of description, the two sets of rear suspension cylinders in the embodiment adopt the same section parameters.
Step 2: the first cylinder 61 is connected to the chassis of the car, the second cylinder 62 is connected to the suspension assembly, which is connected to the rear wheel, and the lower and upper chambers control the current travel of the second cylinder 62. The suspension assembly is, for example, an active suspension. The chassis, the suspension assembly and the rear suspension cylinder form a link mechanism. The change in the total volume of the lower and upper chambers controls the current stroke of the second cylinder 62, thereby changing the total length of the rear suspension cylinder.
Step 3: the lower chamber is divided into a first lower chamber B1, a second lower chamber B2, and a third lower chamber B3 in this order by a second cylinder 62 and a first piston 65, and the upper chamber is divided into a first upper chamber A1, a second upper chamber A2, a third upper chamber A3, and a fourth upper chamber A4 by an outer cylinder rod 63, an inner cylinder rod 64, and a second piston 66. Referring to fig. 3 and 4, the first valve assembly 11 is a two-position two-way solenoid valve, and the first valve assembly 11 connects the first upper chamber A1 with the restrictor 12. The second valve assembly 21 is a two-position four-way electromagnetic valve, and four channels are respectively connected with the first upper chamber A1 and the fourth upper chamber A4 of the rear suspension cylinder and the first upper chamber and the fourth upper chamber of the other group of rear suspension cylinders. The third valve assembly 31 is a two-position three-way solenoid valve, and the three channels are respectively connected with the second lower chamber B2, the third lower chamber B3 and the second lower chamber of the other group of rear suspension cylinders. The fourth valve assembly 41 is a three-position four-way electromagnetic valve, and four channels are respectively connected with the second upper chamber A2, the third upper chamber A3, the first pump body 43 and the second oil collecting tank 42.
Step 4: before the mine car starts, the rear suspension cylinder is in a passive working mode, and the first accumulator 73 is communicated with the third lower chamber B3 through the unidirectional damper 72. In the passive operation mode, as shown in fig. 5, the first valve assembly 11 and the second valve assembly 21 are in the cut-off state after being powered off, the third valve assembly 31 is in communication with the second lower chamber B2 and the third lower chamber B3 after being powered off, and the fourth valve assembly 41 is in communication with the second upper chamber A2 and the third upper chamber A3 after being powered off.
Step 5: after the mine car is started, if the mine car is in an idle state, the process enters a step 6, if the mine car is in a loading and unloading state, the process enters a step 7, and if the mine car is in a running state, the process enters a step 9. After the engine of the mine car begins to work, the state of the mine car can be determined by adopting the existing vehicle monitoring system. Further, the embodiment provides a method for judging the state of the mine car. Referring to fig. 6, a speed parameter of the mine car is extracted, and if the speed parameter is greater than zero, the mine car is in a driving state. If the speed parameter is equal to zero, extracting the additional load of the hopper, and if the additional load is greater than zero, the mine car is in a loading and unloading state, otherwise, the mine car is in an idling state. The additional load may be obtained by subtracting the self weight of the hopper from the sum of the suspension loads. Further, a monitoring period of 10 to 100 seconds may be set, with the average speed in the monitoring period as a speed parameter, and the average additional load in the monitoring period as an additional load.
Step 6: the rear suspension cylinder enters the linkage calibration mode, the gas fluctuation number is determined according to the current heights of the first upper chamber A1 and the fourth upper chamber A4, and the first valve assembly 11 adjusts the gas medium of the first upper chamber A1 according to the gas fluctuation number, and returns to step 5. In the linked calibration mode, the second valve assembly 21, the third valve assembly 31, and the fourth valve assembly 41 remain de-energized and the first valve assembly 11 is energized. The current heights of the first upper chamber A1 and the fourth upper chamber A4 are measured by using displacement sensors and other devices, the volume adjustment quantity of the first upper chamber A1 is calculated to be equal to the volume adjustment quantity of the fourth upper chamber A4, and the gas fluctuation number is calculated according to the volume adjustment quantity and the gas temperature.
In fig. 3, the fifth valve assembly 51 regulates the gaseous medium of the first upper chamber A1 via the restriction 12. The fifth valve assembly 51 is a three-position three-way solenoid valve, and three passages are respectively connected to the exhaust tank 52, the air tank 55, and the throttle 12. The restrictor 12 is a small hole conduction device, so that unstable gas adjustment process caused by air pressure difference between the exhaust tank 52, the air storage tank 55 and the first upper chamber A1 can be avoided. A fifth valve assembly connects the gas reservoir to the restrictor if the number of gas variations is greater than zero and connects the exhaust tank to the restrictor if the number of gas variations is less than zero.
In one embodiment, the gas variation number is a mass variation value, and the first valve assembly 11 is provided with a flow sensor, for example, and when the mass of the gas passing through the first valve assembly 11 is equal to the mass variation value, the first valve assembly 11 enters the cut-off state. In another embodiment, the gas variation number is a gas pressure adjustment value, and the first upper chamber A1 is provided with a pressure sensor, for example, and the first valve assembly 11 enters the cut-off state when the pressure variation of the first upper chamber A1 is equal to the gas pressure adjustment value.
Step 7: the rear suspension cylinder enters a feedforward working mode, the second valve component 21 is communicated with the first upper chamber A1 of the rear suspension cylinder and the fourth upper chamber of the other group of rear suspension cylinders, and meanwhile, the second valve component 21 is communicated with the fourth upper chamber A4 of the rear suspension cylinder and the first upper chamber of the other group of rear suspension cylinders. In the feed forward mode of operation, the first valve assembly 11, the fourth valve assembly 41 are de-energized and the second valve assembly 21 and the third valve assembly 31 are energized.
Step 8: the first air pressure of the first upper chamber A1 is detected, the third valve assembly 31 is communicated with the second lower chamber B2 of the rear suspension cylinder and the second lower chamber of the other suspension cylinder through the flow controller 32, the flow controller 32 determines the target flow according to the first air pressure, and the process returns to step 5. Specifically, the load of the two sets of rear suspension cylinders and the current height of the first upper chamber A1 are measured first, then the section adjustment coefficient of the flow controller 32 is calculated, and the target flow rate is calculated from the air pressure and the section coefficient of the first upper chamber A1.
Step 9: the rear suspension cylinder enters the compound control mode, measures the road surface excitation signal and generates a hydraulic output force that is provided by the fourth valve assembly 41 to the second upper chamber A2 or the third upper chamber A3, returning to step 5. In the compound control mode, the first valve assembly 11, the second valve assembly 21, and the third valve assembly 31 remain de-energized, and the fourth valve assembly 41 is energized. In step 9, a target stroke of the second cylinder 62 is determined based on the road surface excitation signal, and the hydraulic output force is calculated based on the target stroke.
In this embodiment, after a plurality of working cycles, the air pressure of the air tank 55 is reduced, the first valve assembly 11 is put into the cut-off state, the fifth valve assembly 51 communicates the air tank 52 with the air tank 55, and the second pump 53 pumps the air of the air tank 52 into the air tank 55. Further, the first relief valve 44 is connected to the first pump body 43, the second relief valve 54 is connected to the second pump body 53, and the first relief valve 44 and the second relief valve 54 function as constant pressure relief in the present embodiment. The first pump body 43 and the second pump body 53 provide a constant flow rate, which reduces the flow demand as the system pressure increases. At this time, the overflow valve is opened to enable the surplus flow to be overflowed back to be discharged, so that the inlet pressure of the overflow valve is ensured. In addition to the first oil sump 71 and the second oil sump 42, oil sumps may be connected to the first pump body 43, the first overflow valve 44, the second pump body 53, the second overflow valve 54, and the like, and these oil sumps may be combined into one oil sump.
Example two
The embodiment further discloses a method for calculating the gas fluctuation number in the step 6. The gas fluctuation number in this example is a mass fluctuation value Δm A1.
In fig. 4, the current height of the first upper chamber is H A1 and the current height of the fourth upper chamber is H A4. In this embodiment, the first upper chamber and the fourth upper chamber are both cylindrical, the current volume of the first upper chamber is S A1HA1, the current volume of the fourth upper chamber is S A4HA4.SA1, the cross-sectional area of the first upper chamber, and S A4, the cross-sectional area of the fourth upper chamber. P A1 is the current gas pressure of the first upper chamber, P A4 is the current gas pressure of the fourth upper chamber, and R is the gas state constant. P A1=PA4 before adjustment. During operation of the mine car, the gas temperature T remains stable.
The current gas mass of the first upper chamber is M A1=PA1SA1HA1/RT, and the current gas mass of the fourth upper chamber is M A4=PA4SA4HA4/RT, according to the state equation of the ideal gas. The current volume of the first upper chamber is unequal to the current volume of the fourth upper chamber through the feedforward adjustment of the loading and unloading state, and the volume of the first upper chamber is adjusted to be equal to the fourth upper chamber to ensure the adjustment allowance of the next loading and unloading state, and the volumes are (S A4HA4+SA1HA1)/2. The adjusted gas mass M A1'=PA1'(SA4HA4+SA1HA1/2 RT for the first upper chamber, the adjusted gas mass M A4'=PA4'(SA4HA4+SA1HA1)/2RT.PA1' for the fourth upper chamber is the target gas pressure for the first upper chamber, and P A4' is the target gas pressure for the fourth upper chamber. After the adjustment is completed and the steady state is reached, P A1'=PA4' is reached, the gas mass after the adjustment of the first upper chamber is M A1'=PA4'(SA4HA4+SA1HA1)/2 RT.
Referring to fig. 3, in the linked calibration mode, the gas mass of the fourth upper chamber is unchanged before and after adjustment, i.e., MA4'=PA4'(SA4HA4+SA1HA1)/2RT=PA4SA4HA4/RT, so P A4'=2(PA4SA4HA4)/(SA4HA4+SA1HA1). Further ,MA1'=PA1'(SA4HA4+SA1HA1)/2RT= PA4'(SA4HA4+SA1HA1)/2RT, is substituted into the calculation formula of P A4', M A1'= (PA4SA4HA4)/RT. Therefore, the quality variation value △MA1=MA1'-MA1=PA4SA4HA4/RT-PA1SA1HA1/RT=PA1(SA4HA4-SA1HA1)/RT.
Example III
The embodiment further discloses a method for calculating the target flow in the step 8.
When the rear suspension cylinder with high load moves downwards under the action of the second valve assembly, the rear suspension cylinder with low load also moves downwards, and the larger the load difference between the two groups of rear suspension cylinders is, the faster the first upper chamber and the fourth upper chamber act. Referring to fig. 7, the flow controller receives signals of the third valve assembly through the pressure sensor, and the flow controller is communicated with the two second lower chambers to realize compensation. The greater the load differential between the two sets of rear suspension cylinders, the greater the flow of the flow controller to compensate for the hopper imbalance caused by the too fast movement of the first and fourth upper chambers due to the large load.
The target flow of the flow controller determines the compensation speed. The faster the height of the first lower chamber of the rear suspension cylinder changes, the faster the second cylinder acts, the greater the risk of the hopper rolling and the greater the compensation required of the flow controller. The compensation speed of the target flow rate is usually smaller than the feedforward adjustment amount (the gas fluctuation number). The present invention describes the compensation of the flow controller by means of the section adjustment coefficient lambda. The current heights of the first lower chambers of the two groups of rear suspension cylinders are H B1 and H B1' respectively, the height ratio is H B1/HB1', the height ratio change speed is d (H B1/HB1')/dt, and t is time, and the unit is usually seconds. If F is greater than or equal to F ', λ= (F/F') d (H B1/HB1')/dt. If F is less than F ', λ= (F'/F) d (H B1'/HB1)/dt.
The target flow of the flow controller is affected by the section adjustment factor lambda and the current pressures P B1 and P B1' of the first lower chambers of the two sets of rear suspension cylinders. In a preferred embodiment, if P B1 is greater than or equal to P B1', the target flow q= (P B1'/PB1)λS0, if P B1 is less than P B1', the target flow q= (P B1/PB1')λS0, S0 is the flow of the effective cross-sectional area of the flow controller).
Example IV
The embodiment further discloses a method for calculating the hydraulic output force in the step 9. Under the driving state, the hydraulic output force can reduce the vibration of the mine car and improve the driving comfort.
As shown in fig. 8, the rear suspension cylinder is equivalent to a spring damping system including a spring, a damper, and a hydraulic output force. An excitation signal y=f (t) of the road surface height over time t is generated from the vehicle-mounted system or the sensor system.
In one embodiment, the centroid height, the roll angle and the pitch angle of the vehicle body are selected as control variables, and the target stroke x=g (t) of the second cylinder under the excitation signal is determined based on a backstepping control method. In another embodiment, an objective function is constructed to determine a target trip x=g (t) based on a multi-target instruction filtering adaptive control strategy.
The target travel x is a function of time,As a first derivative of the first derivative,Is the second derivative. The equivalent mass m of the car applied to the rear suspension cylinder, the external load F L applied to the rear suspension cylinder, was measured. The hydraulic output force of the rear suspension cylinder can thus be determined. Wherein R is the equivalent damping coefficient of the rear suspension cylinder, K is the equivalent stiffness of the rear suspension cylinder, and F f is the system friction of the rear suspension cylinder.
Example five
Referring to FIGS. 9 and 10, the rear suspension cylinder control assembly for a mining vehicle of the present invention includes two sets of rear suspension cylinders 100. The rear suspension cylinder 100 includes a first cylinder body, a second cylinder body, a first piston, a second piston, an inner cylinder rod, an outer cylinder rod, a first accumulator, a first pump body, a second pump body, a first oil sump, a second oil sump, a one-way damper, a restrictor, an air reservoir, an exhaust tank, a first valve assembly, a second valve assembly, a third valve assembly, a fourth valve assembly, and a fifth valve assembly. The first cylinder has a lower cavity and the second cylinder has an upper cavity, the first cylinder is connected to the chassis 200 of the mine car, the second cylinder is connected to the suspension assembly 300, and the suspension assembly 300 is connected to the rear wheels 400. The second cylinder body and the first piston divide the lower cavity into a first lower cavity, a second lower cavity and a third lower cavity in sequence, and the outer cylinder rod, the inner cylinder rod and the second piston divide the upper cavity into a first upper cavity, a second upper cavity, a third upper cavity and a fourth upper cavity. The first lower chamber is connected to the first oil sump, and the third lower chamber is connected to the first accumulator and the one-way damper. The input end of the first pump body is connected to the second oil collecting tank, and the output end of the first pump body is connected to the fourth valve assembly; the input of the second pump body is connected to the exhaust tank, and the output of the second pump body is connected to the gas holder. The throttle is connected to the first upper chamber via a first valve assembly and a fifth valve assembly connects the air reservoir or exhaust tank to the throttle.
Before the mine car is started, the first energy accumulator is communicated with the third lower chamber through the unidirectional damper, and the first energy accumulator and the unidirectional damper provide equivalent rigidity K and equivalent damping coefficient R. If the mine car is in an idle state, determining the gas fluctuation number according to the current heights of the first upper chamber and the fourth upper chamber, and adjusting the gas of the first upper chamber by the first valve assembly according to the gas fluctuation number. If the mine car is in a loading and unloading state, the second valve component is communicated with the first upper chamber of the rear suspension cylinder and the fourth upper chamber of the other group of rear suspension cylinders, the second valve component is communicated with the fourth upper chamber of the rear suspension cylinder and the first upper chamber of the other group of rear suspension cylinders, the third valve component is communicated with the second lower chamber of the rear suspension cylinder and the second lower chamber of the other group of rear suspension cylinders through a flow controller, and the flow controller determines target flow according to the first air pressure. And if the mine car is in a running state, measuring a pavement excitation signal and generating a hydraulic output force, wherein the fourth valve assembly provides the hydraulic output force F g to the second upper chamber or the third upper chamber.
In fig. 10, a first valve assembly is mounted on the second block of the rear suspension cylinder to control the flow of liquid medium in the first upper chamber of the rear suspension cylinder. A second valve assembly is also mounted on the second body of the rear suspension cylinder and controls the flow of liquid medium in the first and fourth upper chambers of the rear suspension cylinder. A third valve assembly is mounted on the first body of the rear suspension cylinder and controls the flow of liquid medium in the second lower chamber and the third lower chamber of the rear suspension cylinder. The second lower chamber is connected with the first oil collecting tank. A unidirectional damper is arranged between the first energy accumulator and the third lower chamber. The pressure sensor extracts the first air pressure of the second valve assembly, then sends the first air pressure to the flow controller, and the flow controller adjusts the air medium of the second lower chamber according to the target flow of the third valve assembly. The fourth valve assembly is arranged on the first cylinder body, connected to the second upper chamber and the third upper chamber through the inner lever and used for controlling the flow of liquid medium in the second upper chamber and the third upper chamber of the rear suspension cylinder. The other side of the fourth valve component is provided with a first pump body and a second oil collecting tank. The liquid medium can flow from the fourth valve assembly to the second oil collection tank, and can also flow from the second oil collection tank back to the fourth valve assembly through the first pump body. One side of the fifth valve assembly is connected to the first valve assembly through a restrictor, and the other side of the fifth valve assembly is connected to the air storage tank and the exhaust tank. The gaseous medium flows from the first valve assembly through the restrictor into the fifth valve assembly and into the exhaust tank. In another state, the gaseous medium of the gas reservoir flows through the fifth valve assembly and the restrictor to the first valve assembly. If the gas medium in the gas storage tank is too little, the second pump body sucks the gas medium from the exhaust tank and fills the gas storage tank. The invention realizes the balance of rear suspension under the condition of power failure in the unloading process by the linkage control of the valve assembly to the suspension cylinder.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (7)
1. The control method of the rear suspension cylinder of the mine car is characterized by comprising the following steps of:
step 1: two groups of rear suspension cylinders are arranged on the mine car, each group of rear suspension cylinders comprises a first cylinder body and a second cylinder body, the first cylinder body is provided with a lower cavity, and the second cylinder body is provided with an upper cavity;
Step 2: connecting the first cylinder body to a suspension assembly, connecting the second cylinder body to a chassis of the mine car, connecting the suspension assembly to a rear wheel, and adjusting the current stroke of the second cylinder body through a lower cavity and an upper cavity;
Step 3: the lower cavity is divided into a first lower cavity, a second lower cavity and a third lower cavity in sequence through the second cylinder body and the first piston, and the upper cavity is divided into a first upper cavity, a second upper cavity, a third upper cavity and a fourth upper cavity through the outer cylinder rod, the inner cylinder rod and the second piston;
step 4: before the mine car is started, the rear suspension cylinder enters a passive working mode, and the first energy accumulator is communicated with the third lower chamber through the unidirectional damper;
step 5: after the mine car is started, if the mine car is in an idle state, entering a step 6, if the mine car is in a loading and unloading state, entering a step 7, and if the mine car is in a running state, entering a step 9;
Step 6: the rear suspension cylinder enters a linkage calibration mode, the gas fluctuation number is determined according to the current heights of the first upper chamber and the fourth upper chamber, the first valve assembly adjusts the gas of the first upper chamber according to the gas fluctuation number, and the step 5 is returned;
step 7: the rear suspension cylinder enters a feedforward working mode, a second valve component is communicated with a first upper chamber of the rear suspension cylinder and a fourth upper chamber of the other group of rear suspension cylinders, and the second valve component is communicated with the fourth upper chamber of the rear suspension cylinder and the first upper chamber of the other group of rear suspension cylinders, and the air pressure of the first upper chamber is detected;
Step 8: the third valve assembly is communicated with the second lower chamber of the rear suspension cylinder and the second lower chamber of the other suspension cylinder through a flow controller, the flow controller determines target flow according to the first air pressure, and the step 5 is returned to;
Step 9: the rear suspension cylinder enters a compound control mode, the road surface excitation signal is measured, and the hydraulic output force is generated, the fourth valve component supplies the hydraulic output force to the second upper chamber or the third upper chamber, the step returns to the step 5,
Wherein the first valve component is a two-position two-way electromagnetic valve, the first valve component is connected with the first upper chamber and the restrictor, the second valve component is a two-position four-way electromagnetic valve, the four channels are respectively connected with the first upper chamber and the fourth upper chamber of the rear suspension cylinder and the first upper chamber and the fourth upper chamber of the other group of rear suspension cylinders, the third valve component is a two-position three-way electromagnetic valve, the three channels are respectively connected with the second lower chamber, the third lower chamber and the second lower chamber of the other group of rear suspension cylinders, the fourth valve component is a three-position four-way electromagnetic valve, the four channels are respectively connected with the second upper chamber, the third upper chamber, the first pump body and the second oil collecting tank,
The fifth valve component adjusts the gas medium of the first upper chamber through the restrictor, the fifth valve component is a three-position three-way electromagnetic valve, the three channels are respectively connected with the exhaust tank, the gas storage tank and the restrictor, if the gas fluctuation number is larger than zero, the fifth valve component connects the gas storage tank to the restrictor, if the gas fluctuation number is smaller than zero, the fifth valve component connects the exhaust tank to the restrictor,
The gas fluctuation number is a mass fluctuation value, and when the mass of the gas passing through the first valve component is equal to the mass fluctuation value, the first valve component enters a cut-off state,
In the passive working mode, the first valve component and the second valve component enter a cut-off state after being powered off, the third valve component is communicated with the second lower chamber and the third lower chamber after being powered off, the fourth valve component is communicated with the second upper chamber and the third upper chamber after being powered off,
In the ganged calibration mode, the second, third and fourth valve assemblies remain de-energized, the first valve assembly is energized,
In the feed-forward working mode, the first valve component and the fourth valve component are powered off, the second valve component and the third valve component are powered on to work,
In the compound control mode, the first valve assembly, the second valve assembly and the third valve assembly are kept powered off, and the fourth valve assembly is powered on to work.
2. A method of controlling a rear suspension cylinder for a mining vehicle according to claim 1, wherein in step 8, the load of the two sets of rear suspension cylinders and the current height of the first chamber are measured, a section adjustment coefficient of the flow controller is calculated, and the target flow is calculated based on the air pressure of the first upper chamber and the section coefficient.
3. A method of controlling a rear suspension cylinder of a mining vehicle according to claim 1, wherein in step 9, the first valve assembly is brought into a shut-off condition and the second pump body draws gas from the exhaust tank into the gas reservoir.
4. A method of controlling a rear suspension cylinder of a mining vehicle according to claim 1, wherein in step 9, a target stroke of the second cylinder is determined based on the road surface excitation signal, and the hydraulic output force is calculated based on the target stroke.
5. A mine car rear suspension cylinder control assembly for implementing the method of controlling a mine car rear suspension cylinder as defined in claim 1, wherein the suspension cylinder control assembly includes two sets of rear suspension cylinders including a first cylinder body having a lower cavity, a second cylinder body having an upper cavity, a first cylinder body connected to the suspension assembly, a second cylinder body connected to the chassis of the mine car, a second lower chamber and a third lower chamber, a one-way damper, a first valve assembly, a second valve assembly, a third valve assembly and a fourth valve assembly, an outer cylinder rod, an inner cylinder rod and a second piston dividing the upper cavity into a first upper chamber, a second upper chamber, a third upper chamber and a fourth upper chamber,
Before the mine car is started, the first energy accumulator is communicated with the third lower chamber through the unidirectional damper;
If the mine car is in an idle state, determining a gas fluctuation number according to the current heights of the first upper chamber and the fourth upper chamber, and adjusting the gas of the first upper chamber by the first valve assembly according to the gas fluctuation number;
If the mine car is in a loading and unloading state, the second valve assembly is communicated with the first upper chamber of the rear suspension cylinder and the fourth upper chamber of the other group of rear suspension cylinders, the second valve assembly is communicated with the fourth upper chamber of the rear suspension cylinder and the first upper chamber of the other group of rear suspension cylinders, the third valve assembly is communicated with the second lower chamber of the rear suspension cylinder and the second lower chamber of the other group of rear suspension cylinders through a flow controller, and the flow controller determines target flow according to the first air pressure;
And if the mine car is in a running state, measuring a pavement excitation signal and generating a hydraulic output force, wherein the fourth valve assembly provides the hydraulic output force to the second upper chamber or the third upper chamber.
6. The mine car rear suspension cylinder control assembly of claim 5, further comprising a first pump body, a second oil sump, an input of the first pump body connected to the second oil sump, and an output of the first pump body connected to the fourth valve assembly.
7. A mining vehicle rear suspension cylinder control assembly as defined by claim 5 further comprising a throttle connected to the first upper chamber via the first valve assembly, a fifth valve assembly connecting the air reservoir or the air reservoir to the throttle, an air reservoir.
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| CN102039791A (en) * | 2010-06-13 | 2011-05-04 | 长沙中联重工科技发展股份有限公司 | Vehicle body dip angle adjusting unit, oil gas suspension mechanism and mobile crane |
| CN108128113A (en) * | 2017-12-12 | 2018-06-08 | 长安大学 | A kind of compound interconnection oil-air suspension system of quarry tipper and method of work |
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| BE459380A (en) * | 1944-04-14 | |||
| GB2253677B (en) * | 1991-02-14 | 1994-09-28 | Atsugi Unisia Corp | Electromagnetic suspension device |
| JPH1095218A (en) * | 1996-09-24 | 1998-04-14 | Mazda Motor Corp | Car height adjustment device |
| US20170368900A1 (en) * | 2016-06-24 | 2017-12-28 | Option Industries Inc. | Hydraulic suspension system for a bed truck and method for control thereof |
| CN207630904U (en) * | 2017-11-08 | 2018-07-20 | 郑州宇通客车股份有限公司 | A kind of air suspension-hydraulic pressure interacted system and the vehicle using the system |
| CN109050192B (en) * | 2018-07-19 | 2021-05-14 | 燕山大学 | Hydro-pneumatic suspension and active suspension switching control loop |
| CN113059975B (en) * | 2021-04-22 | 2022-11-01 | 中国矿业大学 | Semi-active hydro-pneumatic suspension system of mining dump truck and control method |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102039791A (en) * | 2010-06-13 | 2011-05-04 | 长沙中联重工科技发展股份有限公司 | Vehicle body dip angle adjusting unit, oil gas suspension mechanism and mobile crane |
| CN108128113A (en) * | 2017-12-12 | 2018-06-08 | 长安大学 | A kind of compound interconnection oil-air suspension system of quarry tipper and method of work |
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