CN201506385U - Multiple-mode turning control system of girder- transporting vehicle - Google Patents
Multiple-mode turning control system of girder- transporting vehicle Download PDFInfo
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- CN201506385U CN201506385U CN 200920224012 CN200920224012U CN201506385U CN 201506385 U CN201506385 U CN 201506385U CN 200920224012 CN200920224012 CN 200920224012 CN 200920224012 U CN200920224012 U CN 200920224012U CN 201506385 U CN201506385 U CN 201506385U
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Abstract
The present utility model discloses a multiple-mode turning control system of a girder- transporting vehicle, pertaining to steering systems of engineering machinery. The turning control system comprises a controller, CAN bus stations, an encoder and a turning executor, and the encoder is installed on the turning executor and is connected with the controller through the CAN bus stations. The utility model has advantages that the turning control system adopting a CAN bus technology greatly reduces the number of connecting lines, has simple arrangement of cable wires, few nodes, high reliability, easy maintenance, convenient connection examination, easiness in failure diagnosis and running state recording, convenient setting of control stations, easiness in changing parameters and increasing or reducing functions and capability of adapting to operations in various adverse environments, reduces manufacturing costs, has tires that all realize independent turning with high control precision and good stability, and greatly improves the operation flexibility and safety of girder- transporting vehicles.
Description
Technical field
The utility model relates to the multi-mode steering control system of a kind of steering swivel system of construction machinery and equipment, particularly a kind of beam transportation vehicle.
Background technology
Beam transportation vehicle is a multiaxis line rubber-tyred walking machine, and has the multiple pattern that turns to.The build of beam transportation vehicle own is huge, turns to but need it to have flexibly at the construction field (site) again, comprises diagonal, walks crosswise, the multiple pattern that turns to such as the Eight characters turns to.Its turning efficiency has determined operation quality, stability and the safety of beam transportation vehicle.The steering swivel system of advance works vehicle can not satisfy the requirement of beam transportation vehicle to steering flexibility and safety owing to be subjected to mechanical steering power, turn to pattern and turn to the restriction of precision.
What the employing of part beam transportation vehicle was arranged is the steering swivel system of connecting rod mechanism, and this mode only can satisfy turning in the driving process, is difficult to realize the pattern that turns to of other more complicated, also may bring wearing and tearing to tire simultaneously, reduces service life.Certainly also there is the part beam transportation vehicle to adopt traditional signal transmission, concentrate and control, but this also brings signal many, shortcomings such as difficult wiring.
The utility model content
The purpose of this utility model is to provide a kind of: the multi-mode steering control system of the beam transportation vehicle that turn to flexibly, safety is good.
The purpose of this utility model is achieved in that this steering control system comprises controller, CAN bus website, coder and turns to actr, and coder is connected and turns on the actr, and coder is connected with controller by CAN bus website.
Described controller comprises PLC controller, electro-hydraulic proportional valve, hydraulic ram and coder, and the mouth of coder is connected with PLC controller input end, and PLC controller output end order is with electro-hydraulic proportional valve, hydraulic ram and turn to actuating unit to be connected.
Describedly turn to actr to comprise to turn to oil cylinder, tire, pivoting support, coder, the tire axle is connected with pivoting support by longitudinal axis, is connected with connecting rod on longitudinal axis, turns to oil cylinder one end to be connected with connecting rod, the other end connects to ground, and is connected with coder in the longitudinal axis upper end.
Beneficial effect because to have adopted such scheme, beam transportation vehicle car load be 16 axis, two suspensions of every axis, car load is installed 32 suspensions altogether, each suspension all by one independently hydraulic actuating cylinder control turn to.Beam transportation vehicle can realize that diagonal, the Eight characters turn to and half Eight characters turns to, center steering, shaking the head, wag the tail etc. turns to pattern.The various patterns that turn to are according to tire pure rolling principle, make tire center on turning center and rotate that different angles realizes, the steering locking angle degree is ± 30 °.
In the beam transportation vehicle steering procedure, require each suspension, simultaneously, require suspension to turn to and have synchronous conformability, otherwise can occur the catching phenomenon of wheel in the process of moving according to predetermined angular turn.Therefore, each turns to oil cylinder all to be controlled by an electro-hydraulic proportional valve that independently has pressure compensation, and the flow of its output is only proportional with valve core opening, and irrelevant with extraneous load size.Electro-hydraulic proportional valve is formed the close-loop feedback control system by PLC controller and coder, guarantees that each suspension can be turned back to appointed positions.Turn to flexibly, safety is good, reached the purpose of this utility model.
Advantage: this steering control system adopts the CAN bussing technique, greatly reduces the quantity of rattail, and cable distribution is simple, and node is few, and the reliability height is easy to safeguard, has reduced manufacturing expense; Connect and check conveniently, carry out trouble diagnosing and running state record easily, help maintenance examination, it is convenient that the controlling point is set, and changes parameter and increase and decrease function easily, can adapt to various harsh environment operations, each tire has been realized independent steering, the control accuracy height, good stability, the flexible operation and the safety that have improved beam transportation vehicle greatly.
Description of drawings
Fig. 1 is CAN bus and control arrangement figure;
Fig. 2 is electric-hydraulic proportion control principle figure;
Fig. 3 is the steering hardware scheme drawing;
Among the figure, 1-1, telltale; 1-2, handle; 1-3, remote controller; 1-4, No. three control boxs; 1-5, last coder group; 1-6, No. two PLC controllers; 1-7, No. three PLC controllers; 1-8, back one coder group; 1-9, a PLC controller; 1-10, a control box; 1-11, No. six control boxs; 1-12, the first two coder group; 1-13, No. four PLC controllers; 1-14, No. five PLC controllers; 15, back two coder groups; 1-16, No. five control boxs; 1-17, No. two control boxs; 1-18, No. four control boxs; 1, turns to oil cylinder; 2, train; 3, pivoting support; 4, coder.
The specific embodiment
Embodiment 1: this steering control system comprises controller, CAN bus website, coder and turns to actr, and coder is connected and turns on the actr, and coder is connected with controller by CAN bus website.
Described controller comprises PLC controller, electro-hydraulic proportional valve, hydraulic ram and coder, and the mouth of coder is connected with PLC controller input end, and PLC controller output end order is with electro-hydraulic proportional valve, hydraulic ram and turn to actuating unit to be connected.
Describedly turn to actr to comprise to turn to oil cylinder 1, train 2, pivoting support 3, coder 4, the tire axle is connected with pivoting support by longitudinal axis, is connected with connecting rod on longitudinal axis, turns to oil cylinder one end to be connected with connecting rod, the other end connects to ground, and is connected with coder in the longitudinal axis upper end.
Among Fig. 1, steering control system is based on the beam transportation vehicle multi-mode steering system of CAN bus, six CAN bus websites are set on beam transportation vehicle, wherein,, a control box 1-10 and No. two control box 1-17 be placed on respectively before and after in the operator's compartment, all the other four control boxs four points before and after promptly No. three control box 1-4, No. four control box 1-18, No. five control box 1-16 and No. six control box 1-11 are placed on respectively.Coder is connected nearby with control box, improves antijamming capability; Coder passes to the corresponding controller website with the train corner parameter that records, handle through controller, export corresponding steering controling signal and turn to electro-hydraulic proportional valve to each, thereby control turns to flow, the speed of oil cylinder, to reach the accuracy control steering angle, bearing circle output turn sign, the pushing direction dish faster than the speed that has determined slowly to turn to.
In Fig. 2, electric liquid turns to control, and rotary encoder is used for gathering the wheel steering angle signal, and calculate each through the PLC controller and be suspended on the various angles that turn under the pattern, thus to realize that craspedodrome, diagonal, the Eight characters turn to etc. the various multi-form pattern that turns to.
Because in the steering procedure, require tire to have synchronism, otherwise will cause Tyte Wear and turn to, and the instability in the walking process, be connected to a cover safety guard, i.e. damping DC machine at the bearing circle second line of a couplet.Its effect is: when bearing circle rotated, damping direct current (DC) chance produced shock damping action, and promptly bearing circle turns to feel.When the angular signal of bearing circle and actual tire corner had error, controller can produce instruction, damping direct current (DC) chance increased force will square, thus produce bigger shock damping action, promptly the bearing circle feel increases the weight of.The big more then damping of error is big more, and when error reaches 6 °, it is maximum that the damping of bearing circle reaches, i.e. locking state, and make car load out of service automatically.
In this steering control system, No. one the PLC controller is responsible for controlling acquisition of signal and realizing that each wheels kinematic model calculates of operator's compartment.Its excess-three PLC controller 1-7, No. four PLC controller 1-13 and No. five PLC controllers are responsible for the acquisition of signal of train actual condition, and information transmits, and sends instruction etc.The job order flow process is that chaufeur turns to pattern, controller to collect this command signal by the control panel switch is selected, judges the current pattern that turns to.Chaufeur hand of rotation dish, when controller collected the bearing circle code device signal, to each proportion magnetic valve output control signal, rotary encoder was gathered the actual rotational angle of wheel, and arrives controller by the CAN bus transfer.Controller compares actual rotational angle and expectation corner by closed loop control, obtains deviation signal, and then sends instructions under each controller module by the CAN bus, control electric-hydraulic proportion valve events.So finish this a whole set of closed loop control.Certainly, also have various detections and diagnosis function here, comprise the position form that the beam transportation vehicle vehicle body turns to, the trouble diagnosing of control module and coder etc.
In the closed loop control of beam transportation vehicle, the expectation value of control is known, and it is given to need not the user, and according to the engineering actual conditions, permissible variation is less than 0.5 °.According to the big subsection control of deviation, suppose that the maximum deviation that may occur is ± θ max, select boundary value θ i＞0, when the deviation θ errx that obtains satisfied-θ max≤θ errx≤-during θ i, send a cooresponding positive control amount Ki to hydraulic efficiency pressure system, allow the even acceleration of wheel just change; When θ max 〉=θ errx 〉=θ i, send a cooresponding negative control amount-Ki to hydraulic efficiency pressure system, allow wheel is even to quicken counter-rotating.Critical value must be chosen according to practice result, and the stationarity of controlling steering procedure like this strengthens greatly.In-θ i＜θ errx＜θ i scope, take PI control, and deviation is chosen some cut off value again, select different proportionality coefficient and integral coefficient in the different scopes.After handling like this, the leveling system response but overshoot can not occur rapidly.For example, when 90 ° are turned back to 0 °, can rest on 0 ° at last, and can not appear near the concussion 0 ° when wheel by slack-off soon.After being adjusted to desirable error limit, close the regulating action of ratio and integration; If deviation exceeds error limit again, controller restarts the feedback regulation process.Can improve the stability of hydraulic efficiency pressure system so greatly.
In the utility model,
1. the PLC controller of controller adopts BOSCH-REXROTH BODAS RC controller.This PLC controller aims at the use of walking machine and develops, and satisfies the requirement of various ambient temperatures, air-tightness, anti-vibration, shock resistance and Electromagnetic Compatibility aspect.
2. coder does not have particular requirement, owing in steering procedure, require tire to have synchronism, otherwise can cause Tyte Wear and the instability that turns in the walking process of back.So require rotary encoder should have very high precision, and can be under bad working environments such as sleet, vibration reliable operation.
3. steering hardware detects its actual rotational angle by the rotary encoder 4 that is installed on pivoting support 3 axle center, and gives the PLC controller by the CAN bus transfer, and controller output control signal is given electro-hydraulic proportional valve, thereby control turns to the stroke of oil cylinder 1.
Claims (3)
1. the multi-mode steering control system of a beam transportation vehicle, it is characterized in that: this steering control system comprises controller, CAN bus website, coder and turns to actr, coder is connected and turns on the actr, and coder is connected with controller by CAN bus website.
2. the multi-mode steering control system of beam transportation vehicle according to claim 1, it is characterized in that: described controller comprises PLC controller, electro-hydraulic proportional valve, hydraulic ram and coder, the mouth of coder is connected with PLC controller input end, and PLC controller output end order is with electro-hydraulic proportional valve, hydraulic ram and turn to actuating unit to be connected.
3. the multi-mode steering control system of beam transportation vehicle according to claim 1, it is characterized in that: describedly turn to actr to comprise to turn to oil cylinder, tire, pivoting support, coder, the tire axle is connected with pivoting support by longitudinal axis, on longitudinal axis, be connected with connecting rod, turn to oil cylinder one end to be connected with connecting rod, the other end connects to ground, and is connected with coder in the longitudinal axis upper end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200920224012 CN201506385U (en) | 2009-09-25 | 2009-09-25 | Multiple-mode turning control system of girder- transporting vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200920224012 CN201506385U (en) | 2009-09-25 | 2009-09-25 | Multiple-mode turning control system of girder- transporting vehicle |
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| Publication Number | Publication Date |
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| CN201506385U true CN201506385U (en) | 2010-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 200920224012 Expired - Lifetime CN201506385U (en) | 2009-09-25 | 2009-09-25 | Multiple-mode turning control system of girder- transporting vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102343933A (en) * | 2011-07-18 | 2012-02-08 | 苏州大方特种车股份有限公司 | Multimode steering mechanism |
| CN102490779A (en) * | 2011-11-18 | 2012-06-13 | 上海交通大学 | Digital steering wheel system with force feedback |
| CN103287491A (en) * | 2013-04-27 | 2013-09-11 | 燕山大学 | Control system for compliance steer of roadway trackless wheeled hydraulic power vehicle group |
| CN104973122A (en) * | 2015-05-18 | 2015-10-14 | 徐工集团工程机械股份有限公司科技分公司 | Loader electronic-control-handle steering and intelligent-braking control system |
| WO2020199526A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技股份有限公司 | Multi-mode electrically controlled steering hydraulic system and locomotive device |
| CN114537516A (en) * | 2022-02-25 | 2022-05-27 | 北京宸控科技有限公司 | Mining truck intelligent steering implementation method based on man-machine fusion perception |
| CN114633801A (en) * | 2022-04-22 | 2022-06-17 | 武汉科技大学 | Automatic tunnel walking deviation rectifying system and method for girder transporting vehicle |
-
2009
- 2009-09-25 CN CN 200920224012 patent/CN201506385U/en not_active Expired - Lifetime
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102343933A (en) * | 2011-07-18 | 2012-02-08 | 苏州大方特种车股份有限公司 | Multimode steering mechanism |
| CN102490779A (en) * | 2011-11-18 | 2012-06-13 | 上海交通大学 | Digital steering wheel system with force feedback |
| CN102490779B (en) * | 2011-11-18 | 2013-03-13 | 上海交通大学 | Digital steering wheel system with force feedback |
| CN103287491A (en) * | 2013-04-27 | 2013-09-11 | 燕山大学 | Control system for compliance steer of roadway trackless wheeled hydraulic power vehicle group |
| CN103287491B (en) * | 2013-04-27 | 2015-12-09 | 燕山大学 | Tunnel trackless wheel type hydraulic power car group compliance steer control system |
| CN104973122A (en) * | 2015-05-18 | 2015-10-14 | 徐工集团工程机械股份有限公司科技分公司 | Loader electronic-control-handle steering and intelligent-braking control system |
| WO2020199526A1 (en) * | 2019-04-04 | 2020-10-08 | 丰疆智能科技股份有限公司 | Multi-mode electrically controlled steering hydraulic system and locomotive device |
| CN114537516A (en) * | 2022-02-25 | 2022-05-27 | 北京宸控科技有限公司 | Mining truck intelligent steering implementation method based on man-machine fusion perception |
| CN114633801A (en) * | 2022-04-22 | 2022-06-17 | 武汉科技大学 | Automatic tunnel walking deviation rectifying system and method for girder transporting vehicle |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20100616 |
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| CX01 | Expiry of patent term |