CN203701186U - Automatic reset control device for walking leg of walking excavator - Google Patents
Automatic reset control device for walking leg of walking excavator Download PDFInfo
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- CN203701186U CN203701186U CN201320788691.7U CN201320788691U CN203701186U CN 203701186 U CN203701186 U CN 203701186U CN 201320788691 U CN201320788691 U CN 201320788691U CN 203701186 U CN203701186 U CN 203701186U
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- reset
- walking leg
- hydraulic cylinder
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- 238000006073 displacement reaction Methods 0.000 claims abstract description 9
- 230000009471 action Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 2
- 230000001105 regulatory effect Effects 0.000 abstract 1
- 230000003750 conditioning effect Effects 0.000 description 3
- 230000001737 promoting effect Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- Operation Control Of Excavators (AREA)
Abstract
The utility model belongs to the technical field of excavators, and in particular discloses an automatic reset control device for a walking leg of a walking excavator. According to the device, a displacement sensor mounted on an oil cylinder of the walking leg feeds back the actual position of the walking leg in real time, and a fuzzy PID control module prearranged in a controller outputs a regulatory signal to drive an electro-hydraulic proportional valve to output direction and flow so as to control the reset action of the oil cylinder of the walking leg. The devices adopts a closed-loop fuzzy PID control method so as to realize the automatic, fast and precise reset of the walking leg and greatly reduce the complexity and uncertainty of manual reset operation.
Description
Technical field
The utility model belongs to excavator technical field, is specifically related to the walking type excavator walking-leg control device that automatically resets.
Background technology
Walking type excavator, due to the adaptive ability of its powerful obstacle climbing ability and complex-terrain, is widely used in digging, backfill, the felling operation of plateau, mountain region, marshland.But traditional walking type excavator walking-leg is all to adopt open-loop control system, is all by the hand-reset of pilot control control button, to be switched to walking states completing after walking or stunt.But because the each walking-leg of walking type excavator has multiple directions degree of freedom, homing action needs again the co-ordination between multiple walking-legs.Although hand-reset control flow is simple, need to consume a large amount of time, and poor stability, reseting precision is low, easily produces driving fatigue.Reset effect is limited to operator's consummate degree to a great extent, and manipulation process has very strong uncertainty and crudity.
Summary of the invention
The purpose of this utility model: for problems of the prior art, the utility model provides a kind of walking type excavator walking-leg to automatically reset control device to realize quick, accurate, orderly the automatically reseting of walking type excavator walking-leg.
The purpose of this utility model realizes by the following technical solutions:
A kind of walking type excavator walking-leg control device that automatically resets, this device comprises reset switch, controller, displacement transducer, electro-hydraulic proportional valve and hydraulic cylinder; Controller is connected with reset switch, position sensor, electro-hydraulic proportional valve respectively, and electro-hydraulic proportional valve is connected with hydraulic cylinder, and position sensor is arranged on the hydraulic cylinder of walking-leg.
Further, described controller is PLC controller.
Further, described PLC controller adopts fuzzy control module to control.
The utility model compared with prior art, has the following advantages:
(1) what the utility model adopted is automatic control mode, the open cycle system of originally being controlled by PLC is designed to the closed-loop control system with position feedback, only need press automatic reset switch, what all walking-legs were just can be by default mode quick, orderly gets back to both allocations, complete reset operation, greatly reduce operation manipulation difficulty, avoided manually operated uncertainty and crudity, strengthened processing safety.
(2) the utlity model has good control flexibility and response speed.
(3) the utility model has been introduced fuzzy control module, adjust in real time the pid parameter of traditional PID control system, so both utilized conventional PID to regulate easily and fast, overcome again that it is strong to those couplings, parameter time varying and nonlinear system weak point further improved control accuracy and response speed.
Accompanying drawing explanation
Accompanying drawing 1 is walking-leg automatic reset device block diagram;
Accompanying drawing 2 is fuzzy control module structure charts.
The specific embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is further elaborated:
As shown in Figure 1, a kind of walking type excavator walking-leg automatic reset device, comprises reset switch, controller, displacement transducer, electro-hydraulic proportional valve and hydraulic cylinder.Controller is connected with reset switch, position sensor, electro-hydraulic proportional valve respectively, and electro-hydraulic proportional valve is connected with hydraulic cylinder again.Wherein, controller is PLC controller, and position sensor is arranged on the hydraulic cylinder of walking-leg.
PLD controller adopts fuzzy control module to realize and controls, as shown in Figure 2, PLD controller compares oil cylinder predeterminated position in the hydraulic cylinder physical location of displacement transducer feedback and controller, obtain Position of Hydraulic Cylinder error signal, obfuscation module provides the pid parameter value of this circulation according to the size of current Position of Hydraulic Cylinder error signal and variation tendency, PID module output PWM (pulse width modulation) signal in PLD controller, control opening direction and the flow of electro-hydraulic proportional valve, promoting walking-leg hydraulic cylinder extension makes it towards the direction motion that reduces deviation.So circulation is carried out, until deviation trends towards zero, thereby completes walking-leg homing action.
The course of work of this walking type excavator walking-leg automatic reset device is as follows:
After reset switch is connected, set the target location of the walking-leg hydraulic cylinder under walking-leg reset mode, detect in real time the actual extended position of hydraulic cylinder by being arranged on displacement transducer on walking-leg hydraulic cylinder, displacement transducer by the extended position signal feedback of the hydraulic cylinder detecting in PLC controller, PLC controller compares the displacement of targets value under the reset mode of the physical location of hydraulic cylinder and setting to obtain error signal, by fuzzy control module preset in PLC controller, error signal is processed again, and export corresponding conditioning signal, conditioning signal drives electro-hydraulic proportional valve output flow proportional to conditioning signal, promoting walking-leg hydraulic cylinder makes it towards the direction motion that reduces deviation.As long as the hydraulic cylinder actual position signal of displacement transducer output and the desired value of setting have deviation, PLD controller is just processed output by error signal, regulates walking-leg hydraulic cylinder to make it towards the direction motion that reduces deviation, until deviation trends towards zero;
The foregoing is only preferred embodiment of the present utility model; be not limited to the utility model; all within principle of the present utility model and principle, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (1)
1. the walking type excavator walking-leg control device that automatically resets, is characterized in that: this device comprises reset switch, controller, displacement transducer, electro-hydraulic proportional valve and hydraulic cylinder; Controller is connected with reset switch, position sensor, electro-hydraulic proportional valve respectively, and electro-hydraulic proportional valve is connected with hydraulic cylinder, and position sensor is arranged on the hydraulic cylinder of walking-leg; Described controller is PLC controller, adopts fuzzy control module to control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320788691.7U CN203701186U (en) | 2013-12-02 | 2013-12-02 | Automatic reset control device for walking leg of walking excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320788691.7U CN203701186U (en) | 2013-12-02 | 2013-12-02 | Automatic reset control device for walking leg of walking excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203701186U true CN203701186U (en) | 2014-07-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320788691.7U Expired - Lifetime CN203701186U (en) | 2013-12-02 | 2013-12-02 | Automatic reset control device for walking leg of walking excavator |
Country Status (1)
| Country | Link |
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| CN (1) | CN203701186U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104405733A (en) * | 2014-09-19 | 2015-03-11 | 江苏大学 | Sliding block balance electro-hydraulic servo synchronous control system of bending machine |
| CN106087682A (en) * | 2016-07-29 | 2016-11-09 | 徐州徐工筑路机械有限公司 | A kind of cold regenerative machine lifting mechanism and control method thereof |
| CN110696033A (en) * | 2019-10-18 | 2020-01-17 | 珠海格力智能装备有限公司 | Robot control method and device |
| CN113152549A (en) * | 2021-03-04 | 2021-07-23 | 中国人民解放军63983部队 | Wheel-leg combined type excavator autonomous displacement control system and control method |
-
2013
- 2013-12-02 CN CN201320788691.7U patent/CN203701186U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104405733A (en) * | 2014-09-19 | 2015-03-11 | 江苏大学 | Sliding block balance electro-hydraulic servo synchronous control system of bending machine |
| CN106087682A (en) * | 2016-07-29 | 2016-11-09 | 徐州徐工筑路机械有限公司 | A kind of cold regenerative machine lifting mechanism and control method thereof |
| CN106087682B (en) * | 2016-07-29 | 2018-01-23 | 徐州徐工筑路机械有限公司 | A kind of cold regenerative machine lifting mechanism and its control method |
| CN110696033A (en) * | 2019-10-18 | 2020-01-17 | 珠海格力智能装备有限公司 | Robot control method and device |
| CN113152549A (en) * | 2021-03-04 | 2021-07-23 | 中国人民解放军63983部队 | Wheel-leg combined type excavator autonomous displacement control system and control method |
| CN113152549B (en) * | 2021-03-04 | 2022-05-17 | 中国人民解放军63983部队 | Control method of wheel-leg combined type excavator autonomous displacement control system |
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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: 20140709 |
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| CX01 | Expiry of patent term |