CN205644299U - Paver walking deviation control system - Google Patents
Paver walking deviation control system Download PDFInfo
- Publication number
- CN205644299U CN205644299U CN201620440871.XU CN201620440871U CN205644299U CN 205644299 U CN205644299 U CN 205644299U CN 201620440871 U CN201620440871 U CN 201620440871U CN 205644299 U CN205644299 U CN 205644299U
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- paver
- speed
- controller
- walking
- control system
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Abstract
The utility model discloses a paver walking deviation control system, including controller C1, its two inside PID regulators are controlled left and right walking motor respectively, still include left speedtransmitter B1 and the right speedtransmitter B2 who installs respectively on left and right motor, and the left front proportion solenoid valve Y1 of advancing and right front advances proportion solenoid valve Y2, speed potentiometre R1, and electron compass B3 and direction setting switch S1, left speedtransmitter B1, right speedtransmitter B2, electron compass B3, speed potentiometre R1 and direction setting switch S1 all be connected with controller C1's input, the left front proportion solenoid valve Y1 of advancing and right frontly advance proportion solenoid valve Y2 and be connected with controller C1's output, this system under the condition with the help of outside walking locus tracking not, the off tracking phenomenon of effective control paver walking.
Description
Technical field
This utility model relates to a kind of paver deviation rectification control system, belongs to paver technical field.
Background technology
Paver is used to pave asphalt, basic unit's stabilizing material, roller-compacting concrete material (RCC) and level
Join the special-purpose machinery of the road-making materials such as rubble, be build various standard highways and town road and square, airport,
One of key equipment of parking lot and dykes and dams and the basic unit of irrigation canals and ditches and surface layer, the quality of its walking performance directly shadow
Ring the flatness of paving concrete pavement, initial degree of compaction and isolation degree.Standard GB/T/T 16277-2008 " drip
Blue or green concrete paver " in the straight line moving performance of crawler-type paver is made that regulation: crawler-type paver
The running deviation value of straight line moving not should be greater than the 1% of line measurement distance.
Existing travelling system of spreader many employings double pump double motor drives the running gear of crawler belt, its control system
Including: controller, the velocity sensor being arranged on motor, the electromagnetic proportional valve of control pump discharge, controlling party
Case many employings intelligent PID control method, control principle is the rotating speed by contrast left and right motor and speed potentiometer
The difference of setting value, controls both sides motor rotary speed consistent, meanwhile, by left and right velocity sensor is measured parameter
Integration calculate the number of turns that left and right motor turns, judge left and right track-type distance, last comprehensive these two aspects
Data are controlled reaching the purpose of straight line constant speed walking to the electromagnetic proportional valve controlling pump discharge, but control above
Principle processed is an ideal model eventually, in reality, there is slipperiness on roads, walking road surface not during the operation of paver more
The situations such as smooth, hydraulic system leakage, the number of turns that these factors make left and right motor turn cannot effectively reflect left and right
Track-type distance, thus cause existing method limited to the control effect of paver straight line moving running deviation value.
Present stage, the correction of paver walking mainly by outside walking track following equipment, i.e. paves
Before to set up steel wire in advance as pursuit path, labor intensity is big, and production efficiency is low.
Summary of the invention
Mesh of the present utility model is to provide a kind of paver deviation rectification control system, is not walking by outside
In the case of track following, effectively control the deviation phenomenon of paver walking.
For reaching above-mentioned purpose, this paver deviation rectification control system, including controller C1, its inside
Left and right running motor is controlled by two PID regulator respectively, also includes being respectively arranged in left and right motor
On left velocity sensor B1 and right velocity sensor B2, left front enter proportional solenoid Y1 and right advance ratio
Electromagnetic valve Y2, speed potentiometer R1, electronic compass B3 and direction setting switch S1, described left speed
Sensor B1, right velocity sensor B2, electronic compass B3, speed potentiometer R1 and direction setting switch S1
All inputs with controller C1 are connected, described left front enter proportional solenoid Y1 and right advance proportional solenoid
Y2 is connected with the outfan of controller C1.
Further, described controller C1 is PLC.
Further, described left velocity sensor B1 and right velocity sensor B2 all uses Hall-type rotating speed to pass
Sensor.
Compared with existing paver deviation rectification equipment, this paver deviation rectification control system, by walking
Between left speed of travel Sensor monitoring left crawler travel speed and the setting value of speed potentiometer on motor
Deviation through PID regulator control, output electric current control left front enter proportional solenoid, complete left crawler travel
The closed loop control of speed；Electronic compass gathers the direction setting value as paver direction of travel of paver walking,
When operating paver, the correction value of paver direction of travel by the setting value of paver direction of travel with adopt in real time
The paver direction of travel data of collection are subtracted each other and are obtained, setting value that speed potentiometer is given and paver direction of travel
Correction value obtain the setting value of right-hand track chiain speed through fuzzy operation, controller is according to the setting of right-hand track chiain speed
The electric current that value is certain with the output of the deviation of the right-hand track chiain speed of travel controls right advance proportional solenoid, it is achieved to right shoe
With the closed loop control of the speed of travel, the use of native system can be by the situation of outside walking track following equipment
Under, preferably overcome the factors such as slipperiness on roads, pavement roughness, hydraulic system leakage straight to paver constant speed
The impact of line walking, substantially increases the spreading quality on road surface.
Accompanying drawing explanation
Fig. 1 is circuit diagram of the present utility model；
Fig. 2 is control system schematic diagram of the present utility model.
Detailed description of the invention
The utility model is described in further detail below in conjunction with the accompanying drawings.
As illustrated in fig. 1 and 2, this paver deviation rectification control system, including PLC C1, in it
Left and right running motor is controlled by two PID regulator in portion respectively, also includes being respectively arranged in left and right
Left velocity sensor B1 on motor and right velocity sensor B2, left front enter proportional solenoid Y1 and right advance
Proportional solenoid Y2, speed potentiometer R1, electronic compass B3 and direction setting switch S1, a described left side
Velocity sensor B1, right velocity sensor B2, electronic compass B3, speed potentiometer R1 and direction setting leave
Close S1 all inputs with controller C1 to be connected, described left front enter proportional solenoid Y1 and right advance ratio
Electromagnetic valve Y2 is connected with the outfan of controller C1.
Left velocity sensor B1 and right velocity sensor B2 all uses hall-effect speed sensor.
Before operating paver, first adjust the direction of paver, when controller input port collects direction
During the twinkling signal that configuration switch S1 is pressed, electronic compass B3 the direction gathering now paver walking is made
Setting value d for paver direction of travel；
When operating paver, left speed of travel sensor B1 monitors paver left crawler travel speed v 1 in real time,
Right speed of travel sensor B2 monitors paver right-hand track chiain speed of travel v2 in real time, and electronic compass B3 supervises in real time
Surveying the direction d1 of paver walking, controller passes through PID regulator, according to setting that speed potentiometer R1 is given
The certain electric current of the deviation e1 output of definite value v and left crawler travel speed v 1 control left front enter proportional solenoid
Y1, it is achieved the closed loop control to left crawler travel speed；
Correction value q of paver direction of travel is by setting value d of paver direction of travel and paving of Real-time Collection
Machine direction of travel data d1 are subtracted each other and are obtained, setting value v that speed potentiometer R1 is given and paver direction of travel
Correction value q obtain setting value r of right-hand track chiain speed through fuzzy operation, controller passes through PID regulator,
The electric current that setting value r according to right-hand track chiain speed is certain with the output of deviation e2 of right-hand track chiain speed of travel v2 controls
Right advance proportional solenoid Y2, it is achieved the closed loop control to the right-hand track chiain speed of travel；
When correction value q of paver direction of travel is 0, setting value r of right-hand track chiain speed is equal to speed current potential
Setting value v that device R1 is given, now the set-point of both sides crawler travel speed controlling should be consistent, no
Need correction, it is only necessary to fixed speed control；When correction value q of paver direction of travel is more than 0, explanation paves
Machine walking is toward right avertence, and setting value r obtaining right-hand track chiain speed after fuzzy operation should be greater than speed potentiometer
Setting value v that R1 is given, to increase the speed of right-hand track chiain walking, reaches the purpose rectified a deviation of turning left；In like manner, when
When correction value q of paver direction of travel is less than 0, the past left avertence of paver walking is described, after fuzzy operation
Setting value r obtaining right-hand track chiain speed should be less than setting value v that speed potentiometer R1 provides, to reduce right shoe
The speed of band walking, reaches the purpose rectified a deviation of turning right.
Claims (3)
1. a paver deviation rectification control system, it is characterised in that include controller C1, its inside
Left and right running motor is controlled by two PID regulator respectively, also includes being respectively arranged in left and right motor
On left velocity sensor B1 and right velocity sensor B2, left front enter proportional solenoid Y1 and right advance ratio
Electromagnetic valve Y2, speed potentiometer R1, electronic compass B3 and direction setting switch S1, described left speed
Sensor B1, right velocity sensor B2, electronic compass B3, speed potentiometer R1 and direction setting switch S1
All inputs with controller C1 are connected, described left front enter proportional solenoid Y1 and right advance proportional solenoid
Y2 is connected with the outfan of controller C1.
Paver deviation rectification control system the most according to claim 1, it is characterised in that described control
Device C1 processed is PLC.
Paver deviation rectification control system the most according to claim 1 and 2, it is characterised in that institute
The left velocity sensor B1 and the right velocity sensor B2 that state all use hall-effect speed sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620440871.XU CN205644299U (en) | 2016-05-16 | 2016-05-16 | Paver walking deviation control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620440871.XU CN205644299U (en) | 2016-05-16 | 2016-05-16 | Paver walking deviation control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205644299U true CN205644299U (en) | 2016-10-12 |
Family
ID=57056881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620440871.XU Expired - Fee Related CN205644299U (en) | 2016-05-16 | 2016-05-16 | Paver walking deviation control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205644299U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108170140A (en) * | 2017-12-26 | 2018-06-15 | 徐工集团工程机械股份有限公司 | A kind of method debugged and examine paver straight line moving |
| CN111114534A (en) * | 2019-12-27 | 2020-05-08 | 柳工常州机械有限公司 | Bulldozer and walking control method and device thereof |
| CN113597490A (en) * | 2019-03-25 | 2021-11-02 | 住友建机株式会社 | Asphalt rolling and leveling machine |
| CN114215139A (en) * | 2021-12-30 | 2022-03-22 | 爱克斯维智能科技(苏州)有限公司 | Intelligent deviation rectifying control system for remote control walking of excavator and deviation rectifying method thereof |
| CN117055450A (en) * | 2023-10-11 | 2023-11-14 | 徐州新路智能科技有限公司 | Intelligent control system for walking deviation correction of slipform paver operation |
-
2016
- 2016-05-16 CN CN201620440871.XU patent/CN205644299U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108170140A (en) * | 2017-12-26 | 2018-06-15 | 徐工集团工程机械股份有限公司 | A kind of method debugged and examine paver straight line moving |
| CN113597490A (en) * | 2019-03-25 | 2021-11-02 | 住友建机株式会社 | Asphalt rolling and leveling machine |
| CN111114534A (en) * | 2019-12-27 | 2020-05-08 | 柳工常州机械有限公司 | Bulldozer and walking control method and device thereof |
| CN111114534B (en) * | 2019-12-27 | 2021-05-04 | 柳工常州机械有限公司 | Bulldozer and walking control method and device thereof |
| CN114215139A (en) * | 2021-12-30 | 2022-03-22 | 爱克斯维智能科技(苏州)有限公司 | Intelligent deviation rectifying control system for remote control walking of excavator and deviation rectifying method thereof |
| CN114215139B (en) * | 2021-12-30 | 2023-03-14 | 爱克斯维智能科技(苏州)有限公司 | Intelligent deviation rectifying control system for remote control walking of excavator and deviation rectifying method thereof |
| CN117055450A (en) * | 2023-10-11 | 2023-11-14 | 徐州新路智能科技有限公司 | Intelligent control system for walking deviation correction of slipform paver operation |
| CN117055450B (en) * | 2023-10-11 | 2023-12-15 | 徐州新路智能科技有限公司 | Intelligent control system for walking deviation correction of slipform paver operation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161012 Termination date: 20170516 |