CN211113856U - Electric control system of excavator and positive flow system excavator - Google Patents
Electric control system of excavator and positive flow system excavator Download PDFInfo
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- CN211113856U CN211113856U CN201921176927.5U CN201921176927U CN211113856U CN 211113856 U CN211113856 U CN 211113856U CN 201921176927 U CN201921176927 U CN 201921176927U CN 211113856 U CN211113856 U CN 211113856U
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Abstract
The utility model provides an electrical system and positive flow systematic excavator of excavator, including the controller assembly, the angular transducer device, the control valve device: the controller assembly further comprises a bucket track automatic control device, the bucket track automatic control device is connected with the excavator handle, and the bucket track automatic control device is used for achieving automatic linear track control of the excavator bucket track. The utility model discloses an excavator electrical system, according to the quantitative relation that the gesture angle speed of swing arm, dipper satisfied, the matching control who turns into equipment gesture angle speed with sharp excavation scraper bowl orbit control has also improved the frequency band and the response speed of control when saving complicated calculations such as orbit planning and orbit to gesture angle's inverse operation, and be convenient for process, with low costs, be favorable to realizing mass production.
Description
Technical Field
The utility model relates to an excavator control field, concretely relates to electrical system and positive flow systematic excavator of excavator.
Background
With the development of the electric control technology of the excavator, higher and higher requirements are put forward on the automation level of the excavator control. For example, when the excavator is used for slope building or ground leveling, only one handle needs to be controlled to realize the linear control of the bucket track, and the requirement that the bucket rod and the large arm can automatically realize the accurate matching control of the position is required.
At present, the research aiming at the automatic bucket trajectory control converts the planned bucket trajectory into a target angle sequence of each working device, and then the tracking control of the bucket trajectory is realized through the angle tracking control of the working devices.
In the prior art, the automatic control of the operation track is realized by dynamically adjusting control parameters through fuzzy control, or the track tracking control of a working device is realized by using a synovial membrane algorithm with a low-pass filter. The dynamic model of the working device is established based on Lagrange and Bernoulli equations at the university of south and Central province, and the tracking control of the bucket track is realized on an SWE85 excavator platform by respectively using PID control, sliding mode variable structure control and adaptive control technologies. A tool kinematics model is established based on Cartesian space in the liberty of military project university, a bucket trajectory control strategy is designed through offline trajectory planning and online trajectory tracking, segmented PID compensation control is adopted aiming at nonlinearity of the model, an experiment is completed based on a laboratory mini-excavator platform, and the precision reaches 5 cm. A small excavator K-111 is transformed into a load independent control system by Polish Wash mechanical construction and rock mining research institute, automatic control of a bucket track is realized, but the bucket motion speed can only reach 2 meters per minute due to the fact that position closed loop is not realized, and the error range is 4% -15%.
The above prior art is based on a small excavator platform, and the hydraulic systems of the small excavator platform are all load independent control systems with excellent controllability, and are not suitable for large positive flow system excavators. The speed of the working arms in the positive flow system depends on the opening degree of the valve port and the load pressure, and the speed interference exists between the working arms due to flow coupling during compound action, so that the coordinated movement is very difficult.
SUMMERY OF THE UTILITY MODEL
Accordingly, to overcome the above-mentioned disadvantages of the prior art, the present invention provides an automatic control device, method and computer-readable storage medium for an excavator bucket trajectory.
In order to achieve the above object, the utility model provides an electric control system of an excavator, which comprises a controller assembly, a tilt angle sensor device and a control valve device;
wherein the controller assembly is connected with the tilt sensor device and receives signals from the tilt sensor; the controller assembly is connected with the handle of the excavator, receives a displacement signal from the handle of the excavator, and determines the displacement of a valve core of a control valve of the arm of the excavator so as to control the arm of the excavator to move; the controller assembly is connected with the control valve and used for sending a control signal to the control valve so as to control the control valve to control the bucket oil cylinder, the arm oil cylinder and the movable arm oil cylinder of the excavator to move; the displacement sensor is connected with the control valve device and the controller assembly, monitors the displacement of a main valve core of the control valve system and feeds a displacement signal back to the controller assembly;
the controller assembly further comprises a bucket track automatic control device, the bucket track automatic control device is connected with a movable arm, a bucket rod and a handle of the excavator, and linear track automatic control is carried out on the track of the bucket of the excavator according to a displacement signal of the handle.
Further, the bucket trajectory automatic control device includes:
a quantitative relationship determination unit for determining a quantitative relationship between attitude angular rates of a boom and an arm of the excavator according to an excavator bucket position and an excavator bucket trajectory;
the bucket rod control unit determines the displacement of a valve core of a control valve of the bucket rod according to the displacement of an excavator control handle and controls the bucket rod to move;
a boom attitude angle rate determining unit configured to determine an attitude angle rate of the arm, and determine the attitude angle rate of the boom according to the quantitative relationship determined by the quantitative relationship determining unit;
the boom feedforward control unit is used for determining a feedforward control quantity of displacement of a valve core of a control valve of the boom according to the attitude angle rate of the boom determined by the boom attitude angle rate determination unit;
the boom feedback control unit is used for receiving a boom attitude angle rate fed back by the boom attitude sensor and determining a feedback control quantity of displacement of a valve core of a control valve of the boom according to a difference value between the boom attitude angle rate determined in the boom attitude angle rate determination unit and the boom attitude angle rate fed back by the boom attitude sensor;
and the movable arm control unit determines the valve core displacement control quantity of the movable arm control valve according to the feedforward control quantity and the feedback control quantity of the valve core displacement of the movable arm control valve, and controls the movable arm to move.
Further, the tilt sensor device further includes:
the bucket attitude sensor is used for detecting the bucket attitude in a coordinate system taking the axis center of the bucket around the bucket rod as a coordinate origin;
the bucket rod attitude sensor is used for detecting the attitude of the bucket rod in a coordinate system taking the center of the bucket rod around the rotating shaft of the movable arm as a coordinate origin;
the movable arm attitude sensor is used for detecting the attitude of the movable arm in a coordinate system taking the center of a rotating shaft of the movable arm around the vehicle body as a coordinate origin;
the bucket attitude sensor, the bucket rod attitude sensor and the movable arm attitude sensor are respectively connected with the bucket track automatic control device and used for feeding back independent coordinate signals detected by the sensors to the bucket track automatic control device.
Further, the automatic bucket trajectory control device includes a coordinate conversion unit that converts coordinates of each of the bucket attitude sensor, the arm attitude sensor, and the boom attitude sensorThe system real-time signal is converted into a coordinate system O taking the rotation center of the excavator body as the origin of coordinates0x0y0z0Of (2) is detected.
Further, the automatic bucket trajectory control device further comprises an attitude angular rate conversion unit which determines a quantitative relationship between the attitude angular rates of the boom and the arm of the excavator according to the initial position and the real-time position of the center between teeth of the bucket converted by the coordinate conversion unit.
Further, by centering the inter-tooth space of the bucket at O0x0y0z0Cost function h (x) of real-time position in coordinate systemp0,zp0)＝|zp0-tanμ·xp0+tanμ·ap0-cp0Determining a quantitative relationship between the attitude angular rates of the boom and stick of the excavator where μ is the linear excavation trajectory of the excavator bucket and O0x0y0z0In x0Angle of axis, x0The horizontal direction of the shaft is the same as that of the upper vehicle body of the excavator; (a)p0,bp0,cp0) Is the center between teeth of the bucket at the position O0x0y0z0Initial position in the coordinate system.
Further, the control valve arrangement includes a 1-stage DDV valve and a 2-stage multiplex master valve.
Further, the automatic control device for the bucket track comprises a feedforward control unit, wherein the feedforward control unit is connected with the control valve of the movable arm, and the feedforward control unit performs feedforward control on the displacement of the valve core of the control valve of the movable arm of the excavator by utilizing a neural network algorithm.
Further, the automatic bucket trajectory control device comprises a feedback control unit, wherein the feedback control unit is connected with the control valve of the movable arm, and performs feedback control on the displacement of a valve core of the control valve of the movable arm of the excavator by using a proportional-integral algorithm.
The utility model discloses still a positive flow system excavator, it includes foretell electrical system.
Compared with the prior art, the utility model discloses a with the handle, inclination sensor's signal of telecommunication sends for the controller assembly through the CAN bus, the controller assembly synthesizes these signals, according to the two degrees of freedom straight lines of equipment excavate swing arm among the automatic control, the ration relation that the gesture angular rate of dipper satisfies, excavate the scraper bowl orbit control with the straight line and turn into the matching control of equipment gesture angular rate, send control command for the DDV servo valve, the switching-over of DDV control main valve core, to hydro-cylinder output pressure oil, detect main valve core displacement simultaneously and feed back in controller formation closed-loop control, thereby realize the different actions of work arm. The method has the advantages of saving complex calculations such as trajectory planning, inverse operation of the trajectory to attitude angle and the like, improving the frequency band and response speed of control, facilitating processing, reducing cost and facilitating realization of batch production.
Drawings
Fig. 1 is a schematic diagram of an excavator electrical control system according to an embodiment of the present invention.
Fig. 2 is a block diagram of an automatic control device for the track of a bucket of an excavator according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of 4 coordinate systems established by the excavator according to the rules of the D-H coordinate system method according to an embodiment of the present invention.
Fig. 4 is a structural view of a control method for automatic linear excavation by a bucket in an excavator electrical system according to an embodiment of the present invention.
Fig. 5 is a graph of excavator arm spool displacement versus rod displacement according to an embodiment of the present disclosure.
Fig. 6 is a BP neural network topology structure diagram in determining a feedforward control amount of displacement of a spool of a control valve of the boom using a neural network algorithm according to an embodiment of the present invention.
Fig. 7 shows a graph of the position of the center between the teeth of the bucket according to an embodiment of the present invention.
Fig. 8 illustrates a position error of the center between teeth of the bucket according to an embodiment of the present invention.
Fig. 9 shows a schematic diagram of the maximum one-way error of control of an excavator according to an embodiment of the present invention for 100 excavation tests.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 is a schematic diagram of an excavator electrical control system according to an embodiment of the present invention, including:
a controller assembly, a tilt sensor device, a control valve device;
wherein the controller assembly is connected with the tilt sensor device and receives signals from the tilt sensor; the controller assembly is connected with the handle of the excavator, receives a displacement signal from the handle of the excavator, and determines the displacement of a valve core of a control valve of the arm of the excavator so as to control the arm of the excavator to move; the controller assembly is connected with the control valve and used for sending a control signal to the control valve so as to control the control valve to control the bucket oil cylinder, the arm oil cylinder and the movable arm oil cylinder of the excavator to move; the displacement sensor is connected with the control valve device and the controller assembly, monitors the displacement of a main valve core of the control valve system and feeds a displacement signal back to the controller assembly;
the controller assembly further comprises a bucket track automatic control device, the bucket track automatic control device is connected with the excavator handle, and the bucket track automatic control device can achieve linear track automatic control of the excavator bucket track according to the quantitative relation of the attitude angle rates of a movable arm and a bucket rod of the excavator and the displacement signal of the excavator handle.
In the prior art for automatic bucket trajectory control, a planned bucket trajectory is converted into a target angle sequence of each working device, and then tracking control of the bucket trajectory is realized through angle tracking control of the working devices. And the utility model discloses the first time put forward according to the swing arm among the two degrees of freedom of equipment two degrees of freedom straight line excavation automatic control, the matching relation that the gesture angular rate of dipper satisfies, turn into the matching control of equipment gesture angular rate with straight line excavation scraper bowl orbit control, through with the handle, inclination sensor's signal of telecommunication sends for the controller assembly through the CAN bus, the controller assembly synthesizes these signals, according to the two degrees of freedom straight line excavation automatic control of equipment two degrees of freedom swing arm, the quantitative relation that the gesture angular rate of dipper satisfies, turn into the matching control of equipment gesture angular rate with straight line excavation scraper bowl orbit control, send control command for DDV servo valve, DDV control main valve core switching-over, to hydro-cylinder output pressure oil, detect main valve core displacement simultaneously and feed back and form closed-loop control in the controller, thereby realize the different actions of work arm, also improved control when omitting complicated calculations such as orbit planning and orbit to gesture angle's inverse operation, control Frequency band and response speed.
In an embodiment of the present invention, as shown in fig. 1, the tilt sensor device further includes:
the bucket attitude sensor is used for detecting the bucket attitude in a coordinate system taking the axis center of the bucket around the bucket rod as a coordinate origin;
the bucket rod attitude sensor is used for detecting the attitude of the bucket rod in a coordinate system taking the center of the bucket rod around the rotating shaft of the movable arm as a coordinate origin;
the movable arm attitude sensor is used for detecting the attitude of the movable arm in a coordinate system taking the center of a rotating shaft of the movable arm around the vehicle body as a coordinate origin;
the bucket attitude sensor, the bucket rod attitude sensor and the movable arm attitude sensor are respectively connected with the bucket track automatic control device and used for feeding back independent coordinate signals monitored by the bucket attitude sensor, the bucket rod attitude sensor and the movable arm attitude sensor to the bucket track automatic control device.
The utility model discloses an in an embodiment, as shown in FIG. 1, the control valve device includes 1 level DDV valve and 2 levels multichannel main control valves, the handle, the signal of telecommunication of multi-functional instrument and inclination sensor sends for the controller assembly through the CAN bus, the controller assembly carries out the integrated processing back to these signals, send control command for DDV servo valve, DDV control main valve core switching-over, to hydro-cylinder output pressure oil, detect main valve core displacement simultaneously and feed back and form closed-loop control in the controller, thereby realize the different actions of working arm.
Next, a block diagram of an automatic control device for the bucket trajectory of an excavator according to an embodiment of the present disclosure is shown in conjunction with fig. 2. As shown in fig. 2, the apparatus includes a quantitative relationship determination unit for determining a quantitative relationship between attitude angular rates of a boom and an arm of the excavator according to an excavator bucket position and an excavator bucket trajectory; the bucket rod control unit determines the displacement of a valve core of a control valve of the bucket rod according to the displacement of an excavator control handle and controls the bucket rod to move; a boom attitude angle rate determining unit configured to determine an attitude angle rate of the arm, and determine the attitude angle rate of the boom according to the quantitative relationship determined in the quantitative relationship determining unit; the boom feedforward control unit is used for determining a feedforward control quantity of displacement of a valve core of a control valve of the boom according to the attitude angle rate of the boom determined by the boom attitude angle rate determination unit; the boom feedback control unit is used for receiving a boom attitude angle rate fed back by the boom attitude sensor and determining a feedback control quantity of displacement of a valve core of a control valve of the boom according to a difference value between the boom attitude angle rate determined in the boom attitude angle rate determination unit and the boom attitude angle rate fed back by the boom attitude sensor; and the movable arm control unit determines the valve core displacement control quantity of the movable arm control valve according to the feedforward control quantity and the feedback control quantity of the valve core displacement of the movable arm control valve, and controls the movable arm to move.
In an embodiment of the present invention, the automatic control device for bucket trajectory comprises a coordinate conversion unit, the coordinate conversion unit converts the respective coordinate system real-time signals of the bucket attitude sensor, the arm attitude sensor and the boom attitude sensor into a coordinate system O using the rotation center of the excavator body as the origin of coordinates0x0y0z0Of (2) is detected. The method comprises the following specific steps:
firstly, converting a coordinate system, converting the coordinates of the center between the teeth of the bucket of the excavator into the coordinates of the rotation center of the body of the excavator, wherein the conversion process comprises the following steps:
as shown in FIG. 3, 4 coordinate systems are established according to the rule of D-H coordinate system method, wherein O0x0y0z0Origin O of0At the centre of rotation, x, of the excavator body0Same as the horizontal orientation of the upper vehicle body, z0Along the revolving shaft of the vehicle body, the anticlockwise direction is positive, O1x1y1z1Origin O of1Located at the centre of the axis of rotation of the boom about the body, x1The axis of rotation of the boom being wound around the boom from the axis of rotation of the boom to the arm, z1Along a pivot axis of the boom about the vehicle body, O2x2y2z2Origin O of2At the centre of the axis of rotation of the arm, x2The axis of rotation of the bucket around the arm, z, being directed from the axis of rotation of the arm to the bucket2Rotating shaft around the boom along the dipper, O3x3y3z3Origin O of3Located in the centre of the bucket axis around the stick, x3Pointing from the origin towards the center between the teeth of the bucket, z3Along the rotation axis of the bucket around the bucket rod. The transformation of each coordinate system may be by a homogeneous transformation matrix
To indicate that the user is not in a normal position,
O0x0y0z0to O1x1y1z1Of the homogeneous transformation matrix
Can be expressed as
Wherein (a)0,b0,c0) Is O1At O0x0y0z0Is determined by the position vector of (a),
same reason of O1x1y1z1To O2x2y2z2Of the homogeneous transformation matrix
Can be expressed as
O2x2y2z2To O3x3y3z3Of the homogeneous transformation matrix
Can be expressed as
O0x0y0z0To O3x3y3z3Of the homogeneous transformation matrix
Can be expressed as
The center between the teeth of the bucket is O3x3y3z3Has a position coordinate of (x)p3,yp3,zp3) At O in0x0y0z0Position coordinate (x) ofp0,yp0,zp0) Can be expressed as:
in an embodiment of the present invention, the automatic bucket trajectory control device further includes an attitude angular rate conversion unit that determines a quantitative relationship between the attitude angular rates of the boom and the arm of the excavator according to the initial position and the real-time position of the center between the teeth of the bucket converted by the coordinate conversion unit. The attitude angle rate conversion unit obtains a quantitative relation between the attitude angle rates of the movable arm and the arm according to the analysis of the linear digging motion of the bucket:
O0x0y0z0in the coordinate system, the initial position of the bucket is (a)p0,bp0,cp0) And x in two-degree-of-freedom linear excavationp3、yp3、zp3、θ3For constant value, the inter-tooth space y of the bucket can be known according to the formulap0The coordinates remain unchanged, xp0And zp0The coordinates satisfy the linear equation, and a cost function h (x) is definedp0,zp0)，
h(xp0,zp0)＝|zp0-tanμ·xp0+tanμ·ap0-cp0| (7)
Where mu is the straight digging track and x0The angle of the axes. It is easy to know the cost function h (a) of the initial position of the bucketp0,cp0) Equal to 0. In order to make the bucket stably dig along the expected straight-line track, the cost function of the real-time position of the bucket should be equal to 0 constantly, so that
Can be obtained by developing the formula (6) and the formula (7) instead of the formula (8)
The above is a quantitative relation that the attitude angle rates of the movable arm and the arm meet in the bucket linear excavation.
Next, a control method structure diagram of the automatic linear excavation of the bucket according to an embodiment of the present invention will be described with reference to fig. 4. As shown in fig. 4, the handle displacement signal DaObtaining bucket rod valve core displacement target signals X corresponding to different excavation rates through an excavation rate instruction linkvcAnd the bucket rod is driven to move. Bucket rod attitude messageNumber theta2Attitude angular rate signal
Excavation angle signal [ mu ] and boom attitude signal [ theta ]1Obtaining a boom attitude angle speed instruction signal matched with the attitude angle speed of the bucket rod through the comprehensive calculation of the boom attitude angle speed instruction generator
Obtaining a target signal Y of the displacement of the valve core of the movable arm under the combined action of a neural network feedforward controller and a PI controllervcAnd driving the movement of the movable arm. Therefore, automatic control of two-degree-of-freedom variable-speed linear excavation of the bucket is achieved.
The following describes the excavator digging speed command according to an embodiment of the present invention with reference to fig. 5:
the digging speed of the two-degree-of-freedom linear digging depends on the motion speed of the bucket rod.
Piston extension of bucket rod oil cylinder, namely valve core displacement xvWhen the flow rate is more than 0, the flow rate equations of the oil inlet and the oil outlet of the valve core are respectively as follows:
in the formula, psIs the system pressure, p1For rodless chamber pressure, p2For rod cavity pressure, p0Is the system return pressure. When the system is loaded for a certain time, psp1p2p0The steady-state value of (2) is not changed much, and according to the formula, the larger the valve core displacement is, the faster the bucket rod is excavated. Therefore, the design of the excavation speed instruction can be converted into the gradient design of the displacement of the valve core of the bucket rod to the displacement of the handle. According to the requirements of low sensitivity of small rod displacement and high sensitivity of large rod displacement, the displacement instruction of the valve core of the bucket rod and the rod displacement are in a change relationship of sectional proportion, as shown in fig. 5.
The boom attitude is the key to determine the entire linear excavation process, and the boom attitude angular rate command generation process is described below.
A boom attitude angle rate command matching the arm attitude angle rate according to equation (9)
Can be expressed as:
where N (theta)1,θ2) Is composed of
D(θ1,θ2) Is composed of
(xp3cos(θ1+θ2+θ3)-yp3sin(θ1+θ2+θ3)+l1cosθ1+l2cos(θ1+θ2))+tanμ(xp3sin(θ1+θ2+θ3)+yp3cos(θ1+θ2+θ3)+l2sin(θ1+θ2)+l1sinθ1)
In one embodiment of the present invention, to obtain the boom spool displacement, a neural network feedforward control is used to solve the boom spool displacement command based on the desired attitude angular rate of the boom in a positive flow system, the boom spool flow and the boom spool displacement are in a nonlinear relationship, and there is a velocity disturbance between the boom and the stick during the combined motion.
In one embodiment of the present invention, as shown in fig. 6, the water collecting deviceUsing three-layer BP neural network system, the input layer is composed of the attitude angle rate of movable arm
Small arm valve core displacement XvPressure p of pumpsForearm posture θ2Attitude of the boom theta1The hidden layer consists of 5 nodes, the output layer is 1 node, and the output is the displacement Y of the movable arm valve corev. The activation functions f of the hidden layer and the output layer are both asymmetric sigmoid functions.
And recording the data of the steady-state motion of the excavator by compositely controlling the small arm and the movable arm, and establishing an offline training sample library. The steps of the neural network learning algorithm are as follows:
1) setting initial weight coefficient1w (0) and2w(0)；
2) calculating the output of the network according to the input-output pair of the training sample library;
3) calculating an objective function of the network;
4) judging whether the learning is finished or not;
5) weighting according to gradient descent method1w and2w is adjusted.
And (5) repeatedly iterating the processes until the target function is smaller than a set value, and finishing the training. Will be the final1w and2and w is used as a weight parameter of the neural network feedforward controller.
Because neural network feedforward control has an error, in order to obtain a more accurate result, according to the utility model discloses an embodiment, adopt PI controller to compensate the error of neural network feedforward control because of disturbance and the dynamic state that does not arouse of modelling, the computational formula is
kpFor proportional control gain, take 1-15, kIAnd taking 0.05-0.15 as integral control gain.
Excavation experiment
The designed control method is implemented through a vehicle-mounted controller, and an automatic control test of the linear excavation of the bucket is carried out in an electric control system shown in fig. 1, wherein the angle measurement precision of an attitude sensor is 0.1 degree, the frequency is 200HZ, and the attitude angle rate is obtained through attitude angle filtering. The calculation cycle of the control law in the controller is 50ms, the excavator is manipulated to an initial state, the initial position is locked through the bucket rod button, the excavating angle is set through the instrument, then automatic excavating can be achieved only by manipulating the bucket rod handle, and the larger the manipulation displacement is, the faster the excavating speed is. The position curve of the center between the teeth of the bucket can be obtained by substituting the attitude sensor data acquired by the controller into the formula (6) as shown in fig. 7, and the position error is shown in fig. 8.
In order to evaluate the consistency of the control effect, the excavation test is repeatedly carried out for 100 times under the same working condition, the maximum unidirectional error of the control is shown in fig. 9, and the statistical data shows that the maximum error, the minimum error, the average error and the standard deviation of the positions between the teeth of the bucket which is automatically excavated are 4.99cm, 3.51cm and 4.03cm respectively. The consistency of the control effect is good, and the engineering practicability is strong.
To sum up, the utility model discloses use excavator equipment two degrees of freedom straight line to excavate as the example, obtain the movable arm among the scraper bowl straight line excavation automatic control based on cost function minimum theory, the quantitative relation that the gesture angular rate of dipper satisfies to turn into the real-time matching control of scraper bowl orbit tracking control equipment gesture angular rate, just so need not to carry out complicated calculations such as the inverse operation of trajectory planning and orbit to gesture angle, higher control frequency band and response speed have simultaneously, can carry out faster correction to the error, be favorable to improving control accuracy. In addition, aiming at the nonlinear relation between the valve core flow and the valve core displacement in the positive flow system, the nonlinear relation between the attitude angular rate of the movable arm and the displacement of the valve core of the movable arm is generalized by applying a BP (back propagation) neural network, so that the feedforward control of the movable arm is realized.
The test result shows that the control precision of the linear excavation of the bucket can reach within 5cm, the consistency of the repeated test result is good, and the construction practicability is strong.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims, and any modifications, equivalents, improvements and the like that fall within the spirit and principles of the invention are intended to be included within the scope of the invention. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An electric control system of an excavator is characterized by comprising a controller assembly, an inclination angle sensor device and a control valve device;
wherein the controller assembly is connected with the tilt sensor device and receives signals from the tilt sensor; the controller assembly is connected with the handle of the excavator, receives a displacement signal from the handle of the excavator, and determines the displacement of a valve core of a control valve of the arm of the excavator so as to control the arm of the excavator to move; the controller assembly is connected with the control valve and used for sending a control signal to the control valve so as to control the control valve to control the bucket oil cylinder, the arm oil cylinder and the movable arm oil cylinder of the excavator to move; the displacement sensor is connected with the control valve device and the controller assembly, monitors the displacement of a main valve core of the control valve system and feeds a displacement signal back to the controller assembly;
the controller assembly further comprises a bucket track automatic control device, the bucket track automatic control device is connected with a movable arm, a bucket rod and a handle of the excavator, and linear track automatic control is carried out on the track of the bucket of the excavator according to a displacement signal of the handle.
2. The electric control system according to claim 1, wherein the bucket trajectory automatic control means includes:
a quantitative relationship determination unit for determining a quantitative relationship between attitude angular rates of a boom and an arm of the excavator according to an excavator bucket position and an excavator bucket trajectory;
the bucket rod control unit determines the displacement of a valve core of a control valve of the bucket rod according to the displacement of an excavator control handle and controls the bucket rod to move;
a boom attitude angle rate determining unit configured to determine an attitude angle rate of the arm, and determine the attitude angle rate of the boom according to the quantitative relationship determined by the quantitative relationship determining unit;
the boom feedforward control unit is used for determining a feedforward control quantity of displacement of a valve core of a control valve of the boom according to the attitude angle rate of the boom determined by the boom attitude angle rate determination unit;
the boom feedback control unit is used for receiving a boom attitude angle rate fed back by the boom attitude sensor and determining a feedback control quantity of displacement of a valve core of a control valve of the boom according to a difference value between the boom attitude angle rate determined in the boom attitude angle rate determination unit and the boom attitude angle rate fed back by the boom attitude sensor;
and the movable arm control unit determines the valve core displacement control quantity of the movable arm control valve according to the feedforward control quantity and the feedback control quantity of the valve core displacement of the movable arm control valve, and controls the movable arm to move.
3. The electronic control system of claim 1, wherein the tilt sensor arrangement further comprises:
the bucket attitude sensor is used for detecting the bucket attitude in a coordinate system taking the axis center of the bucket around the bucket rod as a coordinate origin;
the bucket rod attitude sensor is used for detecting the attitude of the bucket rod in a coordinate system taking the center of the bucket rod around the rotating shaft of the movable arm as a coordinate origin;
the movable arm attitude sensor is used for detecting the attitude of the movable arm in a coordinate system taking the center of a rotating shaft of the movable arm around the vehicle body as a coordinate origin;
the bucket attitude sensor, the bucket rod attitude sensor and the movable arm attitude sensor are respectively connected with the bucket track automatic control device and used for feeding back independent coordinate signals detected by the sensors to the bucket track automatic control device.
4. The electric control system according to claim 3, wherein the automatic bucket trajectory control device includes a coordinate conversion unit that converts respective coordinate system real-time signals of the bucket attitude sensor, the arm attitude sensor, and the boom attitude sensor into a coordinate system O having a body rotation center of the excavator as an origin of coordinates0x0y0z0Of (2) is detected.
5. The electric control system according to claim 4, wherein the bucket trajectory automatic control device further comprises an attitude angular rate conversion unit that determines a quantitative relationship between the attitude angular rates of the boom and the arm of the excavator based on the initial position and the real-time position of the center between teeth of the bucket converted by the coordinate conversion unit.
6. The electrical control system of claim 5, wherein the bucket is positioned by centering the bucket teeth at O0x0y0z0Cost function h (x) of real-time position in coordinate systemp0,zp0)＝|zp0-tanμ·xp0+tanμ·ap0-cp0Determining a quantitative relationship between the attitude angular rates of the boom and stick of the excavator where μ is the linear excavation trajectory of the excavator bucket and O0x0y0z0In x0Angle of axis, x0The horizontal direction of the shaft is the same as that of the upper vehicle body of the excavator; (a)p0,bp0,cp0) Is the center between teeth of the bucket at the position O0x0y0z0Initial position in the coordinate system.
7. The electrical control system of claim 1, wherein the control valve arrangement comprises a 1-stage DDV valve and a 2-stage multiplex master valve.
8. The electric control system of claim 1, wherein the automatic control device for the bucket trajectory comprises a feedforward control unit, the feedforward control unit is connected with the control valve of the boom, and the feedforward control unit performs feedforward control on the displacement of the valve core of the control valve of the boom of the excavator by using a neural network algorithm.
9. The electrical control system of claim 1, wherein the automatic bucket trajectory control device comprises a feedback control unit, the feedback control unit is connected with the boom control valve, and the feedback control unit performs feedback control on displacement of a valve core of the boom control valve of the excavator by using a proportional-integral algorithm.
10. A positive flow system excavator comprising an electrical control system as claimed in any one of claims 1 to 9.
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| CN110409546A (en) * | 2019-07-25 | 2019-11-05 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of electric-control system and positive flow system excavator of excavator |
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| CN110409546B (en) * | 2019-07-25 | 2021-12-14 | 中国航空工业集团公司西安飞行自动控制研究所 | Electric control system of excavator and positive flow system excavator |
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