JPH03199506A - Running controller of self-advancing car having working machine - Google Patents

Abstract

PURPOSE:To properly control running velocity by carrying out feedback control in an operation running mode, based on a command velocity and a measured velocity, and by carrying out open loop control in a navigation running mode, based on the command velocity. CONSTITUTION:A velocity setting means 71 (potentiometer for setting velocity) for setting a command velocity, velocity detection means 65, 66 (counter for velocity detection) for detecting running velocity, and a running mode switching means 70 for selecting either an operation running mode or a navigation running mode, are provided. When the operation running mode is selected, the comparison between the command velocity and a measured velocity is made, while the feedback control of running velocity is carried out by a velocity feedback control means 67 (microcomputer). When the navigation running mode is selected, the open loop control of the running velocity is carried out by a velocity open loop control means 68, based on the command velocity.

Description

Detailed Description of the Invention "Field of Industrial Application" The present invention relates to a self-propelled vehicle having a working machine such as a road cutting mixer used in a road surface reclamation method, and a self-propelled vehicle that controls its running speed. The present invention relates to a vehicle travel control device.

F. Conventional Technology Conventionally, when repairing an existing asphalt pavement surface using the road surface reclamation method, an on-road cutting mixer has been used. A scraping waste cutter device (rotary scarifier), ■ A hopper device that receives the new mixed material input from a dump truck, etc., ■ The loosened material scraped by the cutter device and the new mixed material in the hopper device a feeder device that conveys a predetermined amount of the mixed material; ■ a mixer device that mixes the loosened material conveyed by the feeder device with the new composite material; and ■ a mixer device that evenly sends out the mixed material mixed by the mixer device onto the road surface. It has a configuration in which a spreading device and a leveling device that spreads and compacts the mixed material spread on the road surface are mounted on a single self-propelled vehicle.
(Refer to Publication No. 8654).

``Problem to be solved by the invention'' However, in the conventional road cutting mixer mentioned above,
Since all of the above-mentioned various devices are installed in a single self-propelled vehicle, the road cutting mixer itself has become larger (total length 8m).
Therefore, it is unavoidable that the weight is 20 tons or more.
Transport to the work site Due to restrictions such as the loadable weight of transport trailers, an upper limit on weight is set, so each device must be downsized, and as a result, sufficient scraping processing capacity and material There were drawbacks such as poor reliability, such as the inability to obtain mixing processing ability and uneven mixing distribution of the loosened material and new composite material.

In order to eliminate such drawbacks, it is conceivable to share functions between a self-propelled vehicle equipped with a cutter device and the like and a self-propelled vehicle equipped with a mixer device and the like. However, during pavement repair work, two self-propelled vehicles always run in tandem with a certain distance between them, and at extremely low speeds (
The construction progresses at a speed of about 1 to 5 s/sin), and the distance between each self-propelled vehicle must be adjusted to between several tens of liters and several meters. Therefore, the driver of each self-propelled vehicle must constantly visually monitor the inter-vehicle distance and make delicate speed adjustments, which requires skill and a great deal of work effort. Furthermore, for self-propelled vehicles that shape the road surface using a leveling device, changes in running speed can impair the flatness of the road surface, so from the perspective of road quality control, it is important to keep the running speed constant. It needed to be maintained and required skill to operate. On the other hand, each self-propelled vehicle can travel independently at relatively high speeds when being unloaded from a transport trailer, etc. and heading to a work site, or when returning from a work site to a transport trailer. is required.

This invention was made in view of the above-mentioned circumstances, and it is possible to run at a constant speed and at a low speed during work, and does not require any skill to operate, and when forwarding, it can be run at any speed. It is an object of the present invention to provide a travel control device for a self-propelled vehicle that allows a working machine to travel at high speed.

``Means for Solving the Problems'' This invention provides a speed setting means for setting a command speed, a speed detection means for detecting the traveling speed of a self-propelled vehicle having a working machine, and a speed detecting means for detecting the traveling speed of a self-propelled vehicle having a working machine. a traveling mode switching means for selecting either a work traveling mode in which the vehicle travels or a forwarding traveling mode in which the vehicle travels at a high speed at an arbitrary speed; and when the work traveling mode is selected by the traveling mode switching means, the speed is set by the speed setting means. a feedback control means for feedback-controlling the running speed of the self-propelled vehicle while comparing the commanded speed and the measured speed detected by the speed detection means; and a forward running mode is selected by the running mode switching means. In this case, the vehicle is characterized by comprising open-loop control means for open-loop control of the traveling speed of the self-propelled vehicle based on the command speed set by the speed setting means.

"Operation" According to the above-mentioned configuration, when the work traveling mode is selected by the traveling mode switching means, the traveling speed of the self-propelled vehicle having the working machine is controlled with high precision by the feedback control means. When performing work by running self-propelled vehicles with two working machines in tandem, the two self-propelled vehicles can be made to travel at a constant speed and at a low speed while maintaining a constant distance, and it requires skill to operate. Nor. In addition, when the forward running mode is selected, the running speed is controlled by the open loop control means, so the self-propelled vehicle can be driven at a high speed at any speed. Appropriate control of the traveling speed of the vehicle is performed.

"Embodiments" Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows a configuration when a travel control device according to an embodiment of the present invention is applied to an on-road cutting mixer.
FIG. 2 is a front view showing the configuration of the circuit cutting mixer.

First, the external configuration of the on-road cutting mixer will be described with reference to FIG. 2. In Figure 2, 1 is a leading self-propelled vehicle, 2 is a following self-propelled vehicle, and these two
During the pavement repair work, the self-propelled vehicles 1.2 line up vertically and always move at low speed in the direction of arrow F (forward), keeping a fixed distance apart, as shown in the figure. , when being unloaded from a transport trailer or the like and heading to a work site, or when returning from a work site to a transport trailer, each vehicle travels independently at a relatively high speed.

A hopper device 3 is installed at the front of the leading self-propelled vehicle 1 to receive the new mixed material introduced by a dump truck or the like, and this hopper device H3 is installed so that it can be opened and closed upwards. It is composed of a pair of left and right wings 4.4 and a hydraulic drive mechanism that adjusts the opening and closing angles of these wings 4.4.

There is a hopper device in the widthwise center of the self-propelled vehicle I! A feeder device 5 is provided that extends diagonally rearward and upward from below the hopper device 3, and the new mixed material introduced into the hopper device 3 is conveyed rearward by the feeder device 5.

A pair of left and right front wheels 6.6 are attached to the vehicle frame below the hopper device 3 so as to be rotatable and pivotable in a horizontal plane, and these front wheels 6.6 are installed at the driver's seat. A hydraulic drive mechanism that operates in response to the rotation of the handle 7 changes its direction, thereby changing the direction of travel.

A heating device 8 for preheating the existing asphalt pavement surface is supported on the vehicle frame behind the front wheels 6.6 so as to be movable up and down, and this heating device R8 is moved up and down by a hydraulic cylinder 9. There is.

A scraper cutter device 10 is provided on the vehicle frame behind the heating device 8 for cutting the asphalt pavement surface that has been heated in advance by the heating device 8. This cutter device tIO includes a pair of telescopic cutters 11.11 that can move toward and away from the vehicle in the width direction of the self-propelled vehicle 1 in order to change the scraping width, and a pair of telescopic cutters 11.11 provided behind these telescopic cutters 11.11. The telescopic cutter I1.11 and the fixed cutter 12 are each rotatably supported by a support member 13 provided on the vehicle frame so as to be movable up and down. This support member 13 is the hydraulic cylinder 1
6, it is raised and lowered, and the depth of scraping can be adjusted by this. The telescopic cutters II and 11 are formed by fixing a large number of bits to the circumferential surface of a cylindrical rotating drum, and are rotationally driven by a motor directly connected to the rotating shaft of the rotating drum. Similarly, the fixed cutter above! 2 is made up of a large number of bits fixed on the circumferential surface of a cylindrical rotating drum, and is driven to rotate in the opposite direction to the telescopic cutter 2.11 by a motor directly connected to the rotating shaft of the rotating drum. It has become.

A pair of left and right drive wheels 14, 14 are each rotatably provided on the vehicle frame behind the cutter device IO.
These drive wheels 14.14 are connected to a rear wheel drive mechanism 15 which will be described later.
It is designed to be rotationally driven by.

Furthermore, a transfer feeder device 18 is provided at the rear of the self-propelled vehicle 1 to receive and deliver the new mixed material transported by the feeder device 5 described above to the following self-propelled vehicle 2. This transfer feeder device 18 is rotatable in the horizontal direction, and the height of the discharge portion 18a at the rear end can be adjusted using a hydraulic cylinder I9. The discharge part 18a of the feeder device I8 is located above the input chute 20 of the following self-propelled vehicle 2.

On the other hand, at the front end of the following self-propelled vehicle 2, there is a pull-out device 21 that pushes away the loosening material loosened by the cutter device 10 of the preceding self-propelled vehicle 1 to the side of the road surface, and a pickup that scoops up the loosening material. A feeder 22 is provided.

The loosened material scooped up by the pick-up feeder 22 is conveyed diagonally rearward and upward within the casing 23 and is discharged from an opening formed in the rear KA portion of the casing 23.

A casing 23 is located behind the pickup feeder 22.
When the loosening material discharged from the opening is conveyed backward and diagonally upward, the weight of the loosening material during conveyance!
A weighing feeder device 24 is installed to measure the feed amount (=supply amount in terms of conveyance amount).

This weighing feeder device 24 has a front end 24a rotatably attached to the vehicle frame, and a rear end 24b.
is supported via a weighing mechanism 25 having a weighing load cell.

Weighing feeder installed! ! Above 24 is a weighing feeder that conveys the new mixed material discharged from the transfer feeder device 18 diagonally rearward and upward, and also measures the weight (=conveyance amount or supply amount) of the new mixed material being transported. A device 26 is provided. Like the weighing feeder device 24, this weighing feeder W126 has a front end 26a rotatably attached to the vehicle frame, and a rear end 26b supported via a weighing mechanism 27 having a weighing load cell. .

The loosened material and new mixed material transported by these weighing feeder devices 24.26 are then transferred to a mixer device 2 provided behind each weighing feeder device 24.26.
It will be thrown in at 8. This mixer device 2B has a plurality of paddles protruding radially from two rotating shafts provided in a casing and extending in the longitudinal direction of the vehicle.
By rotationally driving the rotating shaft of the book, the loosened material and the new composite material introduced into the input chute 29 are mixed by the paddle, and then this mixed material is discharged from the discharge port formed at the rear of the casing. It has become.

Mixer device! A spreading device 30 is provided at the rear of the mixer R28 to send out the mixed material discharged from the outlet of the casing of the mixer R28 onto the road surface. This spreading device 30 is made up of a screw that extends in the width direction of the vehicle and is freely rotatable and is supported on the vehicle body frame so as to be able to move up and down. By rotationally driving this screw, the mixed material is spread in the width direction of the vehicle. While being transported, it is distributed evenly onto the road surface.

A leveling device 31 is provided behind the spreading device 30 to spread and compact the mixed material spread on the road surface.

In addition, on the vehicle frame in front of the scraping device 130,
A pair of left and right drive wheels 34.34 are each rotatably provided, and these drive wheels 34.34 are rotationally driven by a drive mechanism similar to the rear wheel drive mechanism 15 of a self-propelled vehicle l, which will be described later. Furthermore, a pair of left and right front wheels 36°36 are attached to the vehicle frame behind the pickup feeder 22 so as to be rotatable and swingable in a horizontal plane.
6 changes its direction by a hydraulic drive mechanism that operates in response to the rotation of a handle 37 provided at the driver's seat.

Next, with reference to FIG. 1, the configuration of the travel control device for the above-mentioned on-road cutting mixer will be explained. In Figure 1,
Reference numeral 40 denotes a diesel engine mounted on the lid of the preceding self-propelled vehicle, and this diesel engine 40 drives a hydraulic pump 41 for traveling and a hydraulic pump 42 for work. The hydraulic oil discharged from the hydraulic pump 41 is transferred to the first electromagnetic proportional control valve 4 through a pressure pipe 43.
4, and after the direction of the flow path of the pressure oil is selected and the flow rate is adjusted by this first electromagnetic proportional control valve 44,
A pressure line 45 leads to a rear wheel drive mechanism pressure motor 46 . Further, the hydraulic oil discharged from the rear wheel drive hydraulic motor 46 is guided to the first electromagnetic proportional control valve 44 through the return pipe w47I, and then returned to the hydraulic oil tank 49 via the return pipe 48, and then further Hydraulic oil stored in a hydraulic oil tank 49 is guided to a hydraulic pump 41 through a suction pipe 50. On the other hand, the hydraulic oil discharged from the hydraulic pump 42 is guided to the second electromagnetic proportional control valve 54 by the pressure piping 53, and after the flow rate is adjusted by the second electromagnetic proportional control valve 54, the hydraulic oil is discharged from the pressure piping 55.
is guided to various working devices (bar feeders, etc.).

The hydraulic oil discharged from these various working devices is led to the second m magnetic proportional control valve 54 by the return pipe 57, and then returned to the hydraulic oil tank 49 through the return pipe 58.48ζ, and then further returned to the hydraulic oil tank 49. Hydraulic oil stored in 49 is supplied to hydraulic pump 42 by suction pipe 50.59.
It is designed to lead you to.

An electromagnetic switching valve 52 for changing the flow path is provided in the pressure piping 53, and when the solenoid of this electromagnetic switching valve 52 is energized, the hydraulic oil guided by the pressure piping 53 is transferred to the piping 56. is guided to pressure piping 43 via.

Also, the above 1. The second electromagnetic proportional control valve 44.54 switches the direction of the hydraulic oil flow path and controls its flow rate by moving the poppet and spool using an electromagnet, and the electromagnetic force is supplied to the Tsuremade coil. It takes advantage of the property that it is approximately proportional to the magnitude of the excitation current.

Here, if the relationship between the excitation current supplied to the 1st and 2nd N magnetic proportional control valves 44.54 and the flow rate of hydraulic oil is shown,
As shown in the figure.

The rear wheel drive hydraulic motor 46 also has an electromagnetic switching valve 5 for changing the volume of hydraulic oil required for one rotation of the motor.
1 is provided, and when the solenoid of this electromagnetic switching valve 51 is demagnetized, it has a large capacity, and when it is energized, it is switched to a small capacity. The rotational force of this rear wheel drive hydraulic motor 46 is transmitted to the left and right drive wheels 14, 14 via the rear wheel drive mechanism 15. This rear wheel drive mechanism 15
is a final drive mechanism 60 which is a reduction gear #1INl rotationally driven by a rear wheel drive hydraulic motor 46.
and a pair of left and right sprockets 61, 61 that are each rotationally driven via this final drive machine M460,
Sprockets 62, 62 each connected to the rotating shaft of each drive wheel 14, 14, these left and right sprockets 61,
61: Chain 63 stretched between 62 and 62, respectively.
．． 63.

An idle sprocket 64 is engaged with one chain 63, and this idle sprocket 64 is connected to the rotating shaft of a rotary encoder 65. The rotary encoder 65 is of an incremental type, and supplies pulse signals at time intervals corresponding to the rotational speed of the sprocket 64 to a speed detection counter 66. This speed detection counter 66 receives a timing pulse l supplied at a constant cycle from a speed feedback control circuit 67, which will be described later.
Therefore, it is reset, and at a certain time Ikou -31 in F71
The number of pulses supplied from the re-encoder 65 is counted, and the counted data is output to the speed feedback control circuit 67 as an actual measured speed (1) corresponding to the rotational speed of the driving wheels 14, that is, the traveling speed of the self-propelled vehicle I. Also, 70
71 is a driving mode selector switch for selecting either a working driving mode in which the self-propelled vehicle I travels at a constant speed and at a low speed, or a forwarding driving mode in which the self-propelled vehicle I travels at a high speed at an arbitrary speed; 71 is a driving mode for the self-propelled vehicle I; These are speed setting potentiometers for setting the speed (command speed V.), and these are provided in two stages on the operation panel ζ of the driver's seat of the self-propelled vehicle I.

The traveling mode selector switch 70 outputs a working mode signal when the working traveling mode is set, and outputs a forwarding mode signal when the forwarding traveling mode is set, and outputs a forwarding mode signal to the speed feedback control circuit 67 and the driver. 69 and a switching circuit 72, respectively. driver 69
When the forwarding mode signal is supplied, each electromagnetic switching valve 51
．． Energize solenoid 52. Further, a voltage signal corresponding to the command speed v0 outputted from the potentiometer 7I is supplied to the speed feedback control circuit 67 and the speed open loop control circuit 68.

The speed feedback control circuit 67 includes a CPIJC central processing unit (I) that performs various calculations, a ROM (read only memory) that stores programs used in the CI'''U, and a RAM (random access memory) that holds data. ) and an l10 (human output) interface for sending and receiving various data, and a potentiometer 71.
A/D (analog/digital) conversion 4 converts the voltage signal corresponding to the command speed v0 supplied from CI) into a digital signal, and converts the digital signal corresponding to the feedback current command &IA1 calculated by CI) U into an analog signal. A D/A converter 4 and the like are provided for converting into.

Further, the speed open loop control circuit 68 has a gain adjuster 68a and a zero point adjustment 368b, and receives the speed command (2) supplied from the potentiometer 7K.

An open loop current command value At is created based on the following.

One of the current command values A + and A * output from the speed feedback control circuit 67 and the speed open loop control circuit 68 is selected by the switching circuit 72 and supplied to the proportional valve amplifier 73 .

In this case, the switching circuit 72 normally supplies the feedback current command value A to the proportional block F amplifier 73, and when the forwarding mode signal is supplied from the driving mode changeover switch 70, the open loop current command value A, is supplied to the proportional valve amplifier 73. This proportional valve amplifier 73 supplies an excitation current corresponding to the supplied feedback current command value (m pressure signal) A1 or open loop current command value A to the first electromagnetic proportional control valve 44.

The configuration of the travel control device of the following self-propelled vehicle 2 is substantially the same as that of the preceding self-propelled vehicle 1 described above, and therefore a description thereof will be omitted.

FIGS. 4 and 5 show the running operation of the road cutting mixer consisting of the two self-propelled vehicles 1.2 configured as described above.
This will be explained with reference to the figures.

■Operation in work travel mode When this work travel mode is selected, the output of the travel mode changeover switch 70 is a work mode signal, and as a result, the switching circuit 72 changes to the feedback speed command value A.
, is supplied to the proportional valve amplifier 73, and the electromagnetic switching valve 52
The solenoid is demagnetized, and the hydraulic oil discharged from the working hydraulic pump 42 is supplied to various working devices.The solenoid of the electromagnetic switching valve 51 is also demagnetized, and the rear wheel drive hydraulic motor 4G is rotated once. The capacity of the hydraulic oil required for
(see figure).

Here, the operation of the speed feedback control circuit 67 will be explained with reference to the flowchart shown in FIG.

First, in step SPI shown in FIG. 4, CI) U in the speed feedback control circuit 67 takes in the command speed V set in the speed setting knob 3 meter 71, and in the next step SPI) , the count data of the speed detection counter 66 is taken in as the measured speed v1. Then, in the next step SI'3, the command speed V. and the measured speed V, the deviation ΔV (= V o
In the next step SP4, a current command value A1 is calculated based on the deviation Δ■. In this case, the current command value A+ is calculated by the following equation (1), which is the addition of a proportional element, a differential element, and an integral element to perform PID control. However, α, β, γ, and Ω are predetermined coefficients.

A1-α・ΔV+β・−ΔV1γ・SΔvdt+Ω・・
...(1)L Then, in the next step SP5, the feedback current command value A is converted into an analog signal (
After being converted into a voltage signal), it is supplied to a proportional valve amplifier 73 via a switching circuit 72.

Here, the proportional valve amplifier 73 supplies an excitation current corresponding to the feedback current command value A to the electromagnetic proportional control valve 44, so that it is supplied to the rear wheel drive hydraulic motor 46 via the electromagnetic proportional control valve 44. The flow rate of the hydraulic oil is adjusted to a value according to the current command value A1, and as a result, each drive wheel 14
．． 14, that is, the traveling speed of the self-propelled vehicle I becomes a value corresponding to the current command value A+. In this way, the command speed V. and the actual measured speed V, the deviation ΔV /! < 0, that is, the traveling speed of the self-propelled vehicle 1 during work is set to the speed setting potentiometer 71 at the command speed ■. controlled to match. Furthermore, the traveling speed of the following self-propelled vehicle 2 is similarly controlled.

In this way, when the work travel mode is selected using the travel mode selector switch 70, the travel speed is controlled with high precision by feedback control. Two self-propelled vehicles 1 and 2 can be made to travel at a constant low speed.

■Operation in forwarding driving mode When this forwarding driving mode is selected, a forwarding mode signal is output from the driving mode changeover switch 70.
As a result, the switching circuit 72 supplies the open loop speed command value A to the proportional valve amplifier 73, and also supplies the solenoid switching valve 5 to the proportional valve amplifier 73.
Solenoid No. 2 is energized, and the working oil discharged from the working Ah pressure pump 42 is guided to the pressure piping 43 via the piping 56, where it merges with the hydraulic fluid discharged from the traveling hydraulic pump 4N. , the solenoid of the electromagnetic switching valve 51 is also energized, the volume of hydraulic oil required for one revolution of the rear wheel drive hydraulic motor 4G is set to a small capacity, and the volume is switched to the high speed range, and the transmission of the travel drive system is switched to the high speed range. (See Figure 5).

In this case, the speed open loop control circuit 68 receives the speed command ■ supplied from the speed setting potentiometer 71.

Create an open loop current command value A based on this current command value A! is supplied to the proportional valve amplifier 73, so the traveling speed is approximately determined according to the set value of the potentiometer 7I.

Thereby, when each of the self-propelled vehicles 1.2 is sent to travel independently, it is possible to travel at a relatively high speed.

In the above embodiment, the rotation of the idle sprocket 64 meshed with one chain 63 is detected by the rotary encoder 65 to obtain the traveling speed of the self-propelled vehicle. The rotation of the rear wheel drive hydraulic motor 46 may be directly detected by being attached to the end of the rear wheel drive hydraulic motor 46 opposite to the output shaft.

"Effects of the Invention" As explained above, according to the present invention, when the work traveling mode is selected by the traveling mode switching means, the traveling speed is controlled with high precision by the feedback control means. When running self-propelled vehicles with two working machines in parallel, these two self-propelled vehicles can be made to travel at a constant speed while maintaining a fixed distance between them. There is no need for any operating techniques that require skill, such as finely adjusting the The self-propelled vehicle can be made to travel at a high speed, and this provides the effect that the travel speed of the self-propelled vehicle can be appropriately controlled in accordance with the travel mode simply by operating the travel mode switching means.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of electric and hydraulic circuits when an embodiment of the present invention is applied to an on-road cutting mixer; FIG. 2 is a front view showing the external configuration of the on-circuit cutting mixer; The figure is a graph for explaining the operation of the electromagnetic proportional control valve provided in the cutting mixer on the circuit, and FIG. Flow Chart for Explanation FIG. 5 is a diagram for explaining the operation of each part in each running mode of the on-circuit cutting mixer. 5... Rotary encoder, 6... Speed detection counter, 5 and 66 are speed detection means) 7... Speed feedback control circuit, 8...
...Speed open loop control circuit, 0...Traveling mode changeover switch, 1...Speed setting potentiometer.

Claims (1)

[Scope of Claims] Speed setting means for setting a command speed; speed detection means for detecting the traveling speed of a self-propelled vehicle having a work implement; and a work traveling mode in which the self-propelled vehicle travels at a constant speed and at a low speed; a driving mode switching means for selecting either one of a forwarding driving mode in which the driving mode is high-speed traveling at a speed of Feedback control means for feedback controlling the running speed of the self-propelled vehicle while comparing it with the measured speed detected by the detection means; and when the forward running mode is selected by the running mode switching means, the speed setting means A travel control device for a self-propelled vehicle having a working machine, comprising: open-loop control means for open-loop control of the travel speed of the self-propelled vehicle based on a set command speed.