WO2013067801A1 - Control method and device for automatically calibrating rotational speed of digger - Google Patents

Control method and device for automatically calibrating rotational speed of digger Download PDF

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Publication number
WO2013067801A1
WO2013067801A1 PCT/CN2012/074375 CN2012074375W WO2013067801A1 WO 2013067801 A1 WO2013067801 A1 WO 2013067801A1 CN 2012074375 W CN2012074375 W CN 2012074375W WO 2013067801 A1 WO2013067801 A1 WO 2013067801A1
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Prior art keywords
target
throttle
speed
value
engine speed
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PCT/CN2012/074375
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French (fr)
Chinese (zh)
Inventor
闫鑫
张晓峰
沈杰
Original Assignee
湖南三一智能控制设备有限公司
三一重机有限公司
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Application filed by 湖南三一智能控制设备有限公司, 三一重机有限公司 filed Critical 湖南三一智能控制设备有限公司
Publication of WO2013067801A1 publication Critical patent/WO2013067801A1/en

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/08—Superstructures; Supports for superstructures
    • E02F9/10—Supports for movable superstructures mounted on travelling or walking gears or on other superstructures
    • E02F9/12—Slewing or traversing gears
    • E02F9/121—Turntables, i.e. structure rotatable about 360°
    • E02F9/123—Drives or control devices specially adapted therefor
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups

Definitions

  • the invention relates to a Chinese patent application for automatic calibration of an excavator speed.
  • the present application claims to be Chinese patent application filed on November 8, 2011, the Chinese Patent Office, the application number is 201110349902.2, and the invention is entitled "Control Method for Automatic Calibration of Excavator Speed" Priority is hereby incorporated by reference in its entirety.
  • the invention relates to a method for calibrating an excavator speed, and in particular to a method for automatically calibrating an excavator speed.
  • the excavator has multiple speeds, which makes it easy for the operator to select different gear positions according to different situations, thus realizing the function of shifting.
  • the object of the present invention is to solve the above problems, to solve the shortcomings of the prior art that the speed limit calibration needs to input a large amount of manpower, reduce the repeated labor of the manual machine, and improve the efficiency of the excavator speed calibration.
  • the invention discloses a control method for automatic calibration of an excavator speed, wherein
  • the adjustment of each gear includes the following steps:
  • the above control method is characterized in that after each gear position is adjusted, the next gear position adjustment is sequentially performed, and the next throttle voltage value is sequentially stored in the consecutive addresses of the data items.
  • a control device for automatically calibrating the rotational speed of an excavator including:
  • An engine speed sensor for collecting engine speed
  • a gear position adjusting device configured to perform gear position calibration according to the engine speed
  • the gear position adjusting device comprises:
  • An engine throttle motor adjusting device for adjusting an engine speed to a difference between an engine speed and a target speed value that is less than a predetermined value
  • a throttle voltage value sensor for obtaining a throttle voltage value
  • a data item memory configured to store and record the acquired throttle voltage value.
  • the above control device is characterized in that the gear position adjusting device further comprises a speed comparator for comparing the difference between the engine speed and the target speed value collected by the engine speed sensor and a predetermined value.
  • the automatic calibration method disclosed by the invention simplifies the calibration process, reduces the labor of the personnel, and shortens the calibration time.
  • FIG. 1 is a flow chart showing a control method for automatically calibrating an excavator speed according to the present invention
  • Fig. 3 shows a schematic view of a control device for automatically calibrating the speed of an excavator according to the present invention.
  • step S201 First, executing step S201, first collecting the engine speed, that is, collecting the current engine speed;
  • step S202 is performed to adjust each gear position according to the engine speed
  • step S202 the adjustment of each gear position includes the following steps: Step S211, selecting an initial value of a target rotation speed and a throttle position of the target adjustment gear position, specifically, selecting one of the gears by an array;
  • Step S212 adjusting the throttle motor until the difference between the engine speed and the target speed value is less than a predetermined value, first determining the difference between the engine speed and the target speed value, and if the difference between the engine speed and the target speed value is less than a predetermined value, stopping adjusting the throttle motor, if If the difference between the engine speed and the target speed value is not less than a predetermined value, the throttle motor is continuously adjusted;
  • Step S213 acquiring the current throttle motor position voltage value, and storing it in the corresponding target address of the target throttle position voltage data item of each gear position. Specifically, after completing step S212, reading the throttle motor position voltage value after the adjustment is completed and Storage
  • step S214 is performed to determine that if the throttle motor position voltage value is stored in the last address of each gear target throttle position voltage data item, the control process is ended; otherwise, steps S211 to S214 are repeated to complete the multi-gear position. Automatic calibration.
  • next gear position adjustment is sequentially performed, and the next throttle voltage value is sequentially stored in the consecutive addresses of the data items, thereby obtaining the continuously recorded throttle voltage value.
  • the predetermined value is 10% of the target rotational speed value, that is, until the value of the difference between the engine rotational speed and the target rotational speed value is less than 10% of the target rotational speed value, the throttle motor is no longer adjusted.
  • a control device 1 for automatically calibrating an excavator speed shown in FIG. 3 includes:
  • Engine speed sensor 2 used to collect engine speed
  • the gear position adjusting device 3 is configured to perform gear position calibration according to the engine speed
  • the gear position adjusting device 3 comprises:
  • Engine throttle motor adjustment device 31 for regulating engine speed to engine speed and mesh The difference between the standard rotational speed values is less than a predetermined value
  • a throttle voltage value sensor 32 configured to obtain a throttle voltage value
  • the data item memory 33 is configured to store and record the acquired throttle voltage value.
  • the gear position adjusting device 3 further includes a rotation speed comparator (not shown in Fig. 3) for comparing the difference between the engine speed and the target speed value collected by the engine speed sensor 2 and a predetermined value.
  • a rotation speed comparator (not shown in Fig. 3) for comparing the difference between the engine speed and the target speed value collected by the engine speed sensor 2 and a predetermined value.

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  • Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Combined Controls Of Internal Combustion Engines (AREA)
  • Electrical Control Of Air Or Fuel Supplied To Internal-Combustion Engine (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)

Abstract

A control method for automatically calibrating the rotational speed of a digger, comprising: firstly acquiring the rotational speed of the engine (S201); and then adjusting each of the gear steps according to the rotational speed of the engine (S202). Adjusting each of the gear steps (S202) comprises the following steps: selecting a target rotational speed of the target adjusted gear step and an initial value of the throttle position (S211); adjusting the throttle motor, until the difference between the rotational speed of the engine and the target rotational speed value is less than a predetermined value (S212); acquiring a voltage value at the current position of the throttle motor, and storing it at a target address corresponding to the voltage data item of the target throttle position of each gear step; and if the last bit address of the voltage data item of target throttle position of each gear step has a voltage value of the throttle motor position stored therein, the control process is terminated (S214). The present invention also includes a control device using the method.

Description

一种挖掘机转速自动标定的控制方法和装置 本申请要求于 2011 年 11 月 08 日提交中国专利局、 申请号为 201110349902.2、 发明名称为"挖掘机转速自动标定的控制方法"的中国专 利申请的优先权， 其全部内容通过引用结合在本申请中。  The invention relates to a Chinese patent application for automatic calibration of an excavator speed. The present application claims to be Chinese patent application filed on November 8, 2011, the Chinese Patent Office, the application number is 201110349902.2, and the invention is entitled "Control Method for Automatic Calibration of Excavator Speed" Priority is hereby incorporated by reference in its entirety.
技术领域 Technical field
本发明涉及一种挖掘机转速标定方法， 具体地， 涉及一种挖掘机转速 自动标定的控制方法。  The invention relates to a method for calibrating an excavator speed, and in particular to a method for automatically calibrating an excavator speed.
背景技术 Background technique
挖掘机具有多档转速， 可以方便操作人员根据不同的情况选择不同的 档位， 从而实现变速的功能。  The excavator has multiple speeds, which makes it easy for the operator to select different gear positions according to different situations, thus realizing the function of shifting.
在制造挖掘机的过程中， 就需要给挖掘机每一个档位进行标定转速， 现有技术中， 很多挖掘机厂家研发的挖掘机转速标定都是每个档位手动标 定一次发动机转速， 这样虽然能够得到准确的发动机转速， 但是需要耗费 大量的人力物力去从事机械的重复劳动， 不利于大规模使用。  In the process of manufacturing the excavator, it is necessary to calibrate the speed of each gear of the excavator. In the prior art, the excavator speed calibration developed by many excavator manufacturers manually calibrates the engine speed for each gear position, so that Accurate engine speed can be obtained, but it takes a lot of manpower and material resources to engage in mechanical repetitive work, which is not conducive to large-scale use.
因此， 提供一种既能准确标定发动机转速， 又能节省人力提高工作效 率的方法就显得尤为重要了。  Therefore, it is particularly important to provide a method that can accurately calibrate the engine speed while saving manpower and improving work efficiency.
发明内容 Summary of the invention
本发明的目的就是针对上述问题， 解决现有技术中档速标定时需要投 入大量的人力的缺点， 减少人工机械的重复劳动， 提高挖掘机转速标定的 效率。  The object of the present invention is to solve the above problems, to solve the shortcomings of the prior art that the speed limit calibration needs to input a large amount of manpower, reduce the repeated labor of the manual machine, and improve the efficiency of the excavator speed calibration.
本发明公开一种挖掘机转速自动标定的控制方法， 其中，  The invention discloses a control method for automatic calibration of an excavator speed, wherein
先采集发动机转速；  First collect engine speed;
再根据所述发动机转速进行每一档位的调节；  Adjusting each gear position according to the engine speed;
其中， 所述每一档位的调节中包括如下步骤：  Wherein, the adjustment of each gear includes the following steps:
选择目标调节档位的目标转速和油门位置的初始值；  Select the initial value of the target speed and throttle position of the target adjustment gear;
调节油门电机， 直至发动机转速和目标转速值之差小于预定值内； 获取当前油门电机位置电压值， 将其存入各档位目标油门位置电压数 据项的对应目标地址；  Adjusting the throttle motor until the difference between the engine speed and the target speed value is less than a predetermined value; obtaining the current throttle motor position voltage value and storing it in the corresponding target address of the target throttle position voltage data item of each gear position;
若各档位目标油门位置电压数据项的末位地址存储有油门电机位置电 压值， 则结束控制过程。 If the stall address of the target throttle position voltage data item of each gear is stored with the throttle motor position electric The pressure value ends the control process.
上述的控制方法， 其特征在于， 每一档位调节完毕后， 顺序进行下一 档位调节， 并将下一个油门电压值按照顺序存储于数据项的连续地址中。  The above control method is characterized in that after each gear position is adjusted, the next gear position adjustment is sequentially performed, and the next throttle voltage value is sequentially stored in the consecutive addresses of the data items.
上述的控制方法， 其特征在于， 所述预定值为目标转速值的 10%。 根据本发明的另一个方面， 还公开一种挖掘机转速自动标定的控制装 置， 其特征在于， 包括：  The above control method is characterized in that the predetermined value is 10% of the target rotational speed value. According to another aspect of the present invention, a control device for automatically calibrating the rotational speed of an excavator is further disclosed, including:
发动机转速传感器， 用于采集发动机转速；  An engine speed sensor for collecting engine speed;
档位调节装置， 用于根据所述发动机转速进行档位标定；  a gear position adjusting device, configured to perform gear position calibration according to the engine speed;
其中， 所述档位调节装置包括：  Wherein, the gear position adjusting device comprises:
发动机油门电机调节装置， 用于调节发动机转速至发动机转速和目标 转速值之差小于预定值内；  An engine throttle motor adjusting device for adjusting an engine speed to a difference between an engine speed and a target speed value that is less than a predetermined value;
油门电压值传感器， 用于获取油门电压值；  a throttle voltage value sensor for obtaining a throttle voltage value;
数据项存储器， 用于将所述获取的油门电压值进行存储记录。  a data item memory, configured to store and record the acquired throttle voltage value.
上述的控制装置，其特征在于，所述档位调节装置还包括转速比较器， 用于比较发动机转速传感器采集的发动机转速和目标转速值之差与预定值 的大小。  The above control device is characterized in that the gear position adjusting device further comprises a speed comparator for comparing the difference between the engine speed and the target speed value collected by the engine speed sensor and a predetermined value.
本发明所公开的自动标定方法筒化了标定流程， 减少人员的劳动量， 以及缩短标定时间。  The automatic calibration method disclosed by the invention simplifies the calibration process, reduces the labor of the personnel, and shortens the calibration time.
附图说明 DRAWINGS
通过阅读参照以下附图对非限制性实施例所作的详细描述， 本发明及 其特征、 外形和优点将会变得更明显。 在全部附图中相同的标记指示相同 的部分。 并未刻意按照比例绘制附图， 重点在于示出本发明的主旨。 在附 图中， 为清楚明了， 放大了部分部件。  The invention and its features, aspects and advantages will become more apparent from the detailed description of the appended claims. The same reference numerals are used throughout the drawings to refer to the same parts. The drawings are not intended to be drawn to scale, and the emphasis is on the subject matter of the invention. In the attached drawings, some of the components are enlarged for clarity.
图 1示出了根据本发明的， 一种挖掘机转速自动标定的控制方法的流 程示意图； 以及  1 is a flow chart showing a control method for automatically calibrating an excavator speed according to the present invention;
图 2示出了根据本发明的， 一种挖掘机转速自动标定的控制方法中每 一档位的调节的流程示意图；  2 is a flow chart showing the adjustment of each gear position in the automatic calibration method of the excavator speed according to the present invention;
图 3示出了根据本发明的， 一种挖掘机转速自动标定的控制装置的示 意图。  Fig. 3 shows a schematic view of a control device for automatically calibrating the speed of an excavator according to the present invention.
具体实施方式 以下结合附图及具体实施方式对本发明进行进一步详细说明。 此处所 描述的具体实施方式仅用于解释本发明，并不用于限定本发明的保护范围。 detailed description The present invention will be further described in detail below in conjunction with the drawings and specific embodiments. The specific embodiments described herein are merely illustrative of the invention and are not intended to limit the scope of the invention.
参考图 1示出的一种挖掘机转速自动标定的控制方法的流程示意图。 首先， 执行步骤 S201 , 先采集发动机转速， 即采集发动机当前转速；  Referring to FIG. 1 , a flow chart of a control method for automatic calibration of an excavator speed is shown. First, executing step S201, first collecting the engine speed, that is, collecting the current engine speed;
再执行步骤 S202, 根据发动机转速进行每一档位的调节；  Then, step S202 is performed to adjust each gear position according to the engine speed;
如图 2所示， 步骤 S202中， 每一档位的调节中包括如下步骤： 步骤 S211 , 选择目标调节档位的目标转速和油门位置的初始值， 具体 地， 通过数组来选择其中一档；  As shown in FIG. 2, in step S202, the adjustment of each gear position includes the following steps: Step S211, selecting an initial value of a target rotation speed and a throttle position of the target adjustment gear position, specifically, selecting one of the gears by an array;
步骤 S212, 调节油门电机， 直至发动机转速和目标转速值之差小于预 定值， 先判断发动机转速和目标转速值之差， 若发动机转速和目标转速值 之差小于预定值则停止调节油门电机， 若发动机转速和目标转速值之差不 小于预定值， 则继续调节油门电机；  Step S212, adjusting the throttle motor until the difference between the engine speed and the target speed value is less than a predetermined value, first determining the difference between the engine speed and the target speed value, and if the difference between the engine speed and the target speed value is less than a predetermined value, stopping adjusting the throttle motor, if If the difference between the engine speed and the target speed value is not less than a predetermined value, the throttle motor is continuously adjusted;
步骤 S213 , 获取当前油门电机位置电压值， 将其存入各档位目标油门 位置电压数据项的对应目标地址， 具体地， 在完成步骤 S212后， 读取调节 完成后的油门电机位置电压值并存储；  Step S213, acquiring the current throttle motor position voltage value, and storing it in the corresponding target address of the target throttle position voltage data item of each gear position. Specifically, after completing step S212, reading the throttle motor position voltage value after the adjustment is completed and Storage
最后， 执行步骤 S214, 进行判断， 若各档位目标油门位置电压数据项 的末位地址存储有油门电机位置电压值， 则结束控制过程， 否则， 就重复 步骤 S211至步骤 S214以完成多档位自动标定。  Finally, step S214 is performed to determine that if the throttle motor position voltage value is stored in the last address of each gear target throttle position voltage data item, the control process is ended; otherwise, steps S211 to S214 are repeated to complete the multi-gear position. Automatic calibration.
在一个具体实施例中，每一档位调节完毕后，顺序进行下一档位调节， 并将下一个油门电压值按照顺序存储于数据项的连续地址中， 从而得到连 续记录的油门电压值。  In a specific embodiment, after each gear position is adjusted, the next gear position adjustment is sequentially performed, and the next throttle voltage value is sequentially stored in the consecutive addresses of the data items, thereby obtaining the continuously recorded throttle voltage value.
更进一步地， 在步骤 S212 中， 预定值为目标转速值的 10%, 即直至 发动机转速和目标转速值之差的值小于目标转速值的 10% , 则不再继续调 节油门电机。  Further, in step S212, the predetermined value is 10% of the target rotational speed value, that is, until the value of the difference between the engine rotational speed and the target rotational speed value is less than 10% of the target rotational speed value, the throttle motor is no longer adjusted.
根据本发明的另一个方面， 参考图 3所示的一种挖掘机转速自动标定 的控制装置 1 , 包括：  According to another aspect of the present invention, a control device 1 for automatically calibrating an excavator speed shown in FIG. 3 includes:
发动机转速传感器 2, 用于采集发动机转速；  Engine speed sensor 2, used to collect engine speed;
档位调节装置 3 , 用于根据发动机转速进行档位标定；  The gear position adjusting device 3 is configured to perform gear position calibration according to the engine speed;
其中， 档位调节装置 3包括：  Wherein, the gear position adjusting device 3 comprises:
发动机油门电机调节装置 31 , 用于调节发动机转速至发动机转速和目 标转速值之差小于预定值内； Engine throttle motor adjustment device 31 for regulating engine speed to engine speed and mesh The difference between the standard rotational speed values is less than a predetermined value;
油门电压值传感器 32, 用于获取油门电压值；  a throttle voltage value sensor 32, configured to obtain a throttle voltage value;
数据项存储器 33 , 用于将获取的油门电压值进行存储记录。  The data item memory 33 is configured to store and record the acquired throttle voltage value.
进一步地， 档位调节装置 3还包括转速比较器（图 3中未示出 ), 用于 比较发动机转速传感器 2采集的发动机转速和目标转速值之差与预定值的 大小。 的变化例并不影响本发明的实质内容， 在此不予赘述。  Further, the gear position adjusting device 3 further includes a rotation speed comparator (not shown in Fig. 3) for comparing the difference between the engine speed and the target speed value collected by the engine speed sensor 2 and a predetermined value. The variations of the present invention do not affect the substance of the present invention and will not be described herein.
以上对本发明的较佳实施例进行了描述。 需要理解的是， 本发明并不 局限于上述特定实施方式， 其中未尽详细描述的设备和结构应该理解为用 本领域中的普通方式予以实施； 任何熟悉本领域的技术人员， 在不脱离本 发明技术方案范围情况下， 都可利用上述揭示的方法和技术内容对本发明 技术方案作出许多可能的变动和修饰， 或修改为等同变化的等效实施例， 这并不影响本发明的实质内容。 因此，凡是未脱离本发明技术方案的内容， 饰， 均仍属于本发明技术方案保护的范围内。  The preferred embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the specific embodiments described above, and that the device and structure that are not described in detail are to be construed as being In the scope of the present invention, many possible variations and modifications may be made to the technical solutions of the present invention by using the methods and technical contents disclosed above, or modified to equivalent variations, which do not affect the substance of the present invention. Therefore, any content that does not depart from the technical solutions of the present invention is still within the scope of protection of the technical solutions of the present invention.

Claims

权 利 要 求 Rights request
1. 一种挖掘机转速自动标定的控制方法， 其特征在于，  1. A method for automatically adjusting the speed of an excavator, characterized in that
先采集发动机转速；  First collect engine speed;
再根据所述发动机转速进行每一档位的调节；  Adjusting each gear position according to the engine speed;
其中， 所述每一档位的调节中包括如下步骤：  Wherein, the adjustment of each gear includes the following steps:
选择目标调节档位的目标转速和油门位置的初始值；  Select the initial value of the target speed and throttle position of the target adjustment gear;
调节油门电机， 直至发动机转速和目标转速值之差小于预定值内； 获取当前油门电机位置电压值， 将其存入各档位目标油门位置电压数 据项的对应目标地址；  Adjusting the throttle motor until the difference between the engine speed and the target speed value is less than a predetermined value; obtaining the current throttle motor position voltage value and storing it in the corresponding target address of the target throttle position voltage data item of each gear position;
若各档位目标油门位置电压数据项的末位地址存储有油门电机位置电 压值， 则结束控制过程。  If the throttle motor position voltage value is stored in the last address of each gear target throttle position voltage data item, the control process ends.
2. 根据权利要求 1所述的控制方法， 其特征在于， 每一档位调节完毕后， 顺序进行下一档位调节， 并将下一个油门电压值按照顺序存储于数据项的 连续地址中。  2. The control method according to claim 1, wherein after each gear position is adjusted, the next gear position adjustment is sequentially performed, and the next throttle voltage value is sequentially stored in the consecutive addresses of the data items.
3. 根据权利要求 1所述的控制方法， 其特征在于， 所述预定值为目标转速 值的 10%。 The control method according to claim 1, wherein the predetermined value is 10% of a target rotational speed value.
4. 一种挖掘机转速自动标定的控制装置， 其特征在于， 包括：  4. A control device for automatically calibrating an excavator speed, characterized in that it comprises:
发动机转速传感器， 用于采集发动机转速；  An engine speed sensor for collecting engine speed;
档位调节装置， 用于根据所述发动机转速进行档位标定；  a gear position adjusting device, configured to perform gear position calibration according to the engine speed;
其中， 所述档位调节装置包括：  Wherein, the gear position adjusting device comprises:
发动机油门电机调节装置， 用于调节发动机转速至发动机转速和目标 转速值之差小于预定值内；  An engine throttle motor adjusting device for adjusting an engine speed to a difference between an engine speed and a target speed value that is less than a predetermined value;
油门电压值传感器， 用于获取油门电压值；  a throttle voltage value sensor for obtaining a throttle voltage value;
数据项存储器， 用于将所述获取的油门电压值进行存储记录。  a data item memory, configured to store and record the acquired throttle voltage value.
5. 根据权利要求 1所述的控制装置， 其特征在于， 所述档位调节装置还包 括转速比较器， 用于比较发动机转速传感器采集的发动机转速和目标转速 值之差与预定值的大小。 The control device according to claim 1, wherein the gear position adjusting device further comprises a speed comparator for comparing a difference between an engine speed and a target speed value collected by the engine speed sensor and a predetermined value.
PCT/CN2012/074375 2011-11-08 2012-04-19 Control method and device for automatically calibrating rotational speed of digger WO2013067801A1 (en)

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