WO2013152575A1 - Method and system for telescopic follow control of boom - Google Patents

Abstract

A method for telescopic follow control of a boom comprises: when a telescopic cylinder actuates a bolt mechanism to move, detecting in real time whether the position of the bolt mechanism is at a high-speed movement region or at a low-speed movement region; at the high-speed movement region, obtaining a high moving speed required for the bolt mechanism, and at a low-speed movement region, obtaining a low moving speed required for the bolt mechanism; calculating a matching rotating speed N required for a motor for driving the telescopic cylinder according to the high moving speed or low moving speed of the bolt mechanism; and setting the matching rotating speed N to a current rotating speed of the motor. Further disclosed is a system for telescopic follow control of a boom, which matches the rotating speed of a motor and the telescopic speed of a bolt mechanism, so as to avoid risk factors caused by manual misoperations, thereby increasing the work efficiency.

Description

 Boom telescopic follow-up control method and system

 Technical field

 The invention relates to the technical field of mechanical booms, and particularly relates to a method and a system for controlling the boom expansion and contraction of a multi-section arm of a single telescopic cylinder. Background technique

 In the prior art, mechanical booms, especially large construction machinery booms, generally adopt a multi-section expansion method of a single telescopic cylinder, and the working principles thereof include:

 Step S01, the telescopic cylinder drives the latch mechanism to find the tail of the j-th telescopic arm to be extended;

 Step S02, extending the work pin to lock the telescopic cylinder with the j-th telescopic arm, and retracting the load pin of the j-th telescopic arm inserted in the telescopic arm of the j-1th section;

 Step S03, extending the telescopic cylinder, and the j-th telescopic arm is extended, and after extending to the destination position, the latch mechanism releases the carrier pin, and the bearing pin of the j-th telescopic arm is inserted in the j-1th section In the arm, the j-th telescopic arm and the j-1th telescopic arm are locked again to complete the stretching action of the j-th telescopic arm;

 Repeat the steps and return to step S01 until all the arm extensions are completed.

 The above process is only described for the stretching action of the multi-section arm, and the principle of the contraction action of the multi-section arm is basically the same, and will not be described herein.

 In the above working principle, two specific implementation methods including manual control mode (basic elimination) and semi-automatic control mode are adopted. Among them, semi-automatic telescopic gradually becomes the mainstream technology with its advanced nature, and its control process includes: The telescopic cylinder of the telescopic mechanism drives the latch mechanism to move;

 The electronic control unit calculates the percentage of the expansion and contraction progress of the latch mechanism according to the detected state of the latch mechanism and the length of the telescopic cylinder;

 When the percentage shows that the latch mechanism is in the high-speed moving area, the electronic control unit automatically outputs a large current to the telescopic proportional valve, and prompts the operator to step on the accelerator pedal to speed up the engine to achieve the purpose of high-speed telescopic operation; when the percentage display latch mechanism is at When moving at low speed, the electronic control unit automatically outputs a small current to the telescopic proportional valve, and prompts the operator to manually reduce the engine speed to ensure the low speed operation of the telescopic mechanism.

It can be seen from the above that in the process of automatically expanding and contracting the latch mechanism, although the telescopic speed realizes automatic control, the rotational speed of the engine needs to be manually operated by the operator according to the telescopic progress prompt of the display. In the process of manual operation control, the following technical problems are easy to occur: In the low speed section of the telescopic speed, the speed is not reduced in time due to the operation error, resulting in the rotation speed. Too high, both the engine power is wasted, and the pin mechanism fails to the hole because the telescopic speed is too fast. In other words, after the speed is reduced, the speed drops too low, which may result in insufficient oil supply to the telescopic cylinder, telescopic crawling, and the bolt mechanism fails to the hole. In the acceleration section and high speed section of the telescopic section, the engine accelerates too slowly, and the power is insufficient, resulting in the engine. The flame is extinguished and the telescopic action stops.

 In summary, in the prior art, due to the manual control of the engine, the telescopic speed of the latch mechanism does not match the engine speed, and the success rate of the telescopic control is low.

 How to solve the technical problem in the prior art that the manual expansion of the engine causes the telescopic speed of the latch mechanism to be mismatched with the engine speed and the success rate of the telescopic control is low is an urgent problem to be solved in the field. Summary of the invention

 The invention mainly solves the technical problem that the telescopic speed of the latch mechanism is not matched with the engine speed and the success rate of the telescopic control is low due to the manual control of the engine, and a boom telescopic follow-up control method and system are provided.

 In order to solve the above technical problem, a technical solution adopted by the present invention is: Providing a boom telescopic follow-up control method, wherein the telescopic cylinder drives the latch mechanism to insert or pull the multi-section arm, including the following steps: When the telescopic cylinder drives the latch mechanism to move, it is detected in real time whether the position of the latch mechanism belongs to the high speed moving zone or the low speed moving zone; when it belongs to the high speed moving zone, the high speed moving speed required by the latching mechanism is obtained, and when it belongs to the low speed moving zone, The low speed moving speed required by the latch mechanism; the matching rotational speed N required to drive the engine of the telescopic cylinder is calculated according to the high speed moving speed or the low speed moving speed of the latch mechanism; and the matching rotational speed N is set to the current rotational speed of the engine.

Wherein, the high-speed moving speed required to obtain the latch mechanism when belonging to the high-speed moving zone, and the step of obtaining the low-speed moving speed required by the latching mechanism when belonging to the low-speed moving zone further includes: high-speed movement according to the latching mechanism The speed or the low speed moving speed outputs the actual current I _value to the telescopic proportional valve to control the working state of the telescopic proportional valve; and the matching required to drive the engine of the telescopic cylinder according to the high speed moving speed or the low speed moving speed of the latch mechanism The step of the speed N includes: calculating the first matching speed of the engine according to the flow demand of the telescopic proportional valve and the corresponding telescopic pump, and calculating the first engine speed according to the power demand of the telescopic proportional valve and the corresponding telescopic pump Second, the matching speed N ₂ is obtained to obtain the matching speed N:

_Λτ β χ ΐθ ³ ,

Ν = χ Α

N = Max(N _l , N ₂ ) x K In the above calculation formula, the units of the first matching rotational speed Ni, the second matching rotational speed N ₂ and the matching rotational speed N are all r, and the throttle follow-up control by the telescopic pump To change the displacement q (m!Jr) of the telescopic pump, the engine drives the telescopic pump and pumps high-pressure oil to the telescopic proportional valve through a hydraulic passage, Q (L/min) is the rated flow of the telescopic proportional valve, A For the state coefficient, P (MPa) is the telescopic pressure in the hydraulic passage, n is the efficiency of the telescopic pump, W (KW) is the input power of the telescopic pump, and is obtained from the external characteristic curve of the engine according to the input power W The second matching rotational speed N ₂ , Max function takes a maximum value, and K is a safety factor.

 Wherein, when the telescopic cylinder drives the latch mechanism to move, the step of detecting whether the position of the latch mechanism is in the high speed moving zone or the low speed moving zone in real time includes: inputting the destination state of the boom and acquiring the current state of the boom Calculating a total distance required for the latch mechanism to move according to the target state and the current state of the boom, and dividing the total distance into the high speed moving area and the low speed moving area of the latch mechanism; The high-speed moving speed required by the latch mechanism, in the step of obtaining the low-speed moving speed required by the latch mechanism when belonging to the low-speed moving zone, includes: detecting the state of the telescopic cylinder in real time to obtain the telescopic cylinder length, according to the detected telescopic cylinder length Calculating a real-time distance that the latch mechanism has moved; determining, according to the real-time distance and the total distance, that the latch mechanism belongs to the high-speed moving zone or the low-speed moving zone, and obtaining a high-speed moving speed or a low-speed moving speed required by the latching mechanism.

Calculating the first matching speed of the engine according to the flow demand of the telescopic proportional valve and the corresponding telescopic pump, and calculating the second matching speed of the engine according to the power demand of the telescopic proportional valve and its corresponding telescopic pump N ₂ , in the step of obtaining the matching rotational speed N, includes: when the latch mechanism is in the high-speed moving region, the state coefficient A=l, K is greater than 1, 艮

q

N = Max(N ₁ , N ₂ ) x K When the latch mechanism is in the low speed moving zone, K is greater than 1, at this time: (I valve - I valve

 A

 ( I valve _ maxgong valve _ min )

 ― p ^ x ( VI valve - I valve _ min '

 60 X 77 / ( \ I va , lve _ max - I va , lve _ min ) '

N = Max(N _l , N ₂ ) x K In the above calculation formula, the actual current I _valve is in mA,

(mA) is the minimum current value of the telescopic proportional valve, I _valve — max (mA) is the maximum current value of the telescopic proportional valve.

 Wherein, after the step of calculating the matching rotational speed N required for driving the engine of the telescopic cylinder according to the high speed moving speed or the low speed moving speed of the latch mechanism, the method comprises: encoding the matching rotational speed N according to a message format of an engine speed torque control command In the step of setting the matching rotational speed N to the current rotational speed of the engine, the method includes: setting the rotational speed of the engine to the matching rotational speed N according to the rotational speed command.

 In order to solve the above technical problems, another technical solution adopted by the present invention is to provide a boom telescopic follow-up control system including a latch mechanism, a telescopic cylinder, an engine, a cylinder length detecting device, an electronic control unit, and an engine control unit. The latch mechanism is configured to insert or pull a load pin; the telescopic cylinder is fixedly coupled to the latch mechanism for driving the latch mechanism; the engine is configured to drive the telescopic cylinder to change a telescopic cylinder length of the telescopic cylinder; the cylinder length The detecting device is configured to detect the length of the telescopic cylinder in real time to determine whether the position of the latch mechanism belongs to a high speed moving area or a low speed moving area; the electronic control unit is configured to belong to a high speed moving area or a low speed according to the position of the latch mechanism When the moving zone is obtained, the high speed moving speed or the low speed moving speed required by the latch mechanism is obtained, and the matching speed N required for the engine is calculated according to the high speed moving speed or the low speed moving speed required by the latch mechanism; the engine control unit, Connected to the engine, the matching rotational speed N calculated by the electronic control unit is set to the current rotational speed of the engine.

Among them, the system also includes a telescopic pump and a telescopic proportional valve. The telescopic pump is configured to pump high-pressure oil from the oil tank by driving the engine, the telescopic pump includes an output oil port; the expansion proportional valve includes a pressure oil port, a return oil port, a first working oil port, and a second working oil port And proportional control. The pressure port is connected to the output port; the oil return port is connected to the oil tank; the first working port is connected to the rod cavity of the telescopic cylinder; the second working port The utility model is configured to be connected to the rodless cavity of the telescopic cylinder; the proportional control end is electrically connected to the electronic control unit; The electronic control unit outputs an actual current I _value to the proportional control end according to the high speed moving speed or the low speed moving speed of the latch mechanism to change the valve opening size of the telescopic proportional valve to control the flow rate of the high pressure oil, so that the engine matches The rotational speed N matches the flow rate required for the telescopic proportional valve.

 The system further includes a telescopic pressure sensor disposed in the hydraulic passage connected to the pressure port of the telescopic proportional valve and electrically connected to the electronic control unit. The telescopic pressure sensor is configured to measure the pressure in the hydraulic passage, and the electronic control unit calculates the telescopic pressure P in the hydraulic passage according to the pressure in the hydraulic passage and calculates the input power of the telescopic pump by the telescopic pressure P. , matching it to the matching speed N of the engine.

 The system further includes a display device electrically connected to the electronic control unit for displaying a destination state and a current state of the user inputting the boom, and displaying the required movement of the latch mechanism calculated by the electronic control unit. The total distance and the percentage of the expansion progress; the electronic control unit calculates the total distance required for the movement of the latch mechanism according to the target state and the current state of the boom, and divides the total distance into a high-speed moving zone and a low-speed moving zone of the latching mechanism The cylinder length detecting device detects the length of the telescopic cylinder in real time and calculates a real-time distance that the latch mechanism has moved through the electronic control unit, and the electronic control unit calculates the telescopic progress according to the total distance and the real-time distance that the latch mechanism has moved. percentage.

The engine control unit is electrically connected to the electronic control unit via a controller area network bus, and the electronic control unit encodes the matching rotational speed N into a rotational speed command according to a message format of an engine speed torque control command and passes through the controller local area network. The bus is sent to the engine control unit to set the engine speed to the matched speed N according to the speed command. The electronic control unit calculates the first matching rotational speed of the engine according to the flow demand of the telescopic proportional valve and the telescopic pump, and calculates the second matching rotational speed N ₂ of the engine according to the power demand of the telescopic proportional valve and the telescopic pump, Find the matching speed N:

 When the latch mechanism is in the high speed moving zone, the calculation method of the matching rotational speed N includes:

q

60 x 77

Ν = Μαχ(Ν, , Ν ₇ ) χ Κ

 1

When the latch mechanism is in the low speed moving zone, the method for calculating the matching speed Ν includes: β ΐΟ ³ (I _V alve - I valve

 ■X

 ^ ( I valve max ^ valve min ) valve - I valve

 60 X 77

 / ( \ I va , lve _ max - I va , lve _ min ) '

N = Max(N _l , N ₂ ) x K In the above calculation formula, the units of the first matching rotational speed Ni, the second matching rotational speed N ₂ and the matching rotational speed N are all r, and the unit of the telescopic pressure P is MPa. Q (L/min) is the rated flow rate of the telescopic proportional valve, q (mL/r) is the displacement of the telescopic pump, A is the state coefficient, n is the efficiency of the telescopic pump, and W (KW) is the expansion pump Input power, the electronic control unit obtains the second matching rotational speed N ₂ from the external characteristic curve of the engine according to the input power W, K is a safety factor greater than 1, and the Max function is a maximum value, and the actual current I _valve unit is mA,

Ivalve_min (mA) is the minimum current value of the telescopic proportional valve, and I _valve — _max (mA) is the maximum current value of the telescopic proportional valve.

 The beneficial effects of the present invention are: Different from the prior art, the boom telescopic follow-up control method and system of the present invention calculates the engine according to the moving speed that the latch mechanism should respectively correspond to the high-speed moving region or the low-speed moving region. The required speed N is matched, and the engine speed is intelligently and accurately adjusted to match the speed N, so that the engine speed matches the expansion speed of the bolt mechanism, and the accuracy and correctness of the engine speed are improved, and the telescopic control is effectively improved. The success rate, so as to avoid the risk factors caused by manual manual operation errors, improve work efficiency. DRAWINGS

 1 is a schematic flow chart of an embodiment of a boom telescopic follow-up control method according to the present invention;

 2 is a schematic flow chart of another embodiment of a boom telescopic follow-up control method according to the present invention;

 3 is a schematic diagram showing the connection of functional modules of an embodiment of the boom telescopic follow-up control system of the present invention; and FIG. 4 is a schematic view showing the connection mode of the working oil passage of the boom telescopic follow-up control system of the present invention. Detailed ways

 Please refer to FIG. 1, which is a schematic flow chart of an embodiment of a boom telescopic follow-up control method according to the present invention. In this embodiment, the boom telescopic follow-up control method includes:

Step S101, when the telescopic cylinder drives the latch mechanism to move, detecting the position of the latch mechanism in real time is In the high-speed moving area or the low-speed moving area.

 Before the step S101, the user first inputs the target state that the boom needs to be extended, and then activates the automatic telescopic switch, and the telescopic cylinder drives the latch mechanism to insert the load pin on the multi-section arm, and the multi-section arm needs to be extended. The telescopic cylinder drives the latch mechanism to find the tail of the j-th telescopic arm to be extended, and extends the work pin to lock the telescopic cylinder with the j-th telescopic arm to ensure the j-th telescopic arm or the j-1th telescopic The arm is in a controllable state, and then the carrier pin of the j-th telescopic arm inserted in the telescopic arm of the j-1th section is retracted. Then, the telescopic cylinder is fixed to the latch mechanism and drives the latch mechanism to move toward the destination pin hole. Of course, it can also be a contraction action, and will not be described here. At the same time, the length of the telescopic cylinder can be detected by the cylinder length detecting device to determine whether the position of the latch mechanism belongs to the high speed moving area or the low speed moving area.

 Step S102, obtaining a high-speed moving speed required by the latch mechanism when belonging to the high-speed moving area, and obtaining a low-speed moving speed required by the latch mechanism when belonging to the low-speed moving area.

 In the step S102, the telescopic cylinder length can be read and calculated from the cylinder length detecting device by the electronic control unit, and then the moving speed required by the latch mechanism can be obtained from the pre-stored database as high speed or low speed; The moving speed required by the latch mechanism can be directly calculated by the electronic control unit; understandably, the high speed moving area may include an area of acceleration, deceleration, and uniform speed, and the low speed moving area may also include an area of deceleration and uniform speed. After determining the required moving speed of the latch mechanism, the speed of movement of the telescopic cylinder can be controlled by controlling the size of the valve of the telescopic proportional valve. For example, by changing the magnitude of the current of the telescopic proportional valve, the telescopic proportional valve is in a full flow state, a minimum flow state, or a certain flow state between the two states, thereby changing the moving speed of the telescopic cylinder.

 Step S103, calculating a matching rotational speed N required for driving the engine of the telescopic cylinder according to the high speed moving speed or the low speed moving speed of the latch mechanism.

In this step S103, as described above, when the telescopic proportional valve is in a full flow state, a minimum flow state, or a certain flow state between the two states, the telescopic pump needs to provide a high-pressure oil that matches the flow rate into the expansion and contraction. The proportional valve finally enters the rod cavity or the rodless cavity of the telescopic cylinder to change the moving speed of the telescopic cylinder. Therefore, the electronic control unit calculates the matching rotational speed N required for the engine of the telescopic pump based on the required moving speed of the latch mechanism. In this embodiment, the matching rotational speed N also needs to satisfy both the flow rate requirement and the power demand of the telescopic proportional valve and the telescopic pump. In addition, the electronic control unit can directly set the rotational speed of the engine, or can be matched according to the message format of TSC1 (engine speed torque control command) in SAE-J1939 (Recommended Operating Procedure of Serial Control Communication Vehicle Network). The N coded speed command is sent to the engine control unit. Among them, in order to prevent the engine power from being low, or the flow rate of the telescopic cylinder is insufficient, the engine speed has been pre-processed by calculation. Between the idle speed and the maximum speed, this step is further accurately calculated to control the engine speed as the matching speed N.

 Step S104, setting the matching rotational speed N to the current rotational speed of the engine.

 In the step S104, the rotational speed of the engine is set to the matching rotational speed N by the electronic control unit or by the engine control unit according to the rotational speed command. After the latch mechanism is extended to the target pin hole, the carrier pin is released, and the bearing pin of the j-th telescopic arm is inserted into the j-1 telescopic arm to expand and contract the j-th telescopic arm and the j-1th section The arm is locked again, and the stretching operation of the telescopic arm of the jth section is completed. Of course, it can also be a contraction action, which will not be described herein. This step S101 to step S104 is repeated until the multi-section arm of the boom is expanded to the target state.

 According to the embodiment of the present invention, the boom telescopic follow-up control method calculates the matching rotational speed N required by the engine according to the moving speed of the latch mechanism, and intelligently precisely adjusts the rotational speed of the engine to the matched rotational speed N, so that the rotational speed of the engine and the latch mechanism are The telescopic speed is matched to improve the accuracy and correctness of the engine speed, and the success rate of the telescopic control is effectively improved, thereby avoiding the risk factors caused by manual manual operation errors and improving work efficiency.

 Please refer to FIG. 2 in conjunction with FIG. 1 , which is a schematic flowchart of another embodiment of the boom telescopic follow-up control method of the present invention. In a specific embodiment, the boom telescopic follow-up control method includes:

 Step S200, inputting a target state of the boom and acquiring a current state of the boom, calculating a total distance required for the latch mechanism according to the target state and the current state of the boom, and dividing the total distance into the latch mechanism. The high speed moving area and the low speed moving area.

 In the step S200, the user first inputs the destination state in which the boom needs to be extended, and then detects the current state of the boom by the mechanism state detecting means and/or the cylinder length detecting means. After the automatic telescopic switch is activated, the telescopic cylinder drives the latch mechanism to insert the carrier pin into the multi-section arm. When the multi-section arm needs to be telescoped, the telescopic cylinder drives the latch mechanism to find the tail of the j-th telescopic arm to be extended. Extending the work pin to lock the telescopic cylinder with the j-th telescopic arm to ensure that the j-th telescopic arm or the j-1 telescopic arm is in a controllable state, and then retracting the j-th telescopic arm into the j-th - 1 carrier pin in the telescopic arm.

 Step S201: When the telescopic cylinder drives the latch mechanism to move, the real-time detecting whether the position of the latch mechanism belongs to the high speed moving area or the low speed moving area.

 In the step S201, the telescopic cylinder is fixed to the latch mechanism and drives the latch mechanism to move toward the target pin hole. At the same time, the length of the telescopic cylinder can be detected by the cylinder length detecting device to determine whether the position of the latch mechanism belongs to the high speed moving zone or the low speed moving zone.

Step S202, obtaining a high-speed moving speed required by the latch mechanism when belonging to the high-speed moving area, and obtaining a low-speed moving speed required by the latch mechanism when belonging to the low-speed moving area. In the step S202, the length of the telescopic cylinder expansion and contraction can be read and calculated from the cylinder length detecting device by the electronic control unit, and then the moving speed required for the latch mechanism can be obtained from the prestored database as high speed or low speed. Of course, the moving speed required by the latch mechanism can also be directly calculated by the electronic control unit.

Step S203, outputting the actual current I _value to the telescopic proportional valve according to the high speed moving speed or the low speed moving speed of the latch mechanism to control the working state of the telescopic proportional valve.

 In this step S203, as described above, the input current of the telescopic proportional valve needs to be adjusted correspondingly to change the valve opening size of the telescopic proportional valve, so that the telescopic proportional valve is in a full flow state, a minimum flow state, or two states. A certain flow state between them, thereby changing the moving speed of the telescopic cylinder.

Step S204, calculating a first matching rotational speed of the engine according to a flow demand of the telescopic proportional valve and the corresponding telescopic pump, and calculating a second matching rotational speed N of the engine according to a power demand of the telescopic proportional valve and its corresponding telescopic pump ₂ , to find the matching speed N.

In the step S204, the specific calculation process of the first matching rotational speed second matching rotational speed N ₂ and the matching rotational speed N includes:

-Formula 1

P x Q

 W X - type 2

 60x 77

N = Max(N ₁ , N ₂ ) x K - Equation ₃ In the present embodiment, unless otherwise specified, the first matching rotational speed second matching rotational speed N ₂ and the matching rotational speed N are both r (trans) Through the throttle follow-up control of the telescopic pump to change the displacement q (in mL/r, cc/rev) of the telescopic pump, the engine drives the telescopic pump and pumps the high-pressure oil to the telescopic proportional valve through the hydraulic passage Q is the rated flow rate of the telescopic proportional valve (unit is IJmin, liters/min), A is the state coefficient, P is the telescopic pressure (in MPa, MPa) in the hydraulic passage, and n is the efficiency of the telescopic pump. W is the input power (in KW, kilowatts) of the telescopic pump. According to the input power W, the second matching rotational speed N ₂ is obtained from the external characteristic curve of the engine, the Max function takes the maximum value, and K is greater than 1 safety. coefficient.

 Further, when the latch mechanism is in the high speed moving zone, the state coefficient A=l, namely:

_{Λ Τ} β χ ΐ θ ³ _Λ

^ = - ^ xl - Equation ₄ - Equation 5

 60x77

Ν = Μαχ(Ν _ι , Ν ₂ ) χΚ - Equation ₆ and when the latch mechanism is in the low speed moving zone, namely:

8

w PXQ (!valve - ¹ valve

 X- - type 9

 60x77 ( I valve max valve

N = Max(N _l , N ₂ )xK - Equation 10

In Equations 7 to 10, I _valve — _min is the minimum current value (in mA, mA) of the telescopic proportional valve, and I _valve — max is the maximum current value (in mA) of the telescopic proportional valve. When the engine is in the high speed section, the actual current I _value (in mA) of the telescopic proportional valve is equal to I _valve — _max , ie A=l.

 Step S205, encoding the matching rotational speed N into a rotational speed command according to a message format of the engine speed torque control command.

 In the step S205, the rotational speed of the engine may be directly set by the electronic control unit, or the matching rotational speed N may be encoded into a rotational speed command to be sent to the engine control unit according to the message format requirement of TSC1 in SAE-J1939.

 Step S206, setting the rotation speed of the engine to the matching rotation speed N according to the rotation speed command.

 As described above, the rotational speed of the engine can be set to the matched rotational speed 1^ by the electronic control unit or by the engine control unit according to the rotational speed command. After the latch mechanism is extended to the target pin hole, the carrier pin is released, and the bearing pin of the j-th telescopic arm is inserted into the j-1 telescopic arm to expand and contract the j-th telescopic arm and the j-1th section The arm is locked again, and the stretching operation of the telescopic arm of the jth section is completed. Of course, it can also be a contraction action, which will not be described herein. This step S200 to step S206 is repeated until the multi-section arm of the boom is expanded to the target state.

In the embodiment of the present invention, the boom telescopic follow-up control method calculates the matching rotational speed N required by the engine according to the moving speed of the latch mechanism, and intelligently and accurately adjusts the rotational speed of the engine to the matched rotational speed N, so that the rotational speed of the engine is The telescopic speed of the latch mechanism is matched to improve the accuracy and correctness of the engine speed, and the success rate of the telescopic control is effectively improved, thereby avoiding risk factors caused by manual manual operation errors and improving work efficiency.

 The boom telescopic follow-up control method is further described below in conjunction with the boom telescopic follow-up control system of the embodiment of the present invention, wherein the boom telescopic follow-up control system is applied to, but not limited to, a large construction machinery boom, a crane, and Wreckers, etc.

 Referring to FIG. 3 to FIG. 4, in the embodiment, the boom telescopic follow-up control system includes a latch mechanism (not shown), an electronic control unit 30, and a mechanism state detecting device 31 connected to the electronic control unit 30. A cylinder length detecting device 32, an engine control unit (ECU) 33, an engine 34, a telescopic proportional valve 35, a telescopic pressure sensor 36, a telescopic pump 40, a telescopic cylinder 41, and the like.

 As previously mentioned, the latch mechanism is used to insert or pull the carrier pin, and the telescopic cylinder 41 is fixedly coupled to the latch mechanism. The electronic control unit 30 is also called an automotive electronic control unit, an electronic control unit, an automotive electronic control unit, an integrated circuit control unit, or a multi-channel control device, and is mainly used to implement a series of functions such as analysis, processing, and transmission of data. In this embodiment, the electronic control unit 30 can obtain a high-speed moving speed or a low-speed moving speed corresponding to the latch mechanism according to the position where the latch mechanism is located in the high-speed moving area or the low-speed moving area, and according to the latch mechanism. The required high speed moving speed or low speed moving speed calculates the matching speed N required to drive the engine of the telescopic cylinder;

 The mechanism state detecting device 31 is mainly used for detecting the action of the latch mechanism releasing the work pin, and also for detecting the current state of the multi-section arm of the boom, and the like, including the boom combination, the telescopic cylinder 41, the load pin, and the real-time state of the work pin. The electronic control unit 30 can perform overall processing based on the data detected by the mechanism state detecting means 31.

 The cylinder length detecting device 32 is configured to detect the telescopic cylinder length of the telescopic cylinder 41 in real time to determine whether the position of the latch mechanism belongs to the high speed moving area or the low speed moving area, and can also be used to cooperate with the mechanism state detecting device 31 to detect the multi-section arm. The current state.

The engine control unit 33 is similar to a conventional microcontroller, and is integrated by a microprocessor (CPU), a memory (ROM, RAM), an input/output interface (I/O), an analog-to-digital converter (A/D), and shaping, driving, and the like. The circuit composition is mainly operated, processed, and judged based on data of the electronic control unit 30 or information input by various sensors, and then outputs commands to control the rotational speed of the engine. In order to distinguish its function, the present embodiment separately provides the engine control unit 33 for the engine 34. In other embodiments, the engine control unit 33 and the electronic control unit 30 may be integrated. In addition, the engine control unit 33 is electrically connected to the electronic control unit 30 via a CAN (Controller Area Network) bus. During operation, the electronic control unit 30 encodes the matching rotational speed N according to the message format of the TSC1 in SAE-J1939. The speed command is sent to the engine control unit 33 via the CAN bus, For example, the electronic control unit 30 transmits a rotational speed command to the engine control unit 33 in accordance with the second and third bytes of ID=0C0000F0, and the engine control unit 33 adjusts the rotational speed of the engine 34 to the matched rotational speed No by the rotational speed command. Specifically, the electronic control unit 30 calculates the first matching rotational speed of the engine 34 according to the flow demand of the telescopic proportional valve 35 and the telescopic pump 40, and calculates the second match of the engine 34 according to the power demand of the telescopic proportional valve 35 and the telescopic pump 40. The speed N _{2 is used} to determine the matching speed N required by the engine 34:

When the latch mechanism is in the high speed moving zone, the method for calculating the matching rotational speed N includes the following process:

Formula 11

P x Q

 W x l

 60x 77 - type 12

N = Max(N ₁ , N ₂ ) x K

 - Equation 13

When the latch mechanism is in the low speed moving zone, the calculation method of the matching speed N includes the following:

Formula 14

P X Q (Ivalve - I valve min '

 W = X

 60x 77 ( I valve max valve min

N = Max(N ₁ , N ₂ ) x K - Equation 16

In the formulas 11 to 16 of the present embodiment, unless otherwise specified, the units of the first matching rotational speed Ni, the second matching rotational speed N ₂ and the matching rotational speed N are all r, and Q is the rated flow rate of the telescopic proportional valve 35 (unit L/rnin), q is the displacement of the telescopic pump 40 (unit: rnlJr), P is the telescopic pressure (unit MPa) in the hydraulic passage between the expansion proportional valve 35 and the telescopic pump 40, n is the telescopic pump 40 The efficiency, W is the input power (in KW) of the telescopic pump 40, and the second matching rotational speed N ₂ is obtained from the external characteristic curve of the engine 34 according to the input power W, and the Max function takes the maximum value, and K is greater than 1 The safety factor, I _va i _ve — is the minimum current value (in mA) of the telescopic proportional valve 35, I _valve — _max is the maximum current value (in mA) of the telescopic proportional valve 35, when the engine 34 is in the high speed section The actual current I _value (in mA) of the telescopic proportional valve 35 is equal to I _valve — _max .

The engine 34 is mainly used to power the telescopic pump 40, and the flow rate of the high-pressure oil pumped by the telescopic pump 40 is controlled by the rotational speed of the engine 34. In other words, the engine 34 is used to drive the telescopic cylinder 41 to change the telescopic cylinder The telescopic cylinder length of 41, and the telescopic pump 40 is driven by the engine 34 to pump high-pressure oil from the fuel tank and is sent to the telescopic proportional valve 35 through the output port of the telescopic pump 40.

The telescopic proportional valve 35 includes a pressure port, a return port, a first working port, a second working port, and a proportional control end Yla, Ylb. Connecting the output port of the telescopic pump 40 through the pressure port; connecting to the oil tank through the oil return port; connecting to the rod cavity of the telescopic cylinder 41 through the first working oil port; passing the second working oil The port is connected to the rodless cavity of the telescopic cylinder 41; the proportional control terminals Y1a, Y1b are electrically connected to the electronic control unit 30. In this embodiment, the electronic control unit 30 outputs the actual current I _value to the proportional control terminals Y1a, Y1b according to the high speed moving speed or the low speed moving speed of the latch mechanism to control the pressure port and the oil return port of the telescopic proportional valve 35, The working state of the first working port and the second working port, and controlling the valve opening size of the telescopic proportional valve 35 to control the flow rate of the high pressure oil of the first working port or the second working port, so that the The matching rotational speed N of the engine 34 matches the amount of flow required for the telescoping proportional valve 35. As shown in FIG. 4, the specific structure of the telescopic proportional valve 35 is shown in the broken line portion, and is not described herein because it belongs to the prior art.

 As described above, the telescopic pressure sensor 36 is disposed in the hydraulic passage of the output port of the telescopic pump 40 and the pressure port of the telescopic proportional valve 35, and is electrically connected to the electronic control unit 30, and the telescopic pressure sensor 36 is used for The pressure in the hydraulic passage is measured, and the telescopic pressure P in the hydraulic passage is calculated by the electronic control unit 30, and the input power W of the telescopic pump 40 is calculated by the telescopic pressure P to match the matching rotational speed N of the engine 34. .

 The display device 37 is electrically connected to the electronic control unit 30, and may be a touch screen or the like for displaying a destination state and a current state of the user inputting the boom, and displaying the required movement of the latch mechanism calculated by the electronic control unit 30. Total distance and percentage of expansion progress. The electronic control unit 30 calculates the total distance required for the latch mechanism to move according to the target state and the current state of the boom, and divides the total distance into a high-speed moving area and a low-speed moving area of the latch mechanism, and then, the cylinder The length detecting device 32 detects the telescopic cylinder length in real time and calculates the real-time distance that the latch mechanism has moved by the electronic control unit 30. Further, the electronic control unit 30 according to the total distance and the real-time distance that the latch mechanism has moved The percentage of the expansion progress is calculated and displayed, so that the user can perform emergency visual operations to prevent emergencies and the like.

 Of course, in addition to the display device 37, the embodiment of the present invention may further include a switch command input unit 38 and a status indicator 39. The switch command input unit 38 may be used to activate an automatic telescopic switch or input various commands, and the status indicator is 39 can display the percentage of the expansion progress or the working progress and the telescopic state of the boom telescopic follow-up control system, etc., and will not be described herein.

The boom telescopic follow-up control system of the embodiment of the invention may be in addition to the above structure and its corresponding working principle, Other structures including construction machinery booms and corresponding working principles are not limited insofar as they are understood by those skilled in the art.

 In summary, the boom telescopic follow-up control system and method of the present invention can calculate the matching rotational speed N required by the engine 34 according to the moving speed of the latch mechanism, and intelligently and accurately adjust the rotational speed of the engine 34 to the matched rotational speed. N, matching the rotational speed of the engine 34 with the telescopic speed of the latch mechanism, improving the accuracy and correctness of the rotational speed of the engine 34, effectively improving the success rate of the telescopic control, thereby avoiding risk factors caused by manual manual operation errors. Improve work efficiency.

 The above is only the embodiment of the present invention, and thus does not limit the scope of the invention, and the equivalent structure or equivalent process transformation made by using the specification and the drawings of the present invention, or directly or indirectly applied to other related technologies. The scope of the invention is included in the scope of patent protection of the present invention.

Claims

Rights request

A boom telescopic follow-up control method, wherein the boom moves a latch mechanism to insert or pull a multi-section arm through a telescopic cylinder, and is characterized in that:

 When the telescopic cylinder drives the latch mechanism to move, it is detected in real time whether the position of the latch mechanism belongs to a high speed moving area or a low speed moving area;

 Obtaining a high-speed moving speed required by the latch mechanism when belonging to a high-speed moving area, and obtaining a low-speed moving speed required by the latch mechanism when belonging to a low-speed moving area;

 Calculating a matching rotational speed N required to drive the engine of the telescopic cylinder according to the high speed moving speed or the low speed moving speed of the latch mechanism;

 The matching rotational speed N is set to the current rotational speed of the engine.

2. The method according to claim 1, wherein the high speed moving speed required to obtain the latch mechanism when belonging to the high speed moving area is obtained when the low speed moving area is obtained The steps of moving at a low speed further include:

Outputting an actual current I _value to the telescopic proportional valve according to the high speed moving speed or the low speed moving speed of the latch mechanism to control the working state of the telescopic proportional valve;

 The step of calculating the matching rotational speed N required to drive the engine of the telescopic cylinder according to the high speed moving speed or the low speed moving speed of the latch mechanism includes:

Calculating a first matching rotational speed of the engine according to a flow demand of the telescopic proportional valve and its corresponding telescopic pump, and calculating a second matching rotational speed of the engine according to a power demand of the telescopic proportional valve and its corresponding telescopic pump N ₂ , to find the matching rotational speed N, where:

_Λ , β χ ΐ θ ³ ,

 ^ =- χ Α

 q

 P x Q

 W = ^— x A

60 x 77 N = Max(N _l , N ₂ ) x K , wherein the first matching rotational speed second matching rotational speed N ₂ and the matching rotational speed N are in units of r, and the throttle is moved by the telescopic pump Controlling to change the displacement q (mL/r) of the telescopic pump, the engine drive extension Shrinking pump and pumping high-pressure oil to the telescopic proportional valve through a hydraulic passage, Q (L/min) is the rated flow rate of the telescopic proportional valve, A is a state coefficient, and P (MPa) is the expansion and contraction in the hydraulic passage Pressure, n is the efficiency of the telescopic pump, W (KW) is the input power of the telescopic pump, and the second matching rotational speed N ₂ , Max function is obtained from the external characteristic curve of the engine according to the input power W To take the maximum value, K is the safety factor.

The method according to claim 2, wherein, when the telescopic cylinder drives the latch mechanism to move, the step of real-time detecting whether the position of the latch mechanism belongs to the high speed moving area or the low speed moving area further comprises: inputting Determining a target state of the boom and acquiring a current state of the boom, calculating a total distance required for the latch mechanism to move according to a target state and a current state of the boom, and dividing the total distance into the latch The high speed moving area and the low speed moving area of the mechanism;

 The step of obtaining the high speed moving speed required by the latch mechanism when belonging to the high speed moving area, and the step of obtaining the low speed moving speed required by the latch mechanism when belonging to the low speed moving area include:

 Real-time detecting the state of the telescopic cylinder to obtain a telescopic cylinder length, and calculating a real-time distance that the latch mechanism has moved according to the detected telescopic cylinder length;

 Judging from the real-time distance and the total distance, the latch mechanism belongs to the high-speed moving area or the low-speed moving area, and obtains a high-speed moving speed or a low-speed moving speed required by the latch mechanism.

4. The method according to claim 3, wherein the first matching rotational speed of the engine is calculated according to a flow demand of the telescopic proportional valve and its corresponding telescopic pump according to the telescopic proportional valve and The power requirement of the corresponding telescopic pump calculates the second matching rotational speed N ₂ of the engine, and the step of determining the matching rotational speed N includes:

 When the latch mechanism is in the high speed moving zone, the state coefficient A=l, K is greater than 1, 艮卩:

q

60 x 77 N = Max(N _l , N ₂ ) x K When the latch mechanism is in the low speed moving zone, K is greater than 1, at this time: ― (I valve I valve _ min )

 ( I valve max ^ valve min '

10 ^J

Valve

 ■x - valve max

 I valve ^ valve

 60 X 77 / ( \ I va , lve _ max -I va , lve _

N = Max(N _l , N ₂ ) x K where the actual current I _valre is in mA,

(mA) is the minimum current value of the telescopic proportional valve, and I _valve — _max (mA) is the maximum current value of the telescopic proportional valve.

The method according to claim 4, wherein the step of calculating the matching rotational speed N required to drive the engine of the telescopic cylinder according to the high speed moving speed or the low speed moving speed of the latch mechanism comprises:

 The matching rotational speed N is encoded into a rotational speed command according to a message format of an engine speed torque control command; and the step of setting the matched rotational speed N to the current rotational speed of the engine includes: The rotational speed of the engine is set to the matched rotational speed N.

A boom telescopic follow-up control system, comprising:

 a latching mechanism for inserting or pulling a carrier pin;

 a telescopic cylinder fixedly connected to the latch mechanism for driving the latch mechanism to move;

 An engine for driving the telescopic cylinder to change a telescopic cylinder length of the telescopic cylinder;

 a cylinder length detecting device, configured to detect the length of the telescopic cylinder in real time to determine whether the position of the latch mechanism belongs to a high speed moving area or a low speed moving area;

 An electronic control unit, configured to obtain a high-speed moving speed or a low-speed moving speed required by the latch mechanism according to a position where the latch mechanism is located in a high-speed moving area or a low-speed moving area, and according to the latch mechanism Calculating the matching speed N required by the engine at a high speed moving speed or a low speed moving speed;

An engine control unit is coupled to the engine for setting the matched rotational speed N calculated by the electronic control unit to a current rotational speed of the engine.

7. The system according to claim 6, further comprising a telescopic pump and a telescopic proportional valve: the telescopic pump for pumping high pressure oil from a fuel tank by driving of the engine, the telescopic pump comprising Output port;

 The telescopic proportional valve includes:

 a pressure port for connecting to the output port;

 a return port for connecting to the fuel tank;

 a first working port for connecting to a rod cavity of the telescopic cylinder;

 a second working port for connecting to the rodless cavity of the telescopic cylinder;

 a proportional control end electrically connected to the electronic control unit;

The electronic control unit outputs an actual current i _value to the proportional control end according to the high speed moving speed or the low speed moving speed of the latch mechanism to change the valve opening size of the telescopic proportional valve to control the flow rate of the high pressure oil, so that The matching rotational speed N of the engine matches the flow rate required by the telescopic proportional valve.

8. The system according to claim 7, further comprising:

 a telescopic pressure sensor disposed in the hydraulic passage connected to the pressure port of the telescopic proportional valve and electrically connected to the electronic control unit; the telescopic pressure sensor is configured to measure the hydraulic pressure a pressure in the passage, the electronic control unit calculates a telescopic pressure P in the hydraulic passage according to a pressure in the hydraulic passage, and calculates an input power w of the telescopic pump by the telescopic pressure P, so that The matching speeds N of the engines are matched.

9. The system according to claim 8, further comprising:

 a display device electrically connected to the electronic control unit for displaying a destination state and a current state of the user inputting the boom, and displaying a total distance required for movement of the latch mechanism calculated by the electronic control unit And the percentage of the progress of the expansion;

The electronic control unit calculates a total distance required for the latch mechanism to move according to the target state and the current state of the boom, and divides the total distance into a high-speed moving area and a low-speed moving area of the latch mechanism. The cylinder length detecting device detects the telescopic cylinder length in real time and calculates a real-time distance that the latch mechanism has moved by the electronic control unit, and the electronic control unit moves according to the total distance and the latch mechanism The real-time distance calculation gives the percentage of the expansion progress.

10. The system according to claim 8 or 9, wherein the engine control unit is electrically connected to the electronic control unit via a controller area network bus, and the electronic control unit controls the command according to an engine speed torque The message format encodes the matching rotational speed N into a rotational speed command and transmits to the engine control unit via the controller area network bus to set the rotational speed of the engine to the matched rotational speed N according to the rotational speed command;

The electronic control unit calculates the first matching rotational speed of the engine according to the flow demand of the telescopic proportional valve and the telescopic pump, and calculates the engine according to the power demand of the telescopic proportional valve and the telescopic pump. The second matching speed N _{2 is} to find the matching speed N:

 When the latch mechanism is in the high speed moving zone, the calculating method of the matching rotational speed N includes:

q

 60 x 77

Ν = Μαχ(Ν _ι , Ν ₂ ) χ Κ When the latch mechanism is in the low speed moving zone, the calculation method of the matching rotational speed 包括 includes:

 v Q - T

 ― x V valve valve _ min,

 Valve _ max valve _ min,

N = Max(N ₁ , N ₂ ) x K wherein the first matching rotational speed second matching rotational speed N ₂ and the matching rotational speed N are all in units of r, and the unit of the telescopic pressure P is MPa, Q ( L/min) is the rated flow rate of the telescopic proportional valve, q (mL/r) is the displacement of the telescopic pump, A is the state coefficient, n is the efficiency of the telescopic pump, and W (KW) is the telescopic The input power of the pump, the electronic control unit acquires the second matching rotational speed N ₂ from the external characteristic curve of the engine according to the input power W, K is a safety factor greater than 1, and the Max function is a maximum value. The actual current I _va i _ve is in mA,

(mA) is the minimum current value of the telescopic proportional valve, and I _valve — _max (mA) is the maximum current value of the telescopic proportional valve.