WO2022099992A1 - Variable amplitude control method, device and system for vibratory roller, and road roller - Google Patents

Variable amplitude control method, device and system for vibratory roller, and road roller Download PDF

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Publication number
WO2022099992A1
WO2022099992A1 PCT/CN2021/086991 CN2021086991W WO2022099992A1 WO 2022099992 A1 WO2022099992 A1 WO 2022099992A1 CN 2021086991 W CN2021086991 W CN 2021086991W WO 2022099992 A1 WO2022099992 A1 WO 2022099992A1
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Prior art keywords
vibration frequency
roller
value
vibration
soil
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PCT/CN2021/086991
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French (fr)
Chinese (zh)
Inventor
高亮
夏磐夫
段吉轮
林栋冰
朱冠亚
高孔超
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徐工集团工程机械股份有限公司道路机械分公司
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Publication of WO2022099992A1 publication Critical patent/WO2022099992A1/en

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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/282—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows self-propelled, e.g. with an own traction-unit
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/286—Vibration or impact-imparting means; Arrangement, mounting or adjustment thereof; Construction or mounting of the rolling elements, transmission or drive thereto, e.g. to vibrator mounted inside the roll
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/23—Rollers therefor; Such rollers usable also for compacting soil
    • E01C19/28—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows
    • E01C19/288—Vibrated rollers or rollers subjected to impacts, e.g. hammering blows adapted for monitoring characteristics of the material being compacted, e.g. indicating resonant frequency, measuring degree of compaction, by measuring values, detectable on the roller; using detected values to control operation of the roller, e.g. automatic adjustment of vibration responsive to such measurements

Definitions

  • the invention relates to the technical field of road rollers, in particular to a vibration roller variable amplitude control method, device, system and road roller.
  • the road roller is a construction machine whose main purpose is to increase the compactness of the working medium (soil filling and road pavement mixture).
  • the earliest road rollers were compacted by static force, that is, the static pressure generated by the roller's own weight was used to force the working medium to be compacted.
  • the internal friction between particles is lost, resulting in higher compaction efficiency and better compaction effect, so vibratory rollers are gradually becoming the mainstream.
  • the amplitude of the vibrating wheel is also required to be different, and the vibration amplitude has a large adjustment range.
  • the road roller can better adapt to a variety of compaction conditions.
  • the most commonly used amplitude adjustment method is to change the eccentric moment of the exciter in the vibrating wheel of the roller (referring to the product of the eccentric mass of the exciter and the eccentric distance), because the mass of the vibrating part of the vibrating wheel itself (referring to the vibrating wheel and all Under the premise that the mass of the rigidly connected part with the vibration wheel is unchanged, increasing the eccentric moment of the exciter can directly increase the amplitude.
  • a typical exciter structure that can change the eccentric moment such as an eccentric sleeve shaft transposition multi-amplitude modulation mechanism, uses two eccentric shafts rotating coaxially to form an exciter, and manually adjusts the relative positions of the inner and outer eccentric shafts through the coupling sleeve.
  • Another common amplitude adjustment method is to change the direction of the exciting force, and the directional vibration wheel is the basis of this type of amplitude modulation mechanism.
  • the vibration wheel outputs a directional vibration force. If the direction of the force is adjusted steplessly between the vertical ground and the horizontal, the corresponding amplitude is adjusted steplessly between the maximum and zero values.
  • the typical structure is the four-axis stepless amplitude modulation mechanism proposed by BOMAG. The four exciters are installed in the inner cylinder, and the two exciters in the middle and the two exciters on both sides rotate synchronously in opposite directions to form directional vibration force.
  • the shaft rotates the inner cylinder under the drive of the amplitude modulation oil cylinder, and changes the angle between the inner cylinder and the vertical ground direction, that is, the angle between the directional vibration force and the vertical ground direction, and realizes the adjustment of the amplitude.
  • This mechanism can realize the stepless adjustment of the amplitude, but The structure is very complex.
  • the existing amplitude adjustment method needs to be realized by changing the eccentric moment of the exciter in the vibration wheel of the roller or changing the direction of the exciting force, and it needs to use a special structure of the exciter in the vibration wheel or a special structure of the vibration wheel to realize, so that the road roller
  • the structure of the vibrating wheel is complex, which leads to inconvenience in manufacturing and processing, and at the same time, the reliability of the roller is reduced due to the use of more components.
  • the purpose of the present invention is to provide a variable amplitude control method, device, system and road roller of a vibratory roller, which can realize the adjustment of the amplitude without changing the eccentric moment or the direction of the exciting force of the exciter in the vibrating wheel of the roller, and has the advantages of simple structure and easy operation. The advantages of convenience and high reliability.
  • the present invention adopts the following technical solutions to realize:
  • the invention discloses a variable amplitude control method for a vibratory roller, comprising:
  • the data information is obtained by the road roller in the soil to be pressed or the same soil as the soil to be pressed;
  • the preset value of the vibration frequency is greater than the second-order natural frequency value of the road roller-soil system.
  • vibration frequency setting value is greater than the second-order natural frequency value of the road roller-soil system.
  • the data information is vibration acceleration information of the vibration wheel of the roller.
  • the setting of the vibration frequency is realized by regulating the displacement of the electronically controlled proportional pump, and the stepless adjustment of the vibration frequency is realized by the stepless adjustment of the pump displacement.
  • control of the vibration frequency setting value adopts open-loop control.
  • control of the vibration frequency setting value adopts feedback control, including the following steps:
  • Step 31 Set the vibration frequency of the roller, and obtain the vibration frequency setting value
  • Step 32 Acquire the amplitude of the vibration wheel in real time according to the data information, compare the amplitude acquired in real time with the preset amplitude, and if the comparison results are equal, then control the roller to vibrate rolling at the vibration frequency corresponding to the current vibration frequency setting value. , if the comparison results are not equal, go to step 33;
  • Step 33 Set a new vibration frequency setting value, ensure that the vibration frequency value is greater than the second-order natural frequency value and adjust the degree to which the vibration frequency setting value is close to the second-order natural frequency value, and then turn to step 32.
  • adjusting the degree to which the vibration frequency setting value is close to the second-order natural frequency value in the step 33 includes:
  • the amplitude data acquired in real time is smaller than the preset amplitude, set a new vibration frequency setting value so that it is close to the second-order natural frequency value relative to the current vibration frequency setting value.
  • controlling the road roller to perform vibratory rolling includes the following steps:
  • the invention also discloses a variable amplitude control device for a vibratory roller, comprising:
  • the frequency sweep module is used to obtain the data information in the process of the vibration frequency rising from zero to the preset value of the vibration frequency; the data information is obtained by the road roller in the soil to be pressed or the same soil as the soil to be pressed;
  • an analysis module configured to obtain the second-order natural frequency value of the road roller-soil system according to the data information
  • the reset module is used to set the vibration frequency of the roller, obtain the set value of the vibration frequency, and control the degree to which the set value of the vibration frequency is close to the second-order natural frequency value;
  • the execution module is used to control the roller to vibrate and compact the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
  • the invention also discloses a variable amplitude control system for a vibrating road roller, comprising a controller and an acceleration sensor installed on the vibrating wheel;
  • the acceleration sensor is used to obtain data information in the process of the vibration frequency rising from zero to the preset value of the vibration frequency; the data information is obtained by the road roller in the soil to be pressed or the same soil as the soil to be pressed;
  • the controller is configured to obtain the second-order natural frequency value of the road roller-soil system according to the data information
  • It is used to control the roller to vibrate and compact the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
  • the invention also discloses a road roller, comprising the above-mentioned vibration roller variable amplitude control system.
  • the embodiments of the present invention have at least the following effects:
  • the control method of the present invention obtains the second-order natural frequency value of the soil to be pressed, and sets the vibration frequency setting value according to the relationship between the degree that the vibration frequency setting value is close to the second-order natural frequency value and the amplitude of the vibration wheel, and This vibration frequency is used to control the work of the roller, effectively controlling the amplitude change of the roller; there is no need to change the eccentric moment or the direction of the exciting force of the exciter in the vibration wheel of the roller, and there is no need to adopt a special structure of the exciter in the vibration wheel or the amplitude modulation oil cylinder Or the vibration wheel structure, the amplitude can be changed only by changing the vibration frequency, the control method is simple and the reliability is high;
  • the control of the vibration frequency setting value in the present invention adopts feedback control, and the amplitude can be obtained according to the vibration acceleration data, and the roller compaction can be carried out according to the comparison between the acquired amplitude and the preset amplitude.
  • the rolling effect can be further guaranteed.
  • the vibration frequency setting value is close to the second-order natural frequency value.
  • the amplitude can be changed step by step, which can realize the stepless adjustment of the amplitude, and the operation is convenient;
  • the vibratory roller always works near the second-order natural frequency during vibration compaction, which can make full use of the resonance principle, and force the soil to vibrate and compact with less power, thus saving energy and high efficiency;
  • the road roller of the present invention has a simple structure, and can drive the vibration motor to work through the electronically controlled proportional pump, thereby driving the vibration exciter in the vibration wheel to work, realizing stepless adjustment and convenient operation.
  • FIG. 1 is a flowchart of an embodiment of an amplitude control method according to a specific embodiment of the present invention
  • FIG. 2 is a flowchart of another embodiment of the amplitude control method according to the specific embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of an embodiment of an amplitude control system according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of another embodiment of the amplitude control system according to the specific embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of an embodiment of a road roller according to the specific embodiment of the present invention.
  • FIG. 1 is a flowchart of a method for controlling a vibratory roller with variable amplitude according to an embodiment of the present invention, including the following steps:
  • Step S101 the road roller vibrates on the soil to be compacted or the same soil as the soil to be compacted, and acquires data during the entire process from the vibration frequency from zero to a preset value of the vibration frequency.
  • the vibratory roller is a kind of construction machine that generates centrifugal force through the high-speed rotation of the vibration exciter installed inside the vibration wheel, so that the part inside the shock absorber generates continuous mechanical vibration, forcing the working medium to vibrate to achieve compaction.
  • the vibration frequency gradually increases from 0 to the preset value of the vibration frequency. If the preset value of the vibration frequency is large enough, as the frequency increases, when the vibration frequency is equal to the natural frequency of the system, the system will In the resonance state, the amplitude increases significantly, the vibration frequency continues to increase, and the system crosses the resonance area until the vibration frequency reaches the preset value of the vibration frequency.
  • the data in the whole process mentioned above may be continuous data of vibration acceleration of the vibration wheel in the time domain.
  • the vibration frequency is set to 32 Hz.
  • the continuous data of the vibration acceleration of the vibrating wheel in the time domain during the preset value of 32 Hz generally, the natural frequency of the "roller-soil" vibration system is less than 30 Hz, so the above continuous data includes the data of the system passing through the resonance area.
  • Step S102 Determine the second-order natural frequency value of the "roller-soil" vibration system based on the above data.
  • the second-order natural frequency value of the "roller-soil” vibration system can be determined. For example, by performing spectrum analysis on the continuous data of the vibration acceleration of the vibration wheel in the time domain, the vibration acceleration information at different frequencies can be found, and the second-order natural frequency value of the "roller-soil” vibration system can be obtained. It is also possible to perform quadratic integration on the continuous data of the vibration acceleration of the vibration wheel in the time domain to obtain the continuous data of the vibration wheel amplitude in the time domain. The amplitude information of , and the second-order natural frequency value is obtained through the amplitude-frequency response diagram.
  • the "roller-soil" vibration system has two natural frequencies, which are reflected in the amplitude-frequency response diagram and there will be two resonance peaks, which correspond to the two natural frequencies respectively, of which the smaller natural frequency is called the first-order natural frequency.
  • the roller parameters such as the stiffness of the vibration wheel shock absorber, the damping of the vibration wheel shock absorber, and the quality of the vehicle.
  • the larger natural frequency is the second-order natural frequency, which is mainly determined by soil parameters such as soil stiffness, soil damping, and road rollers. Parameters such as vibrating part mass are determined.
  • the second-order natural frequency value of the "roller-soil” vibration system is mainly determined by soil parameters such as soil stiffness, soil damping, and roller parameters such as the vibration part mass. The greater the soil stiffness, the higher the second-order natural frequency value. .
  • Step S103 Set the vibration frequency of the roller to obtain a vibration frequency setting value, and control the degree to which the vibration frequency setting value is close to the above-mentioned second-order natural frequency value. The closer the vibration frequency is to the second-order natural frequency, the greater the vibration wheel amplitude in the compaction process.
  • set the vibration frequency of the roller to obtain the set value of the vibration frequency.
  • set the vibration frequency of the roller to be close to the above-mentioned second-order natural frequency of 17Hz and 120% of the above-mentioned natural frequency of 17Hz, and obtain the vibration frequency value of 20.4Hz.
  • the vibration frequency value is lower when the roller is rolled.
  • the amplitude of the roller is about 130% of the nominal amplitude. If the vibration frequency of the roller is set closer to the above-mentioned second-order natural frequency of 17Hz, the amplitude of the roller during rolling can reach 300% to 500% of the nominal amplitude.
  • the vibration frequency setting value of the road roller is greater than the second-order natural frequency value.
  • the purpose of this design is that both the first-order natural frequency value and the second-order natural frequency value are peaks. That is, when the vibration frequency setting value changes from the first-order natural frequency value to the second-order natural frequency value, the amplitude is not monotonically increasing, and it is difficult to control the roller amplitude by adjusting the vibration frequency setting value.
  • Step S104 The road roller vibrates and compacts the soil to be compacted with the vibration frequency corresponding to the above-mentioned vibration frequency setting value.
  • the road roller uses the vibration frequency corresponding to the above-mentioned vibration frequency setting value to vibrate the soil that needs to be compacted.
  • the vibration frequency setting value is 20.4Hz
  • the roller is controlled to vibrate and roll with a vibration frequency of 20.4Hz.
  • FIG. 2 is a flow chart of another embodiment of the method for realizing variable amplitude of a vibratory roller according to the present invention. It should be noted that, in this embodiment, the acquisition of data from zero to the preset vibration frequency value, the acquisition of the second-order natural frequency value, etc. are the same as the embodiment corresponding to FIG. 1 , and this embodiment will not be described in detail. This embodiment specifically includes the following steps:
  • Step S201 the road roller vibrates on the soil that needs to be compacted or the same soil as the soil that needs to be compacted, and obtains data from zero to a preset value of the vibration frequency in the entire process.
  • Step S202 Determine the second-order natural frequency value of the "roller-soil" vibration system based on the above data.
  • Step S203 Set the vibration frequency of the roller to obtain the vibration frequency setting value.
  • the vibration frequency setting value is close to the above-mentioned second-order natural frequency of 17Hz and is 120% of the above-mentioned natural frequency of 17Hz
  • Step S204 Acquire the vibration acceleration data during the compaction process, and obtain the amplitude through data processing such as quadratic integration.
  • Step S205 When compared with the expected amplitude, if it is not equal, go to Step S205; if it is equal, go to Step S206.
  • Step S205 set a new vibration frequency setting value, if the amplitude data acquired in real time is greater than the preset amplitude, set a new vibration frequency setting value to make it farther away from the second-order natural frequency value than the current vibration frequency setting value; When the acquired amplitude data is smaller than the preset amplitude, a new vibration frequency setting value is set so that it is closer to the second-order natural frequency value than the current vibration frequency setting value, and the process goes to step S204.
  • the application makes the newly set vibration frequency setting value greater than the second-order value. natural frequency value.
  • the amplitude obtained in step S204 is smaller than the expected amplitude, indicating that the vibration frequency needs to be reduced, and the amplitude obtained in step S204 is larger than the expected amplitude, indicating that it is necessary to increase Great vibration frequency.
  • the amplitude obtained in step S204 is smaller than the expected amplitude, reduce the vibration frequency, and set a new vibration frequency setting value, which is greater than the above-mentioned second-order natural frequency of 17 Hz and less than the original vibration frequency setting value of 20.4 Hz.
  • 50% of the sum of the order natural frequency 17Hz and the original vibration frequency setting value of 20.4Hz, that is, 18.7Hz is the new vibration frequency setting value, set the roller vibration frequency to obtain a new vibration frequency setting value of 18.7Hz, and turn to step S204.
  • Step S206 The road roller vibrates and compacts the soil to be compacted with the vibration frequency corresponding to the above-mentioned vibration frequency setting value until the one-pass rolling is completed.
  • the road roller vibrates and compacts the soil to be compacted with the vibration frequency corresponding to the above-mentioned vibration frequency setting value until the rolling is completed.
  • Step S207 Determine whether the number of times of compaction reaches the expected number of times of compaction.
  • Step S208 Rolling is completed until the preset rolling effect is reached.
  • FIG. 3 is a schematic structural diagram of the vibration roller variable amplitude control device of the present invention, including: a frequency sweep module 101 , an analysis module 102 , a reset module 103 and an execution module 104 .
  • control apparatus in this embodiment may execute the corresponding steps in the embodiment corresponding to FIG. 1 .
  • the frequency sweeping module 101 is used to obtain the data information in the process of the vibration frequency from zero to the preset value of the vibration frequency; wherein, the preset value of the vibration frequency is greater than the second-order natural frequency value of the vibration system, and the data information is that the road roller needs to be compacted. soil or the same soil that needs to be compacted.
  • the analysis module 102 is configured to obtain the second-order natural frequency value of the vibration system according to the data information.
  • the reset module 103 is used to set the vibration frequency of the road roller according to the threshold interval where the second-order natural frequency value is located, and obtain the vibration frequency setting value; wherein, the vibration frequency setting value is close to the degree of the second-order natural frequency value and the The vibration wheel amplitude is proportional.
  • the execution module 104 is used to control the road roller to vibrate and compact the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
  • the preset value of the vibration frequency is greater than the second order natural frequency value of the roller-soil system.
  • FIG. 4 is a schematic structural diagram of another embodiment of the variable amplitude control system for a vibratory roller according to the present invention, including an acceleration sensor 201 and a controller 202 .
  • the acceleration sensor 201 is arranged on the vibration wheel, and is connected with the controller 202 through an electrical signal, and is used for the acquisition of data during the entire starting process from 0 to reaching the preset vibration frequency value in step S101 of the variable amplitude implementation method.
  • the controller 202 is placed on the vibratory road roller, and is used to receive the acceleration continuous data of the acceleration sensor and data processing, and determine the second-order natural frequency value of the "roller-soil" vibration system in the variable amplitude implementation method S102, and in S103.
  • the present invention also provides a stepless amplitude modulation vibratory roller, including: a vehicle frame 1 , a vibrating wheel 2 , a driving system 3 , a vibrating hydraulic system 4 , a power system 5 , a cab 6 , and a control part 7 .
  • the vibration wheel 2 , the drive system 3 , the power system 5 , and the cab 6 are installed on the frame 1 .
  • the vibration hydraulic system 4 includes an electronically controlled proportional pump 4-1 and a vibration motor 4-2, wherein the electronically controlled proportional pump 4-1 is connected to the power system 5, and obtains power from the power system 5 and is used to drive the vibration motor 4-2, the vibration motor 4-2 is connected with the vibration wheel 2, and is used to drive the vibration exciter in the vibration wheel 2 to rotate at a high speed.
  • the control part 7 includes a manipulation handle 7-1, a vibration button 7-2, a direction manipulation system 7-3, an instrument and an instrument box 7-4, a manipulation box 7-5, a controller 7-6, an acceleration sensor 7-7,
  • the acceleration sensor 7-7 is installed on the vibration wheel 2, and the others are installed in the cab 6.
  • the direction control system 7-3 is installed on the instrument and the instrument box 7-4, and the controller 7-6 is installed in the control box 7- 5.
  • the joystick 7-1 is installed on the joystick 7-5, and the vibration button 7-2 is installed on the top of the joystick 7-1.
  • the variable amplitude control system includes an acceleration sensor 7-7 and a controller 7-6.
  • the acceleration sensor 7-7 is installed on the vibration wheel 2, and the acceleration sensor 7-7 is connected to the controller 7-6.
  • the variable-amplitude control system is any one of the variable-amplitude control systems in the above-mentioned embodiments, which will not be repeated here.
  • the present invention uses the resonance principle to change the amplitude by controlling the degree to which the vibration frequency of the roller is close to the second-order natural frequency. The closer the vibration frequency value is to the second-order natural frequency value, the greater the vibration wheel amplitude.
  • the roller has a simple structure and high reliability;
  • the vibratory roller always works near the second-order natural frequency during vibration compaction, and can make full use of the resonance principle to force the soil to vibrate and compact with less power, which is energy-saving and efficient.

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Road Paving Machines (AREA)
  • Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)

Abstract

Disclosed in the present invention is a variable amplitude control method for a vibratory roller, comprising the following steps: obtaining data information in a process of increasing the vibration frequency from zero to a preset value of the vibration frequency, the data information being obtained by a road roller in soil to be compacted or soil the same as the soil to be compacted; obtaining a second-order inherent frequency value of a road roller-soil system according to the data information; setting the vibration frequency of the road roller, obtaining a vibration frequency set value, and controlling the degree of the vibration frequency set value close to the second-order inherent frequency value; and controlling the road roller to vibrate and compact the soil at the vibration frequency corresponding to the vibration frequency set value. No special vibration exciter structure or amplitude modulation oil cylinder or vibration wheel structure in a vibration wheel is required, the amplitude can be changed by only changing the vibration frequency, and the control method is simple and high in reliability.

Description

一种振动压路机变振幅控制方法、装置、系统及压路机A vibratory roller variable amplitude control method, device, system and road roller 技术领域technical field
本发明涉及压路机技术领域，具体涉及一种振动压路机变振幅控制方法、装置、系统及压路机。The invention relates to the technical field of road rollers, in particular to a vibration roller variable amplitude control method, device, system and road roller.
背景技术Background technique
压路机是以增加工作介质(土石填方及路面铺层混合物料)的密实度为主要用途的施工机械。最早的压路机是使用静作用力压实的，即利用压路机的自身重量产生的静压力迫使工作介质密实，随着技术的发展，人们发现振动载荷能使工作介质处于高频振动状态，使工作介质颗粒之间的内摩擦力丧失，从而获得更高压实效率和更好压实效果，因此，振动压路机逐渐成为主流。The road roller is a construction machine whose main purpose is to increase the compactness of the working medium (soil filling and road pavement mixture). The earliest road rollers were compacted by static force, that is, the static pressure generated by the roller's own weight was used to force the working medium to be compacted. The internal friction between particles is lost, resulting in higher compaction efficiency and better compaction effect, so vibratory rollers are gradually becoming the mainstream.
振动压路机用于压实填土、压实路基及压实路面时，由于要求压实度和压实力影响的深度不同，其振动轮的振幅也要求有所不同，振幅具备较大调节范围的振动压路机能更好的适应多种压实工况。When the vibratory roller is used for compacting soil, compacting roadbed and compacting pavement, due to the difference in the required degree of compaction and the depth affected by the compaction force, the amplitude of the vibrating wheel is also required to be different, and the vibration amplitude has a large adjustment range. The road roller can better adapt to a variety of compaction conditions.
最常用的振幅调节方法是通过改变压路机振动轮内激振器的偏心矩(指激振器偏心质量与偏心距离的乘积)实现的，因为在振动轮本身的振动部分质量(指振动轮及所有与振动轮刚性连接部件的质量)不变的前提下，加大激振器的偏心矩能直接加大振幅。典型的可以改变偏心矩的激振器结构如偏心套轴换位多幅调幅机构，该机构采用同轴转动的两根偏心轴构成激振器，通过联结套手动调整内外偏心轴的相对位置，得到多种不同的偏心质量叠加方式，从而得到多种不同的偏心矩，实现了振幅的多级调节，然而，压路机仅采用偏心块套轴换位多幅调幅机构仍然不能实现振幅的无级调节，且振动轮结构趋于复杂。The most commonly used amplitude adjustment method is to change the eccentric moment of the exciter in the vibrating wheel of the roller (referring to the product of the eccentric mass of the exciter and the eccentric distance), because the mass of the vibrating part of the vibrating wheel itself (referring to the vibrating wheel and all Under the premise that the mass of the rigidly connected part with the vibration wheel is unchanged, increasing the eccentric moment of the exciter can directly increase the amplitude. A typical exciter structure that can change the eccentric moment, such as an eccentric sleeve shaft transposition multi-amplitude modulation mechanism, uses two eccentric shafts rotating coaxially to form an exciter, and manually adjusts the relative positions of the inner and outer eccentric shafts through the coupling sleeve. A variety of different eccentric mass superposition methods are obtained, so as to obtain a variety of different eccentric moments and realize the multi-level adjustment of the amplitude. However, the roller only uses the eccentric block sleeve shaft transposition multi-amplitude amplitude modulation mechanism, which still cannot realize the stepless adjustment of the amplitude. , and the structure of the vibration wheel tends to be complex.
另一种常用的振幅调节方法是通过改变激振力方向实现的，定向振动轮是该 类调幅机构的基础。振动轮输出定向振动力，如力的方向在垂直地面和水平间无级调整，相应的振幅就在最大与零值之间无级调整。典型结构如BOMAG公司提出的四轴无级调幅机构，四激振器安装于内筒内，中间两激振器与两侧两激振器同步反向旋转形成定向振动力，位于驱动马达中心的轴在调幅油缸驱动下转动内筒，改变内筒与垂直地面方向的转角，即定向振动力与垂直地面方向的夹角，实现了振幅的调节，这种机构可以实现振幅的无级调整，但是结构非常复杂。Another common amplitude adjustment method is to change the direction of the exciting force, and the directional vibration wheel is the basis of this type of amplitude modulation mechanism. The vibration wheel outputs a directional vibration force. If the direction of the force is adjusted steplessly between the vertical ground and the horizontal, the corresponding amplitude is adjusted steplessly between the maximum and zero values. The typical structure is the four-axis stepless amplitude modulation mechanism proposed by BOMAG. The four exciters are installed in the inner cylinder, and the two exciters in the middle and the two exciters on both sides rotate synchronously in opposite directions to form directional vibration force. The shaft rotates the inner cylinder under the drive of the amplitude modulation oil cylinder, and changes the angle between the inner cylinder and the vertical ground direction, that is, the angle between the directional vibration force and the vertical ground direction, and realizes the adjustment of the amplitude. This mechanism can realize the stepless adjustment of the amplitude, but The structure is very complex.
现有的振幅调节方法需要通过改变压路机振动轮内激振器的偏心矩或者改变激振力的方向实现，需要采用特殊的振动轮内激振器结构或特殊的振动轮结构来实现，使得压路机振动轮结构复杂，导致制造加工不便，同时，因为采用了更多的零部件导致压路机可靠性降低。The existing amplitude adjustment method needs to be realized by changing the eccentric moment of the exciter in the vibration wheel of the roller or changing the direction of the exciting force, and it needs to use a special structure of the exciter in the vibration wheel or a special structure of the vibration wheel to realize, so that the road roller The structure of the vibrating wheel is complex, which leads to inconvenience in manufacturing and processing, and at the same time, the reliability of the roller is reduced due to the use of more components.
发明内容SUMMARY OF THE INVENTION
本发明的目的在于提供一种振动压路机变振幅控制方法、装置、系统及压路机，无需改变压路机振动轮内激振器的偏心矩或者激振力方向即能够实现振幅的调节，具有结构简单，操作方便，可靠性高的优点。The purpose of the present invention is to provide a variable amplitude control method, device, system and road roller of a vibratory roller, which can realize the adjustment of the amplitude without changing the eccentric moment or the direction of the exciting force of the exciter in the vibrating wheel of the roller, and has the advantages of simple structure and easy operation. The advantages of convenience and high reliability.
为达到上述目的，本发明是采用下述技术方案实现的：To achieve the above object, the present invention adopts the following technical solutions to realize:
本发明公开了一种振动压路机变振幅控制方法，包括：The invention discloses a variable amplitude control method for a vibratory roller, comprising:
获取振动频率由零升至振动频率预设值过程中的数据信息；数据信息为压路机在待压土壤或与待压土壤相同的土壤中获取的；Obtain the data information in the process of the vibration frequency rising from zero to the preset value of the vibration frequency; the data information is obtained by the road roller in the soil to be pressed or the same soil as the soil to be pressed;
根据所述数据信息获取压路机-土壤系统的二阶固有频率值；Obtain the second-order natural frequency value of the road roller-soil system according to the data information;
设置压路机振动频率，获取振动频率设置值，控制振动频率设置值靠近二阶固有频率值的程度；Set the vibration frequency of the roller, obtain the vibration frequency setting value, and control the degree to which the vibration frequency setting value is close to the second-order natural frequency value;
控制压路机以振动频率设置值对应的振动频率对待压土壤进行振动碾压。Control the roller to vibrate the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
进一步地，振动频率预设值大于压路机-土壤系统的二阶固有频率值。Further, the preset value of the vibration frequency is greater than the second-order natural frequency value of the road roller-soil system.
进一步地，所述振动频率设置值大于压路机-土壤系统的二阶固有频率值。Further, the vibration frequency setting value is greater than the second-order natural frequency value of the road roller-soil system.
进一步地，所述数据信息为压路机振动轮的振动加速度信息。Further, the data information is vibration acceleration information of the vibration wheel of the roller.
进一步地，所述振动频率的设置采用调控电控比例泵的排量实现，通过泵排量的无级调整实现振动频率的无级调整。Further, the setting of the vibration frequency is realized by regulating the displacement of the electronically controlled proportional pump, and the stepless adjustment of the vibration frequency is realized by the stepless adjustment of the pump displacement.
进一步地，所述振动频率设置值的控制采用开环控制。Further, the control of the vibration frequency setting value adopts open-loop control.
进一步地，所述振动频率设置值的控制采用反馈控制，包括如下步骤：Further, the control of the vibration frequency setting value adopts feedback control, including the following steps:
步骤31、设置压路机的振动频率，获取振动频率设置值；Step 31. Set the vibration frequency of the roller, and obtain the vibration frequency setting value;
步骤32、根据所述数据信息实时获取振动轮的振幅，将实时获取的振幅与预设的振幅相比较，若比较结果相等，则控制压路机以当前振动频率设置值对应的振动频率进行振动碾压，若比较结果不相等，则转向步骤33；Step 32: Acquire the amplitude of the vibration wheel in real time according to the data information, compare the amplitude acquired in real time with the preset amplitude, and if the comparison results are equal, then control the roller to vibrate rolling at the vibration frequency corresponding to the current vibration frequency setting value. , if the comparison results are not equal, go to step 33;
步骤33、设置新的振动频率设置值，保证该振动频率值大于二阶固有频率值并调整该振动频率设置值靠近二阶固有频率值的程度，然后转向步骤32。Step 33: Set a new vibration frequency setting value, ensure that the vibration frequency value is greater than the second-order natural frequency value and adjust the degree to which the vibration frequency setting value is close to the second-order natural frequency value, and then turn to step 32.
进一步地，所述步骤33中的调整该振动频率设置值靠近二阶固有频率值的程度包括：Further, adjusting the degree to which the vibration frequency setting value is close to the second-order natural frequency value in the step 33 includes:
判断实时获取的振幅数据和预设振幅之间的关系；Determine the relationship between the amplitude data acquired in real time and the preset amplitude;
若实时获取的振幅数据大于预设振幅，设置新的振动频率设置值，使其相对于当前的振动频率设置值远离二阶固有频率值；If the amplitude data acquired in real time is greater than the preset amplitude, set a new vibration frequency setting value so that it is far away from the second-order natural frequency value relative to the current vibration frequency setting value;
若实时获取的振幅数据小于预设振幅，设置新的振动频率设置值，使其相对于当前的振动频率设置值靠近二阶固有频率值。If the amplitude data acquired in real time is smaller than the preset amplitude, set a new vibration frequency setting value so that it is close to the second-order natural frequency value relative to the current vibration frequency setting value.
进一步地，控制压路机进行振动碾压包括如下步骤：Further, controlling the road roller to perform vibratory rolling includes the following steps:
压路机对待压土壤每完成一遍碾压后，需重新获取振动系统的二阶固有频率 值；After the roller compacts the soil to be compacted once, the second-order natural frequency value of the vibration system needs to be re-obtained;
根据重新获取的二阶固有频率值设置压路机的振动频率，获取新的振动频率设置值，控制该振动频率设置值靠近二阶固有频率值的程度；Set the vibration frequency of the roller according to the re-acquired second-order natural frequency value, obtain a new vibration frequency setting value, and control the degree to which the vibration frequency setting value is close to the second-order natural frequency value;
控制压路机以该振动频率设置值对应的振动频率对待压土壤进行振动碾压，直至碾压效果达到预设的碾压效果。Control the road roller to vibrate and roll the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value until the rolling effect reaches the preset rolling effect.
本发明还公开了一种振动压路机变振幅控制装置，包括：The invention also discloses a variable amplitude control device for a vibratory roller, comprising:
扫频模块，用于获取振动频率由零升至振动频率预设值过程中的数据信息；数据信息为压路机在待压土壤或与待压土壤相同的土壤中获取的；The frequency sweep module is used to obtain the data information in the process of the vibration frequency rising from zero to the preset value of the vibration frequency; the data information is obtained by the road roller in the soil to be pressed or the same soil as the soil to be pressed;
分析模块，用于根据所述数据信息获取压路机-土壤系统的二阶固有频率值；an analysis module, configured to obtain the second-order natural frequency value of the road roller-soil system according to the data information;
重置模块，用于设置压路机振动频率，获取振动频率设置值，控制振动频率设置值靠近二阶固有频率值的程度；The reset module is used to set the vibration frequency of the roller, obtain the set value of the vibration frequency, and control the degree to which the set value of the vibration frequency is close to the second-order natural frequency value;
执行模块，用于控制压路机以振动频率设置值对应的振动频率对待压土壤进行振动碾压。The execution module is used to control the roller to vibrate and compact the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
本发明还公开了一种振动压路机变振幅控制系统，包括控制器和安装在振动轮上的加速度传感器；The invention also discloses a variable amplitude control system for a vibrating road roller, comprising a controller and an acceleration sensor installed on the vibrating wheel;
所述加速度传感器用于获取振动频率由零升至振动频率预设值过程中的数据信息；数据信息为压路机在待压土壤或与待压土壤相同的土壤中获取的；The acceleration sensor is used to obtain data information in the process of the vibration frequency rising from zero to the preset value of the vibration frequency; the data information is obtained by the road roller in the soil to be pressed or the same soil as the soil to be pressed;
所述控制器用于根据所述数据信息获取压路机-土壤系统的二阶固有频率值；以及the controller is configured to obtain the second-order natural frequency value of the road roller-soil system according to the data information; and
用于设置压路机振动频率，获取振动频率设置值，控制振动频率设置值靠近二阶固有频率值的程度；以及Used to set the vibration frequency of the roller, obtain the vibration frequency setting value, and control the degree to which the vibration frequency setting value is close to the second-order natural frequency value; and
用于控制压路机以振动频率设置值对应的振动频率对待压土壤进行振动碾 压。It is used to control the roller to vibrate and compact the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
本发明还公开了一种压路机，包括上述的振动压路机变振幅控制系统。The invention also discloses a road roller, comprising the above-mentioned vibration roller variable amplitude control system.
根据上述技术方案，本发明的实施例至少具有以下效果：According to the above technical solutions, the embodiments of the present invention have at least the following effects:
1、本发明的控制方法通过获取需被压土壤的二阶固有频率值，并根据振动频率设置值靠近二阶固有频率值的程度与振动轮的振幅成正比的关系设置振动频率设置值，并以该振动频率控制压路机工作，有效的控制了压路机实现振幅的改变；无需改变压路机振动轮内激振器的偏心矩或者激振力方向，无需采用特殊的振动轮内激振器结构或调幅油缸或振动轮结构，仅通过改变振动频率即可改变振幅，该控制方法简单、可靠性高；1. The control method of the present invention obtains the second-order natural frequency value of the soil to be pressed, and sets the vibration frequency setting value according to the relationship between the degree that the vibration frequency setting value is close to the second-order natural frequency value and the amplitude of the vibration wheel, and This vibration frequency is used to control the work of the roller, effectively controlling the amplitude change of the roller; there is no need to change the eccentric moment or the direction of the exciting force of the exciter in the vibration wheel of the roller, and there is no need to adopt a special structure of the exciter in the vibration wheel or the amplitude modulation oil cylinder Or the vibration wheel structure, the amplitude can be changed only by changing the vibration frequency, the control method is simple and the reliability is high;
2、本发明中振动频率设置值的控制采用反馈控制，可以根据振动加速度数据获取振幅，根据获取的振幅和预设的振幅比较进行压路机碾压，通过反馈控制的方法，能够进一步保证碾压效果；2. The control of the vibration frequency setting value in the present invention adopts feedback control, and the amplitude can be obtained according to the vibration acceleration data, and the roller compaction can be carried out according to the comparison between the acquired amplitude and the preset amplitude. Through the feedback control method, the rolling effect can be further guaranteed. ;
3、本发明通过将振动频率设置值靠近二阶固有频率值，振动频率设置值越靠近二阶固有频率值，则振动轮振幅越大，振动频率无级靠近上述二阶固有频率值即可无级改变振幅，可实现振幅的无级调整，且操作方便；3. In the present invention, the vibration frequency setting value is close to the second-order natural frequency value. The closer the vibration frequency setting value is to the second-order natural frequency value, the larger the vibration wheel amplitude is, and the vibration frequency is infinitely close to the second-order natural frequency value. The amplitude can be changed step by step, which can realize the stepless adjustment of the amplitude, and the operation is convenient;
4、本发明采用的方法，振动压路机振动压实时始终工作于二阶固有频率附近，能充分利用共振原理，用较小的功率迫使土壤振动密实，节能高效；4. In the method adopted in the present invention, the vibratory roller always works near the second-order natural frequency during vibration compaction, which can make full use of the resonance principle, and force the soil to vibrate and compact with less power, thus saving energy and high efficiency;
5、本发明的压路机结构简单，能够通过电控比例泵驱动振动马达工作进而驱动振动轮内的激振器工作，实现了无级调节，操作方便。5. The road roller of the present invention has a simple structure, and can drive the vibration motor to work through the electronically controlled proportional pump, thereby driving the vibration exciter in the vibration wheel to work, realizing stepless adjustment and convenient operation.
附图说明Description of drawings
图1为本发明具体实施方式振幅控制方法的一种实施例的流程图；FIG. 1 is a flowchart of an embodiment of an amplitude control method according to a specific embodiment of the present invention;
图2为本发明具体实施方式振幅控制方法的另一种实施例的流程图；FIG. 2 is a flowchart of another embodiment of the amplitude control method according to the specific embodiment of the present invention;
图3为本发明具体实施方式振幅控制系统一种实施例的结构示意图；3 is a schematic structural diagram of an embodiment of an amplitude control system according to an embodiment of the present invention;
图4为本发明具体实施方式振幅控制系统另一种实施例的结构示意图；FIG. 4 is a schematic structural diagram of another embodiment of the amplitude control system according to the specific embodiment of the present invention;
图5为本发明具体实施方式压路机一种实施例的结构示意图。FIG. 5 is a schematic structural diagram of an embodiment of a road roller according to the specific embodiment of the present invention.
具体实施方式Detailed ways
为使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面结合具体实施方式，进一步阐述本发明。In order to make the technical means, creative features, achievement goals and effects realized by the present invention easy to understand, the present invention will be further described below with reference to the specific embodiments.
参阅图1，图1是本发明一种实施例的振动压路机变振幅控制方法的流程图，包括如下步骤：Referring to FIG. 1, FIG. 1 is a flowchart of a method for controlling a vibratory roller with variable amplitude according to an embodiment of the present invention, including the following steps:
步骤S101：压路机在需要被压实的土壤或与需要被压实的土壤相同的土壤上起振，获取从振动频率由零到振动频率预设值整个过程中的数据。Step S101 : the road roller vibrates on the soil to be compacted or the same soil as the soil to be compacted, and acquires data during the entire process from the vibration frequency from zero to a preset value of the vibration frequency.
振动压路机是通过装配在振动轮内部的激振器高速旋转产生离心力，使其减振器以内的部分产生持续的机械振动，迫使工作介质振动实现压实的一种施工机械。压路机在起振过程中，振动频率从0逐渐升高到振动频率预设值，如果振动频率预设值足够大，随着频率的升高，当振动频率与系统的固有频率相等时，系统将处于共振状态，振幅明显增大，振动频率继续增大，系统越过共振区，直到振动频率达到振动频率预设值，所以，在需要被压实的土壤或与需要被压实的土壤相同的土壤上起振，获取从0到达到预先设置的振动频率值整个过程中的数据，会包含系统经过共振区的数据。上述整个过程中的数据可以是振动轮振动加速度在时域内的连续数据。The vibratory roller is a kind of construction machine that generates centrifugal force through the high-speed rotation of the vibration exciter installed inside the vibration wheel, so that the part inside the shock absorber generates continuous mechanical vibration, forcing the working medium to vibrate to achieve compaction. During the start-up process of the roller, the vibration frequency gradually increases from 0 to the preset value of the vibration frequency. If the preset value of the vibration frequency is large enough, as the frequency increases, when the vibration frequency is equal to the natural frequency of the system, the system will In the resonance state, the amplitude increases significantly, the vibration frequency continues to increase, and the system crosses the resonance area until the vibration frequency reaches the preset value of the vibration frequency. Therefore, in the soil that needs to be compacted or the same soil that needs to be compacted Start the vibration and obtain the data from 0 to reaching the preset vibration frequency value, including the data of the system passing through the resonance area. The data in the whole process mentioned above may be continuous data of vibration acceleration of the vibration wheel in the time domain.
例如：选用某工作质量为26吨、名义振幅为1.9mm的单钢轮振动压路机，振动频率预设值设置为32Hz，在需要被压实的道路路基土壤上起振，记录从0Hz到振动频率预设值32Hz过程中的振动轮振动加速度在时域内的连续数据，通常， “压路机—土壤”振动系统的固有频率均小于30Hz，所以上述连续数据包括系统经过共振区的数据。For example: select a single-drum vibratory road roller with a working mass of 26 tons and a nominal amplitude of 1.9 mm. The default value of the vibration frequency is set to 32 Hz. Vibrate on the road subgrade soil that needs to be compacted, and record the vibration frequency from 0 Hz to 32 Hz. The continuous data of the vibration acceleration of the vibrating wheel in the time domain during the preset value of 32 Hz, generally, the natural frequency of the "roller-soil" vibration system is less than 30 Hz, so the above continuous data includes the data of the system passing through the resonance area.
步骤S102：通过上述数据确定“压路机—土壤”振动系统的二阶固有频率值。Step S102: Determine the second-order natural frequency value of the "roller-soil" vibration system based on the above data.
通过步骤S101中获取的数据进行数据处理，可以确定“压路机—土壤”振动系统的二阶固有频率值。如可以通过对上述振动轮振动加速度在时域内的连续数据进行频谱分析，找到不同频率下的振动加速度信息，得到“压路机—土壤”振动系统的二阶固有频率值。也可以对上述振动轮振动加速度在时域内的连续数据进行二次积分，获得振动轮振幅在时域内的连续数据，通过对上述振动轮振幅在时域内的连续数据进行频谱分析，找到不同频率下的振幅信息，通过幅-频响应图得到二阶固有频率值。通常，“压路机—土壤”振动系统有两个固有频率，体现在幅-频响应图上会有两个共振峰，分别对应于两个固有频率，其中较小的固有频率称为一阶固有频率，主要由压路机参数如振动轮减震器刚度、振动轮减震器阻尼、上车质量决定，较大的固有频率是二阶固有频率，主要由土壤参数如土的刚度、土的阻尼以及压路机参数如振动部分质量决定。By performing data processing on the data obtained in step S101, the second-order natural frequency value of the "roller-soil" vibration system can be determined. For example, by performing spectrum analysis on the continuous data of the vibration acceleration of the vibration wheel in the time domain, the vibration acceleration information at different frequencies can be found, and the second-order natural frequency value of the "roller-soil" vibration system can be obtained. It is also possible to perform quadratic integration on the continuous data of the vibration acceleration of the vibration wheel in the time domain to obtain the continuous data of the vibration wheel amplitude in the time domain. The amplitude information of , and the second-order natural frequency value is obtained through the amplitude-frequency response diagram. Usually, the "roller-soil" vibration system has two natural frequencies, which are reflected in the amplitude-frequency response diagram and there will be two resonance peaks, which correspond to the two natural frequencies respectively, of which the smaller natural frequency is called the first-order natural frequency. , mainly determined by the roller parameters such as the stiffness of the vibration wheel shock absorber, the damping of the vibration wheel shock absorber, and the quality of the vehicle. The larger natural frequency is the second-order natural frequency, which is mainly determined by soil parameters such as soil stiffness, soil damping, and road rollers. Parameters such as vibrating part mass are determined.
例如：对上述时域内的振动轮振动加速度连续数据进行频谱分析，获得上述土壤下的“压路机—土壤”振动系统的二阶固有频率，例如是17Hz。通常，“压路机—土壤”振动系统的二阶固有频率值主要由土壤参数如土的刚度、土的阻尼以及压路机参数如振动部分质量决定，其中土的刚度越大，二阶固有频率值越高。For example, perform spectrum analysis on the continuous data of vibration acceleration of the vibrating wheel in the above time domain, and obtain the second-order natural frequency of the "roller-soil" vibration system under the above soil, for example, 17Hz. Usually, the second-order natural frequency value of the "roller-soil" vibration system is mainly determined by soil parameters such as soil stiffness, soil damping, and roller parameters such as the vibration part mass. The greater the soil stiffness, the higher the second-order natural frequency value. .
步骤S103：设置压路机振动频率得到振动频率设置值，控制该振动频率设置值靠近上述二阶固有频率值的程度，振动频率越靠近二阶固有频率则压实过程中的振动轮振幅越大。Step S103: Set the vibration frequency of the roller to obtain a vibration frequency setting value, and control the degree to which the vibration frequency setting value is close to the above-mentioned second-order natural frequency value. The closer the vibration frequency is to the second-order natural frequency, the greater the vibration wheel amplitude in the compaction process.
根据共振原理，振动频率越靠近二阶固有频率则振动轮振幅越大，所以需要 设置压路机振动频率，通过控制该振动频率靠近上述二阶固有频率值的程度，以获得不同的振动轮振幅。According to the resonance principle, the closer the vibration frequency is to the second-order natural frequency, the larger the vibration wheel amplitude will be. Therefore, it is necessary to set the vibration frequency of the roller to obtain different vibration wheel amplitudes by controlling the degree to which the vibration frequency is close to the above-mentioned second-order natural frequency value.
例如：设置压路机振动频率得到振动频率设置值，例如设置压路机振动频率靠近上述二阶固有频率17Hz且为上述固有频率17Hz的120％，得到振动频率值20.4Hz，该振动频率值下压路机碾压时的振幅约为名义振幅的130％，如设置压路机振动频率更靠近上述二阶固有频率17Hz，压路机碾压时的振幅能达到名义振幅的300％～500％。For example: set the vibration frequency of the roller to obtain the set value of the vibration frequency. For example, set the vibration frequency of the roller to be close to the above-mentioned second-order natural frequency of 17Hz and 120% of the above-mentioned natural frequency of 17Hz, and obtain the vibration frequency value of 20.4Hz. The vibration frequency value is lower when the roller is rolled. The amplitude of the roller is about 130% of the nominal amplitude. If the vibration frequency of the roller is set closer to the above-mentioned second-order natural frequency of 17Hz, the amplitude of the roller during rolling can reach 300% to 500% of the nominal amplitude.
在另外一些实施例中，压路机的振动频率设置值要大于二阶固有频率值。此种设计的目的是一阶固有频率值和二阶固有频率值均为峰值。即振动频率设置值由一阶固有频率值向二阶固有频率值变化时，振幅并非单调递增，难于通过调节振动频率设置值来控制压路机振幅。In other embodiments, the vibration frequency setting value of the road roller is greater than the second-order natural frequency value. The purpose of this design is that both the first-order natural frequency value and the second-order natural frequency value are peaks. That is, when the vibration frequency setting value changes from the first-order natural frequency value to the second-order natural frequency value, the amplitude is not monotonically increasing, and it is difficult to control the roller amplitude by adjusting the vibration frequency setting value.
步骤S104：压路机用上述振动频率设置值对应的振动频率对需要被压实的土壤进行振动碾压。Step S104: The road roller vibrates and compacts the soil to be compacted with the vibration frequency corresponding to the above-mentioned vibration frequency setting value.
压路机用上述振动频率设置值对应的振动频率对需要被压实的土壤进行振动碾压。The road roller uses the vibration frequency corresponding to the above-mentioned vibration frequency setting value to vibrate the soil that needs to be compacted.
例如：振动频率设置值是20.4Hz，控制压路机用20.4Hz的振动频率进行振动碾压。For example, the vibration frequency setting value is 20.4Hz, and the roller is controlled to vibrate and roll with a vibration frequency of 20.4Hz.
参阅图2，图2是本发明振动压路机变振幅实现方法另一种实施例的流程图。需要说明的是，本实施例中获取从零到振动频率预设值整个过程中的数据、二阶固有频率值的获取等和图1对应的实施例相同，本实施例不在具体说明。本实施例具体包括如下步骤：Referring to FIG. 2, FIG. 2 is a flow chart of another embodiment of the method for realizing variable amplitude of a vibratory roller according to the present invention. It should be noted that, in this embodiment, the acquisition of data from zero to the preset vibration frequency value, the acquisition of the second-order natural frequency value, etc. are the same as the embodiment corresponding to FIG. 1 , and this embodiment will not be described in detail. This embodiment specifically includes the following steps:
步骤S201：压路机在需要被压实的土壤或与需要被压实的土壤相同的土壤上 起振，获取从零到振动频率预设值整个过程中的数据。Step S201: the road roller vibrates on the soil that needs to be compacted or the same soil as the soil that needs to be compacted, and obtains data from zero to a preset value of the vibration frequency in the entire process.
步骤S202：通过上述数据确定“压路机—土壤”振动系统的二阶固有频率值。Step S202: Determine the second-order natural frequency value of the "roller-soil" vibration system based on the above data.
步骤S203：设置压路机振动频率得到振动频率设置值。Step S203: Set the vibration frequency of the roller to obtain the vibration frequency setting value.
例如：设置压路机振动频率得到振动频率设置值，假设是20.4Hz，该振动频率设置值靠近上述二阶固有频率17Hz且为上述固有频率17Hz的120％For example: set the vibration frequency of the roller to get the vibration frequency setting value, assuming it is 20.4Hz, the vibration frequency setting value is close to the above-mentioned second-order natural frequency of 17Hz and is 120% of the above-mentioned natural frequency of 17Hz
步骤S204：获取压实过程中振动加速度数据，通过数据处理如二次积分获得振幅，与预期振幅比较，不相等时，转向步骤S205；相等时转向步骤S206。Step S204: Acquire the vibration acceleration data during the compaction process, and obtain the amplitude through data processing such as quadratic integration. When compared with the expected amplitude, if it is not equal, go to Step S205; if it is equal, go to Step S206.
步骤S205：设置一个新的振动频率设置值，若实时获取的振幅数据大于预设振幅，设置新的振动频率设置值，使其相对于当前振动频率设置值更加远离二阶固有频率值；若实时获取的振幅数据小于预设振幅，设置新的振动频率设置值，使其相对于当前振动频率设置值更加靠近二阶固有频率值，转向步骤S204。Step S205: set a new vibration frequency setting value, if the amplitude data acquired in real time is greater than the preset amplitude, set a new vibration frequency setting value to make it farther away from the second-order natural frequency value than the current vibration frequency setting value; When the acquired amplitude data is smaller than the preset amplitude, a new vibration frequency setting value is set so that it is closer to the second-order natural frequency value than the current vibration frequency setting value, and the process goes to step S204.
振动频率设置值由一阶固有频率值向二阶固有频率值变化时，振幅并非单调递增，难于通过调节振动频率设置值来控制压路机振幅，所以本申请使新设置的振动频率设置值大于二阶固有频率值。When the vibration frequency setting value changes from the first-order natural frequency value to the second-order natural frequency value, the amplitude is not monotonically increasing, and it is difficult to control the roller amplitude by adjusting the vibration frequency setting value. Therefore, the application makes the newly set vibration frequency setting value greater than the second-order value. natural frequency value.
根据共振原理，振动频率越靠近二阶固有频率则振动轮振幅越大，如步骤S204中获得的振幅小于预期振幅，表明需要减小振动频率，步骤S204中获得的振幅大于预期振幅，表明需要加大振动频率。According to the resonance principle, the closer the vibration frequency is to the second-order natural frequency, the larger the vibration wheel amplitude. For example, the amplitude obtained in step S204 is smaller than the expected amplitude, indicating that the vibration frequency needs to be reduced, and the amplitude obtained in step S204 is larger than the expected amplitude, indicating that it is necessary to increase Great vibration frequency.
例如：步骤S204中获得的振幅小于预期振幅，减小振动频率，设置一个新的振动频率设置值，该值大于上述二阶固有频率17Hz且小于原振动频率设置值20.4Hz，如选择取上述二阶固有频率17Hz和原振动频率设置值20.4Hz之和的50％，即18.7Hz为新的振动频率设置值，设置压路机振动频率得到新的振动频率设置值18.7Hz，转向步骤S204。For example: the amplitude obtained in step S204 is smaller than the expected amplitude, reduce the vibration frequency, and set a new vibration frequency setting value, which is greater than the above-mentioned second-order natural frequency of 17 Hz and less than the original vibration frequency setting value of 20.4 Hz. 50% of the sum of the order natural frequency 17Hz and the original vibration frequency setting value of 20.4Hz, that is, 18.7Hz is the new vibration frequency setting value, set the roller vibration frequency to obtain a new vibration frequency setting value of 18.7Hz, and turn to step S204.
步骤S206：压路机用上述振动频率设置值对应的振动频率对需要被压实的土壤进行振动碾压，直至完成该遍碾压。Step S206: The road roller vibrates and compacts the soil to be compacted with the vibration frequency corresponding to the above-mentioned vibration frequency setting value until the one-pass rolling is completed.
压路机用上述振动频率设置值对应的振动频率对需要被压实的土壤进行振动碾压，直至完成该遍碾压。The road roller vibrates and compacts the soil to be compacted with the vibration frequency corresponding to the above-mentioned vibration frequency setting value until the rolling is completed.
步骤S207：判断压实遍数是否达到预期压实遍数。Step S207: Determine whether the number of times of compaction reaches the expected number of times of compaction.
判断压实遍数是否达到预期压实遍数，达到压实遍数转S208，未达到压实遍数转S201。因为每完成一遍碾压后，土壤的参数会发生改变，即“压路机—土壤”振动系统发生改变，此时，需要重复步骤S201到步骤S207以再次获得新系统的二阶固有频率以及新的振动频率设置值，并用新的振动频率设置值对需要被压实的土壤进行振动碾压。It is judged whether the number of times of compaction reaches the expected number of times of compaction, if the number of times of compaction is reached, go to S208 , and if the number of times of compaction is not reached, go to S201 . Because the parameters of the soil will change after each rolling is completed, that is, the vibration system of the "roller-soil" will change. At this time, it is necessary to repeat steps S201 to S207 to obtain the second-order natural frequency and new vibration of the new system again. frequency setting value, and vibrate the soil to be compacted with the new vibration frequency setting value.
步骤S208：直至达到预设的碾压效果完成碾压。Step S208: Rolling is completed until the preset rolling effect is reached.
参阅图3，图3是本发明振动压路机变振幅控制装置的结构示意图，包括：扫频模块101、分析模块102、重置模块103以及执行模块104。Referring to FIG. 3 , FIG. 3 is a schematic structural diagram of the vibration roller variable amplitude control device of the present invention, including: a frequency sweep module 101 , an analysis module 102 , a reset module 103 and an execution module 104 .
需要说明的是，本实施方式的控制装置可以执行图1对应的实施例中的相应步骤。It should be noted that the control apparatus in this embodiment may execute the corresponding steps in the embodiment corresponding to FIG. 1 .
扫频模块101用于获取振动频率为零升至振动频率预设值过程中的数据信息；其中，振动频率预设值大于振动系统的二阶固有频率值，数据信息为压路机在需要被压实的土壤或与需要被压实的土壤相同的土壤中获取的。The frequency sweeping module 101 is used to obtain the data information in the process of the vibration frequency from zero to the preset value of the vibration frequency; wherein, the preset value of the vibration frequency is greater than the second-order natural frequency value of the vibration system, and the data information is that the road roller needs to be compacted. soil or the same soil that needs to be compacted.
分析模块102用于根据所述数据信息获取振动系统的二阶固有频率值。The analysis module 102 is configured to obtain the second-order natural frequency value of the vibration system according to the data information.
重置模块103用于根据所述二阶固有频率值所处的阈值区间设置压路机的振动频率，获取振动频率设置值；其中，所述振动频率设置值靠近所述二阶固有频率值的程度与振动轮的振幅成正比。The reset module 103 is used to set the vibration frequency of the road roller according to the threshold interval where the second-order natural frequency value is located, and obtain the vibration frequency setting value; wherein, the vibration frequency setting value is close to the degree of the second-order natural frequency value and the The vibration wheel amplitude is proportional.
执行模块104用于控制压路机以振动频率设置值对应的振动频率对需要被压实的土壤进行振动碾压。The execution module 104 is used to control the road roller to vibrate and compact the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
振动频率预设值大于压路机-土壤系统的二阶固有频率值。The preset value of the vibration frequency is greater than the second order natural frequency value of the roller-soil system.
参阅图4，图4是本发明振动压路机变振幅控制系统另一种实施例的结构示意图，包括加速度传感器201和控制器202。所述加速度传感器201设置在振动轮上，与所述控制器202通过电信号连接，用于变振幅实现方法步骤S101中从0到达到预先设置的振动频率值的整个起振过程中数据的获取。所述控制器202置于振动压路机上，用于接收所述加速度传感器的加速度连续数据以及数据处理，确定变振幅实现方法S102中“压路机—土壤”振动系统的二阶固有频率值，以及S103中压路机振动频率的设置和该振动频率设置值靠近上述二阶固有频率值的程度的控制，以及S104中压路机用上述振动频率设置值对需要被压实的土壤进行振动碾压的控制。Referring to FIG. 4 , FIG. 4 is a schematic structural diagram of another embodiment of the variable amplitude control system for a vibratory roller according to the present invention, including an acceleration sensor 201 and a controller 202 . The acceleration sensor 201 is arranged on the vibration wheel, and is connected with the controller 202 through an electrical signal, and is used for the acquisition of data during the entire starting process from 0 to reaching the preset vibration frequency value in step S101 of the variable amplitude implementation method. . The controller 202 is placed on the vibratory road roller, and is used to receive the acceleration continuous data of the acceleration sensor and data processing, and determine the second-order natural frequency value of the "roller-soil" vibration system in the variable amplitude implementation method S102, and in S103. The setting of the vibration frequency of the road roller and the control of the degree to which the setting value of the vibration frequency is close to the above-mentioned second-order natural frequency value, and the control of the vibration rolling of the soil to be compacted by the road roller using the setting value of the above-mentioned vibration frequency in S104.
参阅图5，本发明还提供一种无级调幅振动压路机，包括：车架1、振动轮2、驱动系统3、振动液压系统4、动力系统5、驾驶室6、控制部分7。Referring to FIG. 5 , the present invention also provides a stepless amplitude modulation vibratory roller, including: a vehicle frame 1 , a vibrating wheel 2 , a driving system 3 , a vibrating hydraulic system 4 , a power system 5 , a cab 6 , and a control part 7 .
振动轮2、驱动系统3、动力系统5、驾驶室6安装在车架1上。The vibration wheel 2 , the drive system 3 , the power system 5 , and the cab 6 are installed on the frame 1 .
振动液压系统4包括电控比例泵4-1和振动马达4-2，其中电控比例泵4-1与动力系统5连接，从动力系统5获取动力并用于驱动振动马达4-2，振动马达4-2与振动轮2连接，用于驱动振动轮2内的激振器高速旋转。The vibration hydraulic system 4 includes an electronically controlled proportional pump 4-1 and a vibration motor 4-2, wherein the electronically controlled proportional pump 4-1 is connected to the power system 5, and obtains power from the power system 5 and is used to drive the vibration motor 4-2, the vibration motor 4-2 is connected with the vibration wheel 2, and is used to drive the vibration exciter in the vibration wheel 2 to rotate at a high speed.
控制部分7包括操纵手柄7-1、振动按钮7-2、方向操纵系统7-3、仪表及仪表箱7-4、操纵箱7-5、控制器7-6、加速度传感器7-7，除加速度传感器7-7安装在振动轮2上外，其它安装在驾驶室6内，其中方向操纵系统7-3安装在仪表及仪表箱7-4上，控制器7-6安装在操纵箱7-5内部，操纵手柄7-1安装在操纵箱 7-5上，振动按钮7-2安装在操纵手柄7-1顶部。The control part 7 includes a manipulation handle 7-1, a vibration button 7-2, a direction manipulation system 7-3, an instrument and an instrument box 7-4, a manipulation box 7-5, a controller 7-6, an acceleration sensor 7-7, The acceleration sensor 7-7 is installed on the vibration wheel 2, and the others are installed in the cab 6. The direction control system 7-3 is installed on the instrument and the instrument box 7-4, and the controller 7-6 is installed in the control box 7- 5. Inside, the joystick 7-1 is installed on the joystick 7-5, and the vibration button 7-2 is installed on the top of the joystick 7-1.
其中，变振幅控制系统包括加速度传感器7-7和控制器7-6，加速度传感器7-7安装在振动轮2上，加速度传感器7-7与控制器7-6连接。变振幅控制系统是上述实施方式中的任意一种变振幅控制系统，在此不再一一复述。The variable amplitude control system includes an acceleration sensor 7-7 and a controller 7-6. The acceleration sensor 7-7 is installed on the vibration wheel 2, and the acceleration sensor 7-7 is connected to the controller 7-6. The variable-amplitude control system is any one of the variable-amplitude control systems in the above-mentioned embodiments, which will not be repeated here.
本发明通过控制压路机振动频率靠近二阶固有频率的程度，利用共振原理改变振幅，其中振动频率值越靠近上述二阶固有频率值，则振动轮振幅越大。The present invention uses the resonance principle to change the amplitude by controlling the degree to which the vibration frequency of the roller is close to the second-order natural frequency. The closer the vibration frequency value is to the second-order natural frequency value, the greater the vibration wheel amplitude.
通过采用上述实施方式，无需改变压路机振动轮内激振器的偏心矩或者激振力方向，无需采用特殊的振动轮内激振器结构或调幅油缸或振动轮结构，改变振动频率即可改变振幅，压路机结构简单、可靠性高；By adopting the above-mentioned embodiment, it is not necessary to change the eccentric moment or the direction of the exciting force of the exciter in the vibration wheel of the roller, and it is not necessary to adopt a special structure of the exciter in the vibration wheel or the structure of the amplitude modulation oil cylinder or the vibration wheel, and the amplitude can be changed by changing the vibration frequency. , the roller has a simple structure and high reliability;
通过采用上述实施方式，振动频率设置值越靠近上述二阶固有频率值，则振动轮振幅越大，振动频率无级靠近上述二阶固有频率值即可无级改变振幅，可实现振幅的无级调整，且操作方便；By adopting the above-mentioned embodiment, the closer the vibration frequency setting value is to the above-mentioned second-order natural frequency value, the larger the vibration wheel amplitude is, and the vibration frequency can be steplessly close to the above-mentioned second-order natural frequency value, the amplitude can be changed steplessly, and the stepless amplitude of the amplitude can be realized. Adjustable and easy to operate;
通过采用上述实施方式，振动压路机振动压实时始终工作于二阶固有频率附近，能充分利用共振原理，用较小的功率迫使土壤振动密实，节能高效。By adopting the above embodiment, the vibratory roller always works near the second-order natural frequency during vibration compaction, and can make full use of the resonance principle to force the soil to vibrate and compact with less power, which is energy-saving and efficient.
由技术常识可知，本发明可以通过其它的不脱离其精神实质或必要特征的实施方案来实现。因此，上述公开的实施方案，就各方面而言，都只是举例说明，并不是仅有的。所有在本发明范围内或在等同于本发明的范围内的改变均被本发明包含。It is known from the technical common sense that the present invention can be realized by other embodiments without departing from its spirit or essential characteristics. Accordingly, the above-disclosed embodiments are, in all respects, illustrative and not exclusive. All changes within the scope of the present invention or within the scope equivalent to the present invention are encompassed by the present invention.

Claims (12)

  1. 一种振动压路机变振幅控制方法，其特征在于，包括：A vibratory roller variable amplitude control method, characterized in that, comprising:
    获取振动频率由零升至振动频率预设值过程中的数据信息；数据信息为压路机在待压土壤或与待压土壤相同的土壤中获取的；Obtain the data information in the process of the vibration frequency rising from zero to the preset value of the vibration frequency; the data information is obtained by the road roller in the soil to be pressed or the same soil as the soil to be pressed;
    根据所述数据信息获取压路机-土壤系统的二阶固有频率值；Obtain the second-order natural frequency value of the road roller-soil system according to the data information;
    设置压路机振动频率，获取振动频率设置值，控制振动频率设置值靠近二阶固有频率值的程度；Set the vibration frequency of the roller, obtain the vibration frequency setting value, and control the degree to which the vibration frequency setting value is close to the second-order natural frequency value;
    控制压路机以振动频率设置值对应的振动频率对待压土壤进行振动碾压。Control the roller to vibrate the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
  2. 根据权利要求1所述的振动压路机变振幅控制方法，其特征在于，振动频率预设值大于压路机-土壤系统的二阶固有频率值。The variable amplitude control method for a vibratory roller according to claim 1, wherein the preset value of the vibration frequency is greater than the second-order natural frequency value of the roller-soil system.
  3. 根据权利要求1所述的振动压路机变振幅控制方法，其特征在于，所述振动频率设置值大于压路机-土壤系统的二阶固有频率值。The variable amplitude control method for a vibratory roller according to claim 1, wherein the set value of the vibration frequency is greater than the second-order natural frequency value of the roller-soil system.
  4. 根据权利要求1所述的振动压路机变振幅控制方法，其特征在于，所述数据信息为压路机振动轮的振动加速度信息。The variable amplitude control method for a vibratory roller according to claim 1, wherein the data information is vibration acceleration information of the vibrating wheel of the roller.
  5. 根据权利要求1所述的振动压路机变振幅控制方法，其特征在于，所述振动频率的设置采用调控电控比例泵的排量实现，通过泵排量的无级调整实现振动频率的无级调整。The variable amplitude control method of a vibratory roller according to claim 1, wherein the setting of the vibration frequency is realized by regulating the displacement of the electronically controlled proportional pump, and the stepless adjustment of the vibration frequency is realized by the stepless adjustment of the pump displacement. .
  6. 根据权利要求1所述的振动压路机变振幅控制方法，其特征在于，所述振动频率设置值的控制采用开环控制。The variable amplitude control method for a vibratory roller according to claim 1, wherein the control of the vibration frequency setting value adopts open-loop control.
  7. 根据权利要求1所述的振动压路机变振幅控制方法，其特征在于，所述振动频率设置值的控制采用反馈控制，包括如下步骤：The variable amplitude control method for a vibratory roller according to claim 1, wherein the control of the vibration frequency setting value adopts feedback control, comprising the following steps:
    步骤31、设置压路机的振动频率，获取振动频率设置值；Step 31. Set the vibration frequency of the roller, and obtain the vibration frequency setting value;
    步骤32、根据所述数据信息实时获取振动轮的振幅，将实时获取的振幅与预 设的振幅相比较，若比较结果相等，则控制压路机以当前振动频率设置值对应的振动频率进行振动碾压，若比较结果不相等，则转向步骤33；Step 32: Acquire the amplitude of the vibration wheel in real time according to the data information, compare the amplitude acquired in real time with the preset amplitude, and if the comparison results are equal, then control the roller to vibrate rolling at the vibration frequency corresponding to the current vibration frequency setting value. , if the comparison results are not equal, go to step 33;
    步骤33、设置新的振动频率设置值，保证该振动频率值大于二阶固有频率值并调整该振动频率设置值靠近二阶固有频率值的程度，然后转向步骤32。Step 33: Set a new vibration frequency setting value, ensure that the vibration frequency value is greater than the second-order natural frequency value and adjust the degree to which the vibration frequency setting value is close to the second-order natural frequency value, and then turn to step 32.
  8. 根据权利要求7所述的振动压路机变振幅控制方法，其特征在于，所述步骤33中的调整该振动频率设置值靠近二阶固有频率值的程度包括：The variable amplitude control method for a vibratory roller according to claim 7, wherein the step of adjusting the degree to which the vibration frequency setting value is close to the second-order natural frequency value in the step 33 includes:
    判断实时获取的振幅数据和预设振幅之间的关系；Determine the relationship between the amplitude data acquired in real time and the preset amplitude;
    若实时获取的振幅数据大于预设振幅，设置新的振动频率设置值，使其相对于当前的振动频率设置值远离二阶固有频率值；If the amplitude data acquired in real time is greater than the preset amplitude, set a new vibration frequency setting value so that it is far away from the second-order natural frequency value relative to the current vibration frequency setting value;
    若实时获取的振幅数据小于预设振幅，设置新的振动频率设置值，使其相对于当前的振动频率设置值靠近二阶固有频率值。If the amplitude data acquired in real time is smaller than the preset amplitude, set a new vibration frequency setting value so that it is close to the second-order natural frequency value relative to the current vibration frequency setting value.
  9. 根据权利要求1所述的振动压路机变振幅控制方法，其特征在于，控制压路机进行振动碾压包括如下步骤：The variable amplitude control method for a vibratory roller according to claim 1, characterized in that, controlling the roller to perform vibratory rolling comprises the following steps:
    压路机对待压土壤每完成一遍碾压后，需重新获取振动系统的二阶固有频率值；The second-order natural frequency value of the vibration system needs to be re-obtained after each time the road roller completes the rolling of the soil to be compacted;
    根据重新获取的二阶固有频率值设置压路机的振动频率，获取新的振动频率设置值，控制该振动频率设置值靠近二阶固有频率值的程度；Set the vibration frequency of the roller according to the re-acquired second-order natural frequency value, obtain a new vibration frequency setting value, and control the degree to which the vibration frequency setting value is close to the second-order natural frequency value;
    控制压路机以该振动频率设置值对应的振动频率对待压土壤进行振动碾压，直至碾压效果达到预设的碾压效果。Control the road roller to vibrate and roll the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value until the rolling effect reaches the preset rolling effect.
  10. 一种振动压路机变振幅控制装置，其特征在于，包括：A vibratory roller variable amplitude control device is characterized in that, comprising:
    扫频模块，用于获取振动频率由零升至振动频率预设值过程中的数据信息；数据信息为压路机在待压土壤或与待压土壤相同的土壤中获取的；The frequency sweep module is used to obtain the data information in the process of the vibration frequency rising from zero to the preset value of the vibration frequency; the data information is obtained by the road roller in the soil to be pressed or the same soil as the soil to be pressed;
    分析模块，用于根据所述数据信息获取压路机-土壤系统的二阶固有频率值；an analysis module, configured to obtain the second-order natural frequency value of the road roller-soil system according to the data information;
    重置模块，用于设置压路机振动频率，获取振动频率设置值，控制振动频率设置值靠近二阶固有频率值的程度；The reset module is used to set the vibration frequency of the roller, obtain the set value of the vibration frequency, and control the degree to which the set value of the vibration frequency is close to the second-order natural frequency value;
    执行模块，用于控制压路机以振动频率设置值对应的振动频率对待压土壤进行振动碾压。The execution module is used to control the road roller to vibrate the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
  11. 一种振动压路机变振幅控制系统，其特征在于，包括控制器和安装在振动轮上的加速度传感器；A variable amplitude control system for a vibratory roller, characterized in that it comprises a controller and an acceleration sensor mounted on a vibrating wheel;
    所述加速度传感器用于获取振动频率由零升至振动频率预设值过程中的数据信息；数据信息为压路机在待压土壤或与待压土壤相同的土壤中获取的；The acceleration sensor is used to obtain data information in the process of the vibration frequency rising from zero to the preset value of the vibration frequency; the data information is obtained by the road roller in the soil to be pressed or the same soil as the soil to be pressed;
    所述控制器用于根据所述数据信息获取压路机-土壤系统的二阶固有频率值；以及the controller is configured to obtain the second-order natural frequency value of the road roller-soil system according to the data information; and
    用于设置压路机振动频率，获取振动频率设置值，控制振动频率设置值靠近二阶固有频率值的程度；以及Used to set the vibration frequency of the roller, obtain the vibration frequency setting value, and control the degree to which the vibration frequency setting value is close to the second-order natural frequency value; and
    用于控制压路机以振动频率设置值对应的振动频率对待压土壤进行振动碾压。It is used to control the roller to vibrate the soil to be compacted at the vibration frequency corresponding to the vibration frequency setting value.
  12. 一种压路机，其特征在于，包括权利要求9所述振动压路机变振幅控制系统。A road roller is characterized by comprising the variable amplitude control system of the vibratory roller according to claim 9 .
PCT/CN2021/086991 2020-11-13 2021-04-13 Variable amplitude control method, device and system for vibratory roller, and road roller WO2022099992A1 (en)

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