CN102400437B - Control device and method for power limit load of full-hydraulic rubber-tyred roller - Google Patents
Control device and method for power limit load of full-hydraulic rubber-tyred roller Download PDFInfo
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- CN102400437B CN102400437B CN201110379384.9A CN201110379384A CN102400437B CN 102400437 B CN102400437 B CN 102400437B CN 201110379384 A CN201110379384 A CN 201110379384A CN 102400437 B CN102400437 B CN 102400437B
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Abstract
The invention relates to a control device for power limit load of a full-hydraulic rubber-tyred roller. The control device comprises a controller (U3), wherein a velocity sensor I (U4) and a velocity sensor II (U5) are connected onto the controller (U3); the controller (U3) is connected with a brake pedal (U6); an ECU (Electronically Controlled Unit) of an engine (U2) is connected with an accelerator pedal (U1); the engine (U2) is connected with a hydraulic pump (Y1) through a coupler; the hydraulic pump (Y1) is connected with a hydraulic motor I (Y2) and a hydraulic motor II (Y3) through pipelines; and the controller (U3) is respectively connected with signal input ends of electro-hydraulic proportional valves on the hydraulic pump (Y1), the hydraulic motor I (Y2) and the hydraulic motor II (Y3). The cruise control device for the full-hydraulic rubber-tyred roller provided by the invention can regulate and control the power of the full-hydraulic rubber-tyred roller.
Description
Technical field
The present invention relates to a kind of control device, especially relate to a kind of control device and method for power limit load being controlled on all-hydraulic tyre roller, belong to technical field of engineering machinery.
Background technology
The motor of all-hydraulic tyre roller is directly connected with hydraulic pump by shaft coupling, drive motor by hydraulic pump, the special oil gate input signal end that foot throttle pedal provides with Engine ECU is directly connected, brake pedal output signal is connected with the special input signal end of controller, operator regulates the power output of motor by stepping on foot throttle pedal, motor is directly passed to hydraulic pump by shaft coupling by power, thereby controls the power output of hydraulic pump and motor.When motor is during at a certain rotary speed working, its power output is certain, if when the input power of front pump is greater than the power output while running into obstruction or complete machine in climbing operating mode (normally travel) of motor, motor can fall speed to guarantee peak torque, speed value is fallen in the tolerance that fast scope exceedes motor if fall, and will cause engine misses; In addition, because the mass ratio of rubber-tyred roller is larger, in the time of high speed, when emergency brake, because engine speed suppression ratio is very fast, row's pump of hydraulic pressure declines, but now, the rotating speed of motor is still higher, causes motor driving pump conversely, causes motor instant speedup, this degree of compaction and engine life to all-hydraulic tyre roller produces a very large impact, and when serious, may cause dangerous generation and cause great economic loss.This situation has influence on the normal work of road roller, if fall frequently, speed is flame-out or instantaneous speed increasing ratio is larger, will affect the application life of motor, also hydraulic system is impacted, affect the application life of pump and motor, the more important thing is, fall frequently speed and had a strong impact on the consolidation effect on road surface.
Summary of the invention
The object of the invention is to overcome above-mentioned deficiency, a kind of control device and method that can regulate and control the power of all-hydraulic tyre roller is provided.
The object of the present invention is achieved like this: a kind of control device of all-hydraulic tyre roller power limit load, described control device includes controller, on described controller, be connected with velocity sensor one and velocity sensor two, described controller is connected with brake pedal, the electric control system ECU of motor is connected with accelerator pedal, described motor is connected with hydraulic pump by shaft coupling, described hydraulic pump is connected with hydraulic motor two with hydraulic motor one by pipeline, described controller respectively with hydraulic pump, hydraulic motor one is connected with the signal input part of the electro-hydraulic proportional valve on hydraulic motor two.
The step of the control method of all-hydraulic tyre roller power limit load of the present invention is:
Step 1: initialize and setting parameter:
Be provided for judging whether to carry out the tachometer value of the motor of brake at a high speed;
Be provided for judging whether that the speed of falling of speed arranges calmly;
Speed of a motor vehicle setting value is carried out to assignment V setting=8km/h;
In controller, arrange one for calculating fast time value;
Step 2, data acquisition:
Controller obtains actual speed by being connected with the electric control system ECU of motor, and Negotiation speed sensor one and velocity sensor two obtain actual road speed;
Step 3, judge whether at a high speed brake:
In the time detecting that brake pedal is operated, if now the rotating speed of motor is greater than the tachometer value of setting in step 1, is judged as and has carried out brake at a high speed, the invalidating signal of the electric control system ECU of accelerator pedal input motor, and enter step 3.1, otherwise enter step 4;
Step 3.1, judge whether actual vehicle speed is greater than speed of a motor vehicle setting value:
If the actual vehicle speed of obtaining in step 2 is less than the speed of a motor vehicle setting value 8km/h in step 1, enter step 4; Otherwise enter step 3.2;
The pwm signal that step 3.2, controller minimizing hydraulic motor one and hydraulic motor two receive, controller transfers to hydraulic motor one and hydraulic motor two by the electro-hydraulic proportional valve on hydraulic motor one and hydraulic motor two by pwm signal subsequently, then controller reduces the pwm signal that hydraulic pump receives again, and this pwm signal is transferred to hydraulic pump; Return to subsequently step 3.1;
Step 4, judgement fall speed whether be greater than arrange fixed:
Controller Negotiation speed sensor one and velocity sensor two obtain road speed V1; After the time value arranging through step 1, Negotiation speed sensor one and velocity sensor two obtain road speed V2 again, and calculating speed value is difference between the two, i.e. V1-V2, and the speed setting value of falling of subsequently this being fallen in speed value and step 1 compares;
Be less than setting value if fall speed, return to step 2, be greater than setting value if fall speed, enter step 5;
Step 5, controller reduce the pwm signal that hydraulic pump receives; And then reduce the pwm signal that hydraulic motor one and hydraulic motor two receive, return to subsequently step 2.
The control method of all-hydraulic tyre roller power limit load of the present invention, the design formulas of the actual speed in step 2 is: Negotiation speed sensor one and velocity sensor two obtain respectively a speed of travel V left side and the V right side of left and right driving wheel, a VAVG=(V left side+V right side)/2.
The control method of all-hydraulic tyre roller power limit load of the present invention, the design formulas that Negotiation speed sensor calculates the speed of travel is: V=(N1*2) * (N2*3.14) * 3.6)/(N3*N4); Wherein, N1 is the umber of pulse that velocity sensor obtains, and N2 is tire on the drive wheels diameter, and N3 is the driving wheel reductor number of teeth, and N4 is speed reducing ratio; From above formula, N2, N3 and N4 are known definite value, and N1 is obtained by velocity sensor one and velocity sensor two respectively, therefore can obtain respectively a speed V left side and the V right side of left and right driving wheel.
Compared with prior art, the invention has the beneficial effects as follows:
Adopt after the present invention; the rationally priority control sequence of regulator solution press pump and hydraulic motor, protection hydraulic system is not hit, and reduces the instantaneous speedup of motor; can effectively provide protection to motor, hydraulic pump, hydraulic motor, reduce the application life of oil consumption, prolongation motor.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the control device of a kind of all-hydraulic tyre roller power limit load of the present invention.
Fig. 2 is the circuit block diagram of the control device of a kind of all-hydraulic tyre roller power limit load of the present invention.
Fig. 3 is the schematic flow sheet of the control method of a kind of all-hydraulic tyre roller power limit load of the present invention.
Fig. 4 is motor of the present invention " moment of torsion-rotating speed " curve map.
Wherein:
Accelerator pedal U1, motor U2, controller U3, velocity sensor one U4, velocity sensor two U5, brake pedal U6;
Hydraulic pump Y1, hydraulic motor one Y2, hydraulic motor two Y3.
The specific embodiment
Referring to Fig. 1 and Fig. 2, the control device of a kind of all-hydraulic tyre roller power limit load the present invention relates to, described control device includes controller U3, on described controller U3, be connected with velocity sensor one U4 and velocity sensor two U5, described controller U3 signal input part is connected by wire with brake pedal U6 signal output part, make in the time that brake pedal U6 is operated, controller U3 can obtain corresponding signal immediately, the electric control system ECU signal input part of described motor U2 is connected by wire with accelerator pedal U1 signal output part, accelerator pedal U1 accelerates and reduce-speed sign for motor U2 provides throttle, described motor U2 is connected with hydraulic pump Y1 by shaft coupling, described hydraulic pump Y1 is connected with hydraulic motor two Y3 with hydraulic motor one Y2 by pipeline, described controller U3 respectively with hydraulic pump Y1, hydraulic motor one Y2 is connected with the signal input part of the electro-hydraulic proportional valve on hydraulic motor two Y3, above-mentioned electro-hydraulic proportional valve is to be integrated in hydraulic pump Y1, on hydraulic motor one Y2 and hydraulic motor two Y3.
Referring to Fig. 3 and Fig. 4, the present invention relates to a kind of control method of all-hydraulic tyre roller power limit load, the step of described control method is:
Step 1: initialize and setting parameter:
Be provided for judging whether to carry out the tachometer value (as 1700rpm) of the motor U1 of brake at a high speed;
Be provided for judging whether that the speed of falling of speed arranges calmly;
Speed of a motor vehicle setting value is carried out to assignment V setting=8km/h;
In controller U3, arrange one for calculating fast time value;
Step 2, data acquisition:
Controller U3 obtains actual speed by being connected with the electric control system ECU of motor U2, and Negotiation speed sensor one U4 and velocity sensor two U5 obtain actual road speed;
Step 3, judge whether at a high speed brake:
In the time detecting that brake pedal U6 is operated, if now the rotating speed of motor U1 is greater than the tachometer value (as 1700rpm) of setting in step 1, be judged as and carried out brake at a high speed, the invalidating signal of the electric control system ECU of accelerator pedal U1 input motor U2, and enter step 3.1, otherwise enter step 4;
Step 3.1, judge whether actual vehicle speed is greater than speed of a motor vehicle setting value:
Negotiation speed sensor one U4 and velocity sensor two U5 obtain respectively a speed of travel V left side and the V right side of left and right driving wheel, a VAVG=(V left side+V right side)/left ≈ the V of the 2 ≈ V right side, while normally travelling, the speed of left and right sidesing driving wheel is basically identical;
A now actual speed V reality=VAVG=(V left side+V right side)/left ≈ the V of the 2 ≈ V right side
The design formulas that Negotiation speed sensor calculates the speed of travel is: V=(N1*2) * (N2*3.14) * 3.6)/and (N3*N4); Wherein, N1 is the umber of pulse that velocity sensor obtains, and N2 is tire on the drive wheels diameter, and N3 is the driving wheel reductor number of teeth, and N4 is speed reducing ratio; From above formula, N2, N3 and N4 are known definite value, and N1 is obtained by velocity sensor one U4 and velocity sensor two U5 respectively, therefore can obtain a speed V left side and the V right side of left and right driving wheel;
If the actual vehicle speed of obtaining in step 2 is less than the 8km/h in speed of a motor vehicle setting value, enter step 4; Otherwise enter step 3.2;
After step 3.2, controller U3 operation pid algorithm, first reduce the pwm signal that hydraulic motor one Y2 and hydraulic motor two Y3 receive, controller U3 carries out the transmission of pwm signal by the electro-hydraulic proportional valve on hydraulic motor one Y2 and hydraulic motor two Y3, and then reduces the pwm signal that hydraulic pump Y1 receives; Return to subsequently step 3.1;
Step 4, judgement fall speed whether be greater than arrange fixed:
Controller U3 Negotiation speed sensor one U4 and velocity sensor two U5 obtain road speed V1; After the time value arranging through step 1, Negotiation speed sensor one U4 and velocity sensor two U5 obtain road speed V2 again, and calculating speed value is difference between the two, i.e. V1-V2, and the speed setting value of falling of subsequently this being fallen in speed value and step 1 compares;
Be less than setting value if fall speed, return to step 2, be greater than setting value if fall speed, enter step 5;
After step 5, controller U3 operation pid algorithm, first reduce the pwm signal that hydraulic pump Y1 receives; And then reduce the pwm signal that hydraulic motor one Y2 and hydraulic motor two Y3 receive, return to subsequently step 2.
In said method, controller U3 is by hydraulic pump Y1, electro-hydraulic proportional valve on hydraulic motor one Y2 and hydraulic motor two Y3 carries out pwm signal transmission, thereby complete hydraulic pump Y1, the adjusting of hydraulic motor one Y2 and hydraulic motor two Y3, its adjustment process is: PWM_OUTY1:=((PWM_MAX-PWM_MIN) * Knob/ (Knob_MAX-Knob_MIN)+PWM_MIN), wherein, PWM_OUTY1 is the pwm signal of input hydraulic pressure pump Y1, PWM_MAX and PWM_MIN are the minimum and maximum output of controller U3 PWM value, self precision by controller is relevant, Knob is the current output voltage values of accelerator pedal U1, Knob_MAX and Knob_MIN are the minimum and maximum output voltage values of accelerator pedal U1,
The PWM output valve formula of hydraulic motor one Y2 and hydraulic motor two Y3 is PWM_OUT=(((PWM_MAX-PWM_MIN) * Knob+ (PWM_MIN*Knob_Max-PWM_Max*Knob_Mid))/(Knob_MAX-Knob_MIN)), wherein PWM_OUT is the pwm signal of input hydraulic pressure motor one Y2 and hydraulic motor two Y3, PWM_MAX and PWM_MIN are the minimum and maximum output of controller U3 PWM value, self precision by controller is relevant, Knob is the current output voltage values of accelerator pedal U1, Knob_MAX and Knob_MIN are the minimum and maximum output voltage values of accelerator pedal U1.
Claims (3)
1. the control method of an all-hydraulic tyre roller power limit load, it is characterized in that: described control method includes control device, described control device includes controller (U3), on described controller (U3), be connected with velocity sensor one (U4) and velocity sensor two (U5), described controller (U3) is connected with brake pedal (U6), the electric control system ECU of motor (U2) is connected with accelerator pedal (U1), described motor (U2) is connected with hydraulic pump (Y1) by shaft coupling, described hydraulic pump (Y1) is connected with hydraulic motor two (Y3) with hydraulic motor one (Y2) by pipeline, described controller (U3) respectively with hydraulic pump (Y1), hydraulic motor one (Y2) is connected with the signal input part of the electro-hydraulic proportional valve on hydraulic motor two (Y3),
The step of described control method is:
Step 1: initialize and setting parameter:
Be provided for judging whether to carry out the tachometer value of the motor (U1) of brake at a high speed;
Be provided for judging whether that the speed of falling of speed arranges calmly;
Speed of a motor vehicle setting value is carried out to assignment V setting=8km/h;
In controller (U3), arrange one for calculating fast time value;
Step 2, data acquisition:
Controller (U3) obtains actual speed by being connected with the electric control system ECU of motor (U2), and Negotiation speed sensor one (U4) and velocity sensor two (U5) obtain actual road speed;
Step 3, judge whether at a high speed brake:
In the time detecting that brake pedal (U6) is operated, if now the rotating speed of motor (U1) is greater than the tachometer value of setting in step 1, be judged as and carried out brake at a high speed, the invalidating signal of the electric control system ECU of accelerator pedal (U1) input motor (U2), and enter step 3.1, otherwise enter step 4;
Step 3.1, judge whether actual vehicle speed is greater than speed of a motor vehicle setting value:
If the actual vehicle speed of obtaining in step 2 is less than the speed of a motor vehicle setting value 8km/h in step 1, enter step 4; Otherwise enter step 3.2;
The pwm signal that step 3.2, controller (U3) minimizing hydraulic motor one (Y2) and hydraulic motor two (Y3) receive, controller (U3) transfers to hydraulic motor one (Y2) and hydraulic motor two (Y3) by the electro-hydraulic proportional valve on hydraulic motor one (Y2) and hydraulic motor two (Y3) by pwm signal subsequently, then controller (U3) reduces the pwm signal that hydraulic pump (Y1) receives again, and this pwm signal is transferred to hydraulic pump (Y1); Return to subsequently step 3.1;
Step 4, judgement fall speed whether be greater than arrange fixed:
Controller (U3) Negotiation speed sensor one (U4) and velocity sensor two (U5) obtain road speed V1; After the time value arranging through step 1, Negotiation speed sensor one (U4) and velocity sensor two (U5) obtain road speed V2 again, calculating speed value is difference between the two, i.e. V1-V2, and the speed setting value of falling of subsequently this being fallen in speed value and step 1 compares;
Be less than setting value if fall speed, return to step 2, be greater than setting value if fall speed, enter step 5;
Step 5, controller (U3) reduce the pwm signal that hydraulic pump (Y1) receives; And then reduce hydraulic motor one (Y2) and the pwm signal that receives of hydraulic motor two (Y3), return to subsequently step 2.
2. a kind of control method of all-hydraulic tyre roller power limit load as claimed in claim 1, it is characterized in that: the design formulas of the actual speed in step 2 is: Negotiation speed sensor one (U4) and velocity sensor two (U5) obtain respectively a speed of travel V left side and the V right side of left and right driving wheel, a VAVG=(V left side+V right side)/2.
3. a kind of control method of all-hydraulic tyre roller power limit load as claimed in claim 2, is characterized in that: the design formulas that Negotiation speed sensor calculates the speed of travel is: V=(N1*2) * (N2*3.14) * 3.6)/and (N3*N4); Wherein, N1 is the umber of pulse that velocity sensor obtains, and N2 is tire on the drive wheels diameter, and N3 is the driving wheel reductor number of teeth, and N4 is speed reducing ratio; From above formula, N2, N3 and N4 are known definite value, and N1 is obtained by velocity sensor one (U4) and velocity sensor two (U5) respectively, therefore can obtain respectively a speed V left side and the V right side of left and right driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110379384.9A CN102400437B (en) | 2011-11-25 | 2011-11-25 | Control device and method for power limit load of full-hydraulic rubber-tyred roller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110379384.9A CN102400437B (en) | 2011-11-25 | 2011-11-25 | Control device and method for power limit load of full-hydraulic rubber-tyred roller |
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| Publication Number | Publication Date |
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| CN102400437A CN102400437A (en) | 2012-04-04 |
| CN102400437B true CN102400437B (en) | 2014-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110379384.9A Expired - Fee Related CN102400437B (en) | 2011-11-25 | 2011-11-25 | Control device and method for power limit load of full-hydraulic rubber-tyred roller |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106560552B (en) * | 2016-03-02 | 2019-06-21 | 徐工集团工程机械有限公司 | Ambulation control method, controller and control system under ultimate load mode |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101182702A (en) * | 2007-12-18 | 2008-05-21 | 三一重工股份有限公司 | Tire road roller energy-saving control system |
| CN201400847Y (en) * | 2009-04-28 | 2010-02-10 | 一拖(洛阳)建筑机械有限公司 | Driving axle device of hydraulic driving tire road roller with hub reduction |
| CN201695303U (en) * | 2010-03-01 | 2011-01-05 | 江阴柳工道路机械有限公司 | Constant-speed device for dual-steel wheel vibration road roller |
| CN202359488U (en) * | 2011-11-25 | 2012-08-01 | 柳工无锡路面机械有限公司 | Power limit load control device for full hydraulic pneumatic tyred roller |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005256478A (en) * | 2004-03-12 | 2005-09-22 | Hitachi Constr Mach Co Ltd | Rolling compaction machine |
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2011
- 2011-11-25 CN CN201110379384.9A patent/CN102400437B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101182702A (en) * | 2007-12-18 | 2008-05-21 | 三一重工股份有限公司 | Tire road roller energy-saving control system |
| CN201400847Y (en) * | 2009-04-28 | 2010-02-10 | 一拖(洛阳)建筑机械有限公司 | Driving axle device of hydraulic driving tire road roller with hub reduction |
| CN201695303U (en) * | 2010-03-01 | 2011-01-05 | 江阴柳工道路机械有限公司 | Constant-speed device for dual-steel wheel vibration road roller |
| CN202359488U (en) * | 2011-11-25 | 2012-08-01 | 柳工无锡路面机械有限公司 | Power limit load control device for full hydraulic pneumatic tyred roller |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2005-256478A 2005.09.22 |
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