CN106958182B - Wheeled paver traveling system and control method thereof - Google Patents
Wheeled paver traveling system and control method thereof Download PDFInfo
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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
- E01C19/12—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 distributing granular or liquid materials
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a traveling system of a wheeled paver, which comprises a main controller, wherein the main controller is respectively connected with a potentiometer, a traveling pump and a traveling motor, the potentiometer comprises a manual speed-regulating potentiometer and a pedal speed-regulating potentiometer, the manual speed-regulating potentiometer is connected with a paving gear, and the pedal speed-regulating potentiometer is connected with a traveling gear. The invention also discloses a control method of the traveling system of the wheeled paver, which is characterized in that the input value of the potentiometer is 0.5V-4.5V corresponding to the minimum value to the maximum value of the speed according to the relation between input and output, and the currents of the pump and the motor are automatically adjusted according to the required speed values. The invention meets the maximum speed requirements of the paving gear and the driving gear by adjusting the corresponding relation between the input value of the potentiometer and a series of variables such as the current value of the corresponding pump, the current value of the motor, the walking speed value, the torque change rule and the like.
Description
Technical Field
The invention relates to a traveling system of a wheel type paver and a control method thereof, belonging to the technical field of engineering machinery.
Background
In the design of a traveling system of a wheel type paver, the traveling load capacity of a paving gear is improved through the increase of the speed ratio, however, the speed of the paving gear is improved as much as possible while the high load capacity is achieved, so that the paving performance and the machine performance are met, and the applicability and the competitiveness of the machine are improved. The construction process is a process that the external load constantly changes, and when meeting the conditions such as stockpile height change, skip advancing and retreating change, if the machine can always ensure constant-speed advancing, the construction flatness and the dense uniformity effect can be greatly improved.
The existing technical scheme is a simple walking system control method, namely a single corresponding relation between a potentiometer value and a pump current value. The hidden trouble of insufficient driving force exists, and the maximum speed requirements of a paving gear and a driving gear cannot be met; when the vehicle is used, a user needs to manually adjust the potentiometer value to control the vehicle speed according to the external load change; when the resistance is large, the maximum torque is realized at the inflection point instead of the maximum torque generated when the potentiometer is adjusted to be maximum, which is not in accordance with the operation thinking of the paver and is difficult to manually operate.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a wheel type paver walking system and a control method thereof, provides a constant speed and torque self-adaptive control method, and well realizes the walking control process; the displacement of the pump is changed from small to large in the whole adjustment interval of the input variable of the potentiometer, and the displacement of the motor is changed from large to small at a proper time, so that the maximum speed requirements of a paving gear and a driving gear are met; in the control process, the input value of the potentiometer corresponds to a series of variables such as the current value of a pump (pump displacement), the current value of a motor (motor displacement), a walking speed value, a torque change rule and the like, and a great deal of experience and basis are accumulated for the walking control technology of the wheel paver and the like through the technical research.
In order to solve the technical problem, the invention provides a traveling system of a wheeled paver, which comprises a main controller and is characterized in that the main controller is respectively connected with a potentiometer, a traveling pump and a traveling motor, the potentiometer comprises a manual speed-regulating potentiometer and a pedal speed-regulating potentiometer, the manual speed-regulating potentiometer is connected with a paving gear, and the pedal speed-regulating potentiometer is connected with a traveling gear.
Furthermore, a proportional electromagnetic valve is arranged between the walking pump and the walking motor, and the proportional electromagnetic valve is connected with the main controller.
Furthermore, the main controller is connected with the walking motor through a walking motor electromagnetic valve.
Furthermore, the main controller is connected with a diesel engine controller, the diesel engine controller is connected with an engine, and the engine is connected with a walking pump.
Furthermore, the main controller is connected with the diesel engine controller, the diesel engine controller is connected with the throttle potentiometer, and the throttle potentiometer is connected with the main controller.
Furthermore, the main controller is connected with the diesel engine controller through a CAN bus.
Furthermore, the main controller is connected with the display through a CAN bus.
The invention also provides a control method of the traveling system of the wheeled paver, which is characterized in that the input value of the potentiometer is enabled to be 0.5V-4.5V corresponding to the minimum value to the maximum value of the speed according to the relation between input and output, the currents of the pump and the motor are automatically adjusted according to the required speed value, and the adjusting process comprises the following steps:
(1) the controller judges the current value conditions of the current pump and the current value conditions of the current motor, and records the current value conditions of the current pump and the current motor after the adjustment is finished;
(2) when the speed is increased from small to large, the current of the pump is adjusted from small to large, then the current is maintained, and then the current of the motor is adjusted from small to large;
(3) when the speed is reduced from the large value, the current of the motor is adjusted to be reduced, and then the current of the pump is adjusted to be reduced.
Further, the specific process of the regulation of the pump and motor currents is as follows:
(1) entering a speed closed loop state, wherein the minimum value to the maximum value of the potentiometer correspond to the minimum value to the maximum value of the speed, and the minimum value and the maximum value are required to be calibrated;
(2) rotating a potentiometer, increasing the speed to V, carrying out PID control, increasing the current of a pump from small to large, still not reaching the set speed when the current reaches the maximum, and increasing the current of a motor from small to large;
(3) when both pump and motor currents are at their maximum, if V Fruit of Chinese wolfberry ≥V Is provided with Rotating the potentiometer, reducing the speed to V, carrying out PID control, keeping the pump current unchanged, reducing the motor current, and reducing the pump current if the motor current is 0 to wait for a new potentiometer value;
(4) if V Fruit of Chinese wolfberry <V Is provided with If the maximum current of the pump and the motor does not exceed the deviation dead zone by 2m/min, maintaining the maximum current of the pump and the motor, and waiting for a new potentiometer value;
(5) if the deviation dead zone is exceeded by 2m/min, but the rotating speed of the diesel engine is less than or equal to 1900rpm, the default user does not need to enter a torque self-adaptive mode, the current of the pump and the motor is maintained, and a new potentiometer value is waited; meanwhile, the display gives a prompt of 'please increase the rotating speed of the engine to obtain larger driving force';
(6) if the rotating speed of the diesel engine is more than 1900rpm, the paver is in a forward state and enters a torque self-adaptive mode; when the external load is large, a user sets that the torque self-adaption mode is not entered, and finds a balance point by manually adjusting a potentiometer;
(7) after entering a torque self-adaptive mode, the pump current is maintained to be maximum, and the motor current is gradually reduced to 0 to obtain the maximum forward power; the display shows the maximum torque prompt message that the maximum torque mode is automatically entered and the potentiometer is turned down to exit the state;
(8) if the potentiometer value changes, and V Fruit of Chinese wolfberry <V Is provided with ，V Is provided with —V Fruit of Chinese wolfberry Less than or equal to 2m/min, or V Fruit of Chinese wolfberry ≥V Is provided with Then entering a normal speed closed loop state; if V Is provided with —V Fruit of Chinese wolfberry >2m/min, the state is maintained.
The invention achieves the following beneficial effects:
the maximum speed requirements of the paving gear and the driving gear are met by adjusting the corresponding relation between the input value of the potentiometer and a series of variables such as the current value of a corresponding pump (pump displacement), the current value of a motor (motor displacement), a walking speed value, a torque change rule and the like; the construction process is a process that the external load is constantly changed, and when the conditions of material pile height change, material vehicle advance and retreat change and the like are met, the machine can always ensure constant-speed advance, so that the effects of construction flatness and compact uniformity can be greatly improved. Through the technical research, a great deal of experience and foundation are accumulated for the technologies such as the walking control of the wheel paver, and the application of the technology becomes an innovative point of the wheel paver.
Drawings
FIG. 1 is a schematic block diagram of a wheeled paver travel system of the present invention;
FIG. 2 is a diagram of input-output mapping according to the present invention;
FIG. 3 is a flow chart of the closed loop regulation of the present invention;
FIG. 4 is a flow chart of the adaptive torque adjustment of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
As shown in fig. 1, a wheeled paver traveling system, includes main control unit, main control unit be connected with potentiometre, walking pump and walking motor respectively, the potentiometre include manual speed governing potentiometre and pedal speed governing potentiometre, manual speed governing potentiometre be connected with the shelves of paving, pedal speed governing potentiometre be connected with the shelves of traveling. A proportional electromagnetic valve is arranged between the walking pump and the walking motor and is connected with the main controller. The main controller is connected with the walking motor through a walking motor electromagnetic valve. The main controller is connected with the diesel engine controller, the diesel engine controller is connected with the engine, and the engine is connected with the walking pump. The main controller is connected with the diesel engine controller through a CAN bus, the diesel engine controller is connected with the throttle potentiometer, and the throttle potentiometer is connected with the main controller. The main controller is connected with the display through a CAN bus.
The whole control process only has one input variable, and for a paving gear, the control process is a manual speed regulation potentiometer (resistive), and for a driving gear, the control process is a pedal speed regulation potentiometer (Hall); the output variables are three, namely pump current, motor current and walking speed; wherein pump displacement and motor displacement are by default linearly related to corresponding current values due to the inability to electrically detect them; the full-scale regulating section of the pump and the full-scale regulating section of the motor correspond to the input full section and just correspond to the speed full-output section; for the inflection point t in the figure, which is a control interface area of the pump and the motor, a dead zone inevitably exists according to the individual difference of each trolley; the real time torque is somewhat specific to the input of the potentiometer, and in general the maximum torque point occurs not at the maximum end of the potentiometer, but at an intermediate transition point, as shown in fig. 2.
The invention also provides a control method of the traveling system of the wheeled paver, which enables the input value of the potentiometer to be 0.5V-4.5V corresponding to the minimum value to the maximum value of the speed according to the relation between input and output, the currents of the pump and the motor are automatically adjusted according to the required speed value, and the adjusting process comprises the following steps:
(1) the controller judges the current value conditions of the current pump and the motor, and records the current value conditions of the current pump and the current motor after the adjustment is finished;
(2) when the speed is increased from small to large, the current of the pump is adjusted from small to large, then the current is maintained, and then the current of the motor is adjusted from small to large;
(3) when the speed is reduced from the large value, the current of the motor is adjusted to be reduced, and then the current of the pump is adjusted to be reduced.
Before and after the speed changes, the controller needs to judge the current value conditions of the current pump and the current motor, and records the current value states of the current pump and the current motor after the adjustment is finished.
Therefore, the control strategy does not need to artificially determine the inflection point of the current control, but artificially determine the maximum speed (namely Hz number), and has the advantages of constant speed control and constant vehicle speed in an allowable load range.
As shown in fig. 3 and 4, the specific process of the regulation of the pump and motor currents is as follows:
(1) entering a speed closed loop state, wherein the minimum value to the maximum value of the potentiometer correspond to the minimum value to the maximum value of the speed, and the minimum value and the maximum value are required to be calibrated;
(2) rotating a potentiometer, increasing the speed to V, carrying out PID control, increasing the current of a pump from small to large, still not reaching the set speed when the current reaches the maximum, and increasing the current of a motor from small to large;
(3) when both pump and motor currents are at their maximum, if V Fruit of Chinese wolfberry ≥V Is provided with Rotating the potentiometer, reducing the speed to V, carrying out PID control, keeping the pump current unchanged, reducing the motor current, and reducing the pump current if the motor current is 0 to wait for a new potentiometer value;
(4) if V Fruit of Chinese wolfberry <V Is provided with If the maximum current of the pump and the motor does not exceed the deviation dead zone by 2m/min, maintaining the maximum current of the pump and the motor, and waiting for a new potentiometer value;
(5) if the deviation dead zone is exceeded by 2m/min, but the rotating speed of the diesel engine is less than or equal to 1900rpm, the default user does not need to enter a torque self-adaptive mode, maintain the current of the pump and the motor, and wait for a new potentiometer value; meanwhile, the display gives a prompt of 'please increase the rotating speed of the engine to obtain larger driving force';
(6) if the rotating speed of the diesel engine is more than 1900rpm, the paver is in a forward state and enters a torque self-adaptive mode; when the external load is large, a user sets that the torque self-adaption mode is not entered, and finds a balance point by manually adjusting a potentiometer;
(7) after entering a torque self-adaptive mode, the pump current is maintained to be maximum, and the motor current is gradually reduced to 0 to obtain the maximum forward power; the display shows the maximum torque prompt message that the maximum torque mode is automatically entered and the potentiometer is turned down to exit the state;
(8) if the potentiometer value changes, and V Fruit of Chinese wolfberry <V Is provided with ，V Is provided with —V Fruit of Chinese wolfberry Less than or equal to 2m/min, or V Fruit of Chinese wolfberry ≥V Is provided with Then entering a normal speed closed loop state; if V Is provided with —V Fruit of Chinese wolfberry >2m/min, the state is maintained.
In summary, the following steps:
1) in the actual operation process, if the maximum speed cannot meet the requirement, the maximum current value of the motor needs to be increased, and if the effect is not obvious after the increase, the maximum current value of the pump is increased (the current increase value cannot exceed 50 mA). If the dead zone at the turning point of the current is too large during the control of the former or the adjusting time of a certain speed point is too long during the control of the latter, the minimum current of the motor needs to be increased, otherwise, the minimum current of the motor needs to be reduced when the turning point of the current has impact;
2) in the analysis process, the default condition of the accelerator of the engine is about 2000rpm, so that the engine can automatically enter a torque self-adaptive mode at any position under the condition of closed speed loop; if the engine speed is below 1900rpm, the default user does not need the maximum torque, and the torque adaptive mode is not entered at this time, and the closed-loop processing is carried out according to the normal speed.
In the above description, the control strategy is referred to as speed closed-loop control (closed-loop for short); the control flow chart defaults to a forward state as an example, and for each gear, the forward state and the backward state are controlled to be the same, namely one forward control valve and one backward control valve; under the closed loop condition, when the external load is large, the torque output is automatically adjusted by adjusting the current until an equilibrium point (which refers to the maximum speed which can be reached under the current working condition) or the maximum torque is reached, and the process is performed when the maximum rotating speed of the engine is 2000 rpm.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (9)
1. A control method of a traveling system of a wheeled paver is characterized in that according to the relation between input and output, the input value of a potentiometer is enabled to be 0.5V-4.5V corresponding to the minimum value to the maximum value of speed, the currents of a pump and a motor are automatically adjusted according to the required speed value, and the adjusting process comprises the following steps:
(1) the controller judges the current value conditions of the current pump and the current value conditions of the current motor, and records the current value conditions of the current pump and the current motor after the adjustment is finished;
(2) when the speed is increased from small to large, the current of the pump is adjusted from small to large, then the current is maintained, and then the current of the motor is adjusted from small to large;
(3) when the speed is reduced from the large value, the current of the motor is adjusted to be reduced, and then the current of the pump is adjusted to be reduced.
2. The method for controlling the traveling system of the wheeled paver of claim 1 wherein the specific process of adjusting the pump and motor currents is as follows:
(1) entering a speed closed loop state, wherein the minimum value to the maximum value of the potentiometer correspond to the minimum value to the maximum value of the speed, and the minimum value and the maximum value are required to be calibrated;
(2) rotating a potentiometer, increasing the speed to V, carrying out PID control, increasing the current of a pump from small to large, still not reaching the set speed when the current reaches the maximum, and increasing the current of a motor from small to large;
(3) when both pump and motor currents are at their maximum, if V Fruit of Chinese wolfberry ≥V Is provided with Rotating the potentiometer, reducing the speed to V, carrying out PID control, keeping the pump current unchanged, reducing the motor current, and reducing the pump current if the motor current is 0 to wait for a new potentiometer value;
(4) if V Fruit of Chinese wolfberry <V Is provided with If the maximum current of the pump and the motor does not exceed the deviation dead zone by 2m/min, maintaining the maximum current of the pump and the motor, and waiting for a new potentiometer value;
(5) if the deviation dead zone is exceeded by 2m/min, but the rotating speed of the diesel engine is less than or equal to 1900rpm, the default user does not need to enter a torque self-adaptive mode, the current of the pump and the motor is maintained, and a new potentiometer value is waited; meanwhile, the display gives a prompt of 'please increase the rotating speed of the engine to obtain larger driving force';
(6) if the rotating speed of the diesel engine is more than 1900rpm, the paver is in a forward state and enters a torque self-adaptive mode; when the external load is large, a user sets that the torque self-adaption mode is not entered, and finds a balance point by manually adjusting a potentiometer;
(7) after entering a torque self-adaptive mode, maintaining the maximum pump current, and gradually reducing the motor current to 0 to obtain the maximum advancing power; the display shows the maximum torque prompt message that the maximum torque mode is automatically entered and the potentiometer is turned down to exit the state;
(8) if the potentiometer value changes, and V Fruit of Chinese wolfberry <V Is provided with ，V Is provided with —V Fruit of Chinese wolfberry Less than or equal to 2m/min, or V Fruit of Chinese wolfberry ≥V Is provided with Then entering into a normal speed closed loop state; if V Is provided with —V Fruit of Chinese wolfberry >2m/min, the state is maintained.
3. The method as claimed in claim 1, wherein the wheeled paver traveling system includes a main controller, the main controller is connected to the potentiometer, the traveling pump and the traveling motor, the potentiometer includes a manual speed-adjusting potentiometer and a foot-operated speed-adjusting potentiometer, the manual speed-adjusting potentiometer is connected to the paving gear, and the foot-operated speed-adjusting potentiometer is connected to the traveling gear.
4. The method as claimed in claim 3, wherein a proportional solenoid valve is provided between the traveling pump and the traveling motor, and the proportional solenoid valve is connected to the main controller.
5. The method as claimed in claim 3, wherein the main controller is connected to the travel motor through a travel motor solenoid valve.
6. The method as claimed in claim 3, wherein the main controller is connected to a diesel engine controller, the diesel engine controller is connected to an engine, and the engine is connected to the traveling pump.
7. The method as claimed in claim 3, wherein the main controller is connected to a diesel engine controller, the diesel engine controller is connected to an accelerator potentiometer, and the accelerator potentiometer is connected to the main controller.
8. The method as claimed in claim 6 or 7, wherein the main controller is connected to the diesel engine controller via a CAN bus.
9. The method as claimed in claim 3, wherein the main controller is connected to the display via a CAN bus.
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| CN201710299923.5A CN106958182B (en) | 2017-04-28 | 2017-04-28 | Wheeled paver traveling system and control method thereof |
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| CN201710299923.5A CN106958182B (en) | 2017-04-28 | 2017-04-28 | Wheeled paver traveling system and control method thereof |
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| CN108194217B (en) * | 2017-12-26 | 2020-03-27 | 徐工集团工程机械股份有限公司 | Method for controlling rotating speed of diesel engine for paver |
| CN108121348B (en) * | 2018-02-09 | 2023-10-10 | 江苏徐工工程机械研究院有限公司 | Running speed control method, device, system and engineering machinery |
| CN115217017A (en) * | 2022-07-18 | 2022-10-21 | 潍柴动力股份有限公司 | Speed control method, device and equipment for road roller and storage medium |
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| DE3911401C1 (en) * | 1989-04-07 | 1990-03-01 | Joseph Voegele Ag, 6800 Mannheim, De | |
| EP2333157B1 (en) * | 2009-11-30 | 2014-01-29 | Joseph Vögele AG | Method for regulating the output of a road finisher or feeder and road finisher or feeder |
| CN204139028U (en) * | 2014-04-24 | 2015-02-04 | 徐州工业职业技术学院 | A kind of rubber-tyred paver drive-control system |
| CN106480807B (en) * | 2016-03-02 | 2019-09-24 | 徐工集团工程机械有限公司 | Spreader starting control method, controller and control system |
| CN205553917U (en) * | 2016-04-07 | 2016-09-07 | 中交西安筑路机械有限公司 | Wheeled paver control system |
| CN206736680U (en) * | 2017-04-28 | 2017-12-12 | 徐工集团工程机械股份有限公司 | A kind of wheel-type spreading machine running gear |
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