CN102518166A - Operation and control system and operation and control method of engineering machinery - Google Patents
Operation and control system and operation and control method of engineering machinery Download PDFInfo
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- CN102518166A CN102518166A CN2011104107682A CN201110410768A CN102518166A CN 102518166 A CN102518166 A CN 102518166A CN 2011104107682 A CN2011104107682 A CN 2011104107682A CN 201110410768 A CN201110410768 A CN 201110410768A CN 102518166 A CN102518166 A CN 102518166A
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- max
- load force
- rodless cavity
- rod chamber
- equipment
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Abstract
The invention discloses an operation and control system and an operation and control method of engineering machinery, wherein the operation and control system comprises a working device, a manipulating device, a sensor, a controller and a driver, wherein the manipulating device is used for controlling actions of the working device; the sensor is used for detecting information of loading force applied on the working device; the controller is used for calculating a reacting force fed back to the manipulating device according to the loading force information and a preserved algorithm; and the driver is used for applying the reacting force onto the manipulating device. As the loading force information of the working device can be fed back to an operator by applying the corresponding reacting force onto the manipulating device, the operator can sense change of loading force in real time. Therefore, the timeliness and the accuracy of engineering machinery operation and control can be greatly improved.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of control system and control method of engineering machinery.
Background technology
At present in most engineering machinery (for example excavator etc.), operator is controlled the action of equipment (be the actuating unit of engineering machinery, for example power shovel part) through handling electric handle or hydraulic pilot handle.It controls principle: exported the corresponding signal of telecommunication or guide's voltage signal according to handle by the motion vector that manipulation produced, and the action of the relevant hydraulic valve in the hydraulic system of Control Engineering machinery, and then drive equipment execution relevant action.These two kinds of control modes have that handling is good, the advantage of good reliability.
Yet, control in the process actual, when the load force of equipment changed, operator can't come the variation of perception load force through handle, and therefore, promptness, accuracy that the control system of prior art is controlled engineering machinery are relatively poor.
Summary of the invention
The invention provides a kind of control system and control method of engineering machinery, in order to solve the relatively poor technical problem of promptness, accuracy that control system is controlled engineering machinery in the prior art.
The control system of engineering machinery of the present invention comprises:
Equipment;
Manipulation device is used to control the action of equipment;
Sensor is used for the suffered load force information of testing device;
Controller is used for going out to feed back to according to the algorithm computation of load force information and preservation the reaction force of manipulation device;
Driver is used for said reaction force is put on manipulation device.
Said equipment comprises the hydraulic cylinder with rodless cavity and rod chamber; Said load force information comprises rodless cavity pressure and rod chamber pressure; Then said controller is used for calculating the suffered load force of equipment according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, and calculates said reaction force according to the rule of said load force and setting; Wherein, said load force design formulas is:
F=P
1*S
1+P
2*S
2
In the formula, F is a load force, P
1Be rodless cavity pressure, S
1Be rodless cavity piston area, P
2Be rod chamber pressure, S
2Be the rod chamber piston area.
Said rule is:
As F<F
Max* k
1The time, F '=K
1* F
Work as F
Max* k
1≤F<F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* (F-F
Max* k
1)
As F>=F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* F
Max* (k
2-k
1)+K
3* (F-F
Max* k
2)
Wherein, F
MaxThe maximum load power that can bear for equipment; k
1, k
2Be the factor of proportionality of setting, and k
1<k
2<1; F ' is a reaction force; K
1, K
2, K
3Be the linear gain of setting, and K
1>K
2>K
3
Said manipulation device comprises control crank, steering wheel or pedal.
The control method of engineering machinery of the present invention is applied to comprise in the system of equipment and manipulation device, comprising:
A, the suffered load force information of testing device;
B, go out to feed back to the reaction force of manipulation device according to the algorithm computation of said load force information and preservation;
C, said reaction force is put on manipulation device.
Said equipment comprises the hydraulic cylinder with rodless cavity and rod chamber, and said load force information comprises rodless cavity pressure and rod chamber pressure, and then step B comprises:
B1, calculate the suffered load force of equipment according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, said load force design formulas is:
F=P
1*S
1+P
2*S
2
In the formula, F is a load force, P
1Be rodless cavity pressure, S
1Be rodless cavity piston area, P
2Be rod chamber pressure, S
2Be the rod chamber piston area;
B2, calculate said reaction force according to the rule of said load force and setting.
Said rule is:
As F<F
Max* k
1The time, F '=K
1* F
Work as F
Max* k
1≤F<F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* (F-F
Max* k
1)
As F>=F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* F
Max* (k
2-k
1)+K
3* (F-F
Max* k
2)
Wherein, F
MaxThe maximum load power that can bear for equipment; k
1, k
2Be the factor of proportionality of setting, and k
1<k
2<1; F ' is a reaction force; K
1, K
2, K
3Be the linear gain of setting, and K
1>K
2>K
3
In technical scheme of the present invention; Owing to can the load force information of equipment finally be fed back to operator through manipulation device being applied corresponding reaction force; Make the variation that operator can the real-time perception load force, therefore, can improve promptness and accuracy that engineering machinery is controlled greatly.
Description of drawings
Fig. 1 is the control system structural representation of engineering machinery of the present invention;
Fig. 2 is the control method schematic flow sheet of engineering machinery of the present invention;
Fig. 3 is the regular sketch map (function relation curve figure) of reaction force among the present invention and load force.
The specific embodiment
In order to solve in the prior art when the load force of equipment changes; Operator can't come the variation of perception load force through handle; The promptness of controlling, the relatively poor technical problem of accuracy the invention provides a kind of control system and control method of engineering machinery.
As shown in Figure 1, the control system of engineering machinery of the present invention comprises equipment, manipulation device, sensor, controller and driver, and wherein, said manipulation device is used to control the action of equipment; Said sensor is used for the suffered load force information of testing device; Said controller is used for going out to feed back to according to the algorithm computation of load force information and preservation the reaction force of manipulation device; Said driver is used for said reaction force is put on manipulation device.
In engineering machinery, said equipment generally includes the hydraulic cylinder with rodless cavity and rod chamber; The load force information that sensor detected can comprise the suffered load force of hydraulic cylinder piston rod, also can comprise the pressure of hydraulic cylinder rodless cavity and rod chamber etc.; When load force information is rodless cavity pressure and rod chamber pressure; Said controller; Be used for calculating the suffered load force of equipment according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas; The rule that reaches according to said load force and setting calculates said reaction force, and wherein, said load force design formulas is:
F=P
1*S
1+P
2*S
2
In the formula, F is a load force, P
1Be rodless cavity pressure, S
1Be rodless cavity piston area, P
2Be rod chamber pressure, S
2Be the rod chamber piston area.
Said rule is:
As F<F
Max* k
1The time, F '=K
1* F
Work as F
Max* k
1≤F<F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* (F-F
Max* k
1)
As F>=F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* F
Max* (k
2-k
1)+K
3* (F-F
Max* k
2)
Wherein, F
MaxThe maximum load power that can bear for equipment; k
1, k
2Be the factor of proportionality of setting, and k
1<k
2<1; F ' is a reaction force; K
1, K
2, K
3Be the linear gain of setting, and K
1>K
2>K
3
In the present invention, said manipulation device can comprise control crank, steering wheel or pedal or the like.
As shown in Figure 2, the control method of engineering machinery of the present invention is applied to comprise in the system of equipment and manipulation device, comprising:
Wherein, when said equipment comprises the hydraulic cylinder with rodless cavity and rod chamber, when said load force information comprised rodless cavity pressure and rod chamber pressure, step 102 comprised:
Calculate the suffered load force of equipment according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, said load force design formulas is:
F=P
1*S
1+P
2*S
2
In the formula, F is a load force, P
1Be rodless cavity pressure, S
1Be rodless cavity piston area, P
2Be rod chamber pressure, S
2Be the rod chamber piston area;
Rule based on said load force and setting calculates said reaction force.
As shown in Figure 3, said rule can for:
As F<F
Max* k
1The time, F '=K
1* F
Work as F
Max* k
1≤F<F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* (F-F
Max* k
1)
As F>=F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* F
Max* (k
2-k
1)+K
3* (F-F
Max* k
2)
Wherein, F
MaxThe maximum load power that can bear for equipment; k
1, k
2Be the factor of proportionality of setting, and k
1<k
2<1; F ' is a reaction force; K
1, K
2, K
3Be the linear gain of setting, and K
1>K
2>K
3
In the embodiment shown in fig. 3, load force F and reaction force F ' are linear respectively in three segment limits, and certainly, according to the difference construction object of different engineering machinery or engineering machinery, rule relation also can be other non-linear relations.Factor of proportionality can be set numerical value, for example k according to the load force scope of reality
1Be 15%, k
2Be 85%.
Please continue with reference to figure 3, because K
1>K
2>K
3, therefore, as the less (F<F of load force F
Max* k
1) time, reaction force F ' is comparatively responsive with the variation of load force F, and less load force changes can make the obvious perception of operator; And as the big (F>=F of load force F
Max* k
2) time, reaction force F ' is comparatively mild with the variation of load force F, and the variation of load force comparatively relaxes the perception of operator.
In reality, can record the value of load force F earlier according to experiment, take all factors into consideration the span of reaction force F ' then, draw suitable yield value, thereby draw the setting rule that load force F and reaction force F ' should set.
When the suffered load force of the equipment of engineering machinery changes, the rodless cavity pressure of the hydraulic cylinder of sensor in real time testing device and rod chamber pressure; Controller calculates reaction force according to the rule of setting after calculating the suffered load force of equipment; Under the signal of driver drove, reaction force put on manipulation device, made the variation that operator can the real-time perception load force, was convenient to monitor or do next step and control judgement controlling process.
In technical scheme of the present invention; Owing to can the load force information of equipment finally be fed back to operator through manipulation device being applied corresponding reaction force; Make the variation that operator can the real-time perception load force, therefore, can improve promptness and accuracy that engineering machinery is controlled greatly.
Obviously, those skilled in the art can carry out various changes and modification to the present invention and not break away from the spirit and scope of the present invention.Like this, belong within the scope of claim of the present invention and equivalent technologies thereof if of the present invention these are revised with modification, then the present invention also is intended to comprise these changes and modification interior.
Claims (7)
1. the control system of an engineering machinery is characterized in that, comprising:
Equipment;
Manipulation device is used to control the action of equipment;
Sensor is used for the suffered load force information of testing device;
Controller is used for going out to feed back to according to the algorithm computation of load force information and preservation the reaction force of manipulation device;
Driver is used for said reaction force is put on manipulation device.
2. control system as claimed in claim 1; It is characterized in that; Said equipment comprises the hydraulic cylinder with rodless cavity and rod chamber, and said load force information comprises rodless cavity pressure and rod chamber pressure, then said controller; Be used for calculating the suffered load force of equipment according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas; The rule that reaches according to said load force and setting calculates said reaction force, and wherein, said load force design formulas is:
F=P
1*S
1+P
2*S
2
In the formula, F is a load force, P
1Be rodless cavity pressure, S
1Be rodless cavity piston area, P
2Be rod chamber pressure, S
2Be the rod chamber piston area.
3. control system as claimed in claim 2 is characterized in that, said rule is:
As F<F
Max* k
1The time, F '=K
1* F
Work as F
Max* k
1≤F<F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* (F-F
Max* k
1)
As F>=F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* F
Max* (k
2-k
1)+K
3* (F-F
Max* k
2)
Wherein, F
MaxThe maximum load power that can bear for equipment; k
1, k
2Be the factor of proportionality of setting, and k
1<k
2<1; F ' is a reaction force; K
1, K
2, K
3Be the linear gain of setting, and K
1>K
2>K
3
4. control system as claimed in claim 1 is characterized in that said manipulation device comprises control crank, steering wheel or pedal.
5. the control method of an engineering machinery is applied to comprise in the system of equipment and manipulation device, it is characterized in that, comprising:
A, the suffered load force information of testing device;
B, go out to feed back to the reaction force of manipulation device according to the algorithm computation of said load force information and preservation;
C, said reaction force is put on manipulation device.
6. like the said control method of claim 5, it is characterized in that said equipment comprises the hydraulic cylinder with rodless cavity and rod chamber, said load force information comprises rodless cavity pressure and rod chamber pressure, and then step B comprises:
B1, calculate the suffered load force of equipment according to rodless cavity pressure, rodless cavity piston area, rod chamber pressure, rod chamber piston area and load force design formulas, said load force design formulas is:
F=P
1*S
1+P
2*S
2
In the formula, F is a load force, P
1Be rodless cavity pressure, S
1Be rodless cavity piston area, P
2Be rod chamber pressure, S
2Be the rod chamber piston area;
B2, calculate said reaction force according to the rule of said load force and setting.
7. like the said control method of claim 6, it is characterized in that said rule is:
As F<F
Max* k
1The time, F '=K
1* F
Work as F
Max* k
1≤F<F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* (F-F
Max* k
1)
As F>=F
Max* k
2The time, F '=K
1* F
Max* k
1+ K
2* F
Max* (k
2-k
1)+K
3* (F-F
Max* k
2)
Wherein, F
MaxThe maximum load power that can bear for equipment; k
1, k
2Be the factor of proportionality of setting, and k
1<k
2<1; F ' is a reaction force; K
1, K
2, K
3Be the linear gain of setting, and K
1>K
2>K
3
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CN201110410768.2A CN102518166B (en) | 2011-12-09 | 2011-12-09 | Operation and control system and operation and control method of engineering machinery |
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CN201110410768.2A CN102518166B (en) | 2011-12-09 | 2011-12-09 | Operation and control system and operation and control method of engineering machinery |
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CN102518166A true CN102518166A (en) | 2012-06-27 |
CN102518166B CN102518166B (en) | 2014-03-12 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107709672A (en) * | 2015-09-10 | 2018-02-16 | 日立建机株式会社 | Engineering machinery |
CN113910932A (en) * | 2020-07-09 | 2022-01-11 | 威马智慧出行科技(上海)有限公司 | Vehicle-mounted power supply assembly and control method thereof |
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US5086870A (en) * | 1990-10-31 | 1992-02-11 | Division Driving Systems, Inc. | Joystick-operated driving system |
GB2341588A (en) * | 1998-09-17 | 2000-03-22 | Daimler Chrysler Ag | A vehicle 'steer-by-wire' system using redundant control systems |
CN101066677A (en) * | 2002-05-14 | 2007-11-07 | 丰田自动车株式会社 | Motor vehicle control device |
CN101100268A (en) * | 2007-07-26 | 2008-01-09 | 山东富友有限公司 | Electron linkage operation system for tower crane |
JP2008111785A (en) * | 2006-10-31 | 2008-05-15 | Jtekt Corp | Test system for steering device |
-
2011
- 2011-12-09 CN CN201110410768.2A patent/CN102518166B/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5086870A (en) * | 1990-10-31 | 1992-02-11 | Division Driving Systems, Inc. | Joystick-operated driving system |
GB2341588A (en) * | 1998-09-17 | 2000-03-22 | Daimler Chrysler Ag | A vehicle 'steer-by-wire' system using redundant control systems |
CN101066677A (en) * | 2002-05-14 | 2007-11-07 | 丰田自动车株式会社 | Motor vehicle control device |
JP2008111785A (en) * | 2006-10-31 | 2008-05-15 | Jtekt Corp | Test system for steering device |
CN101100268A (en) * | 2007-07-26 | 2008-01-09 | 山东富友有限公司 | Electron linkage operation system for tower crane |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN107709672A (en) * | 2015-09-10 | 2018-02-16 | 日立建机株式会社 | Engineering machinery |
CN107709672B (en) * | 2015-09-10 | 2020-03-31 | 日立建机株式会社 | Construction machine |
CN113910932A (en) * | 2020-07-09 | 2022-01-11 | 威马智慧出行科技(上海)有限公司 | Vehicle-mounted power supply assembly and control method thereof |
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Publication number | Publication date |
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CN102518166B (en) | 2014-03-12 |
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