CN111352385A - System and method for controlling deceleration motion of working machine - Google Patents
System and method for controlling deceleration motion of working machine Download PDFInfo
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Abstract
The invention discloses a system and a method for controlling the deceleration movement of a working machine, wherein the control system comprises an operating mechanism, a deceleration control part, a driving part and a moving part which are sequentially connected, the deceleration control part comprises a controller and a power amplification element, and the power amplification element is used for amplifying a deceleration control signal sent by the controller and then outputting the signal to the driving part; the controller comprises an acquisition module, a comparison module and a deceleration control module, wherein the acquisition module is used for acquiring real-time operation data of the current moving part, and the real-time operation data is a stroke, an actual measurement speed or an actual measurement stress; the comparison module is used for comparing the real-time operation data of the current moving part acquired by the acquisition module with a preset operation threshold, and if the real-time stroke of the current moving part is greater than a stroke threshold, the deceleration control module is started, wherein the operation threshold is the maximum stroke, the target speed or the target stress allowed by the operation machine; the speed reduction control module is used for sending a speed reduction control signal when the operation machine is started and giving a control speed so as to reduce the speed of the operation machine. The invention controls the process of the operation machine in the process of speed reduction movement, thereby improving the movement smoothness of the operation machine and further improving the operation quality, the operation safety and the operation efficiency of the operation machine.
Description
Technical Field
The invention belongs to the field of motion control of working machines, and particularly discloses a system and a method for controlling deceleration motion of a working machine.
Background
The working machine comprises engineering machinery, agricultural machinery, mining machinery, construction machinery, port machinery, factory processing and transportation equipment and the like, and has wide application.
The working machine completes the operation through the movement of the whole machine or parts, and the moving parts of the working machine are divided into a linear movement and a rotary movement. The main driving modes of the moving parts of the present working machine include mechanical driving, hydraulic driving, electric driving, and the like. The three driving modes have advantages respectively, wherein the mechanical driving mode has larger power output and force output, and the hydraulic driving mode and the electric driving mode have good controllability and control flexibility, so that different driving modes are mutually fused to make up for deficiencies. From the power level point of view, the entire drivetrain can be divided into an operating mechanism, a control section, a power amplification section and a motion section.
The smoothness of movement of moving parts of a working machine is an important work performance, and affects the work quality, work safety, and work efficiency of the working machine. The ride comfort of the work machine includes start-up ride comfort, brake ride comfort, and ride comfort. Due to the fact that the operating experience of a driver is insufficient, the input and output characteristics of a control element, the deformation of an execution element and other interference factors, the smoothness of the work machine during the deceleration movement is poor, and further the work quality, the work safety and the work efficiency of the work machine are affected.
Disclosure of Invention
The invention provides a system and a method for controlling the deceleration motion of a working machine, and aims to solve the technical problem that the smoothness is poor when the conventional working machine performs deceleration motion.
According to one aspect of the invention, a work machine deceleration motion control system is provided, which comprises an operating mechanism, a deceleration control part, a driving part and a moving part which are connected in sequence, wherein the deceleration control part comprises a controller and a power amplification element, the power amplification element is connected with the controller and is used for amplifying a deceleration control signal sent by the controller and outputting the signal to the driving part, the controller comprises an acquisition module, a comparison module and a deceleration control module, wherein,
the acquisition module is used for acquiring real-time operation data of the current moving part, wherein the real-time operation data is a stroke, an actual measurement speed or an actual measurement stress;
the comparison module is respectively connected with the acquisition module and the deceleration control module and is used for comparing the real-time operation data of the current moving part acquired by the acquisition module with a preset operation threshold value, and if the real-time stroke of the current moving part is greater than the stroke threshold value, the deceleration control module is started, wherein the operation threshold value is the maximum stroke, the target speed or the target stress allowed by the operation machine;
the speed reduction control module is connected with the comparison module and used for sending a speed reduction control signal when the speed reduction control module is started and giving a control speed so as to reduce the speed of the operation machine.
Further, the deceleration control module includes a first deceleration control unit,
the first deceleration control unit is used for decelerating the operation machine in a preset array mode; given control speed viAs can be seen from the following formula,
vi＝vi-1-ki×a
wherein v isi-1The array ki is (k1, k2, k3, k4, …) and a is the preset deceleration acceleration.
Further, the deceleration control module comprises a second deceleration control unit,
the second deceleration control unit is used for decelerating the working machine in a trigonometric function mode; given output speed viAs can be seen from the following formula,
wherein v isi-1K and S0 are constants for the current speed of the operating mechanism.
Further, the deceleration control module, including a third deceleration control unit,
the third deceleration control unit is used for decelerating the operation machine in a linear deceleration mode; given output speed viAs can be seen from the following formula,
vi＝vi-1-a0
wherein v isi-1Is the current speed of the operating mechanism, a0Is a constant.
Further, the deceleration control module includes a fourth deceleration control unit,
the fourth deceleration control unit is used for decelerating the working machine in an acceleration control mode; given output speed viAs can be seen from the following formula,
vi＝vi-1-a1
wherein v isi-1Is the current speed of the operating mechanism, a1K ∑ ia '+ bk, b is a preset coefficient, K is a constant, i is the number of cycles, and a' is a preset acceleration increment.
According to another aspect of the present invention, there is also provided a work machine deceleration motion control method applied to the work machine motion control system, the work machine deceleration motion control method including the steps of:
acquiring real-time operation data of a current moving part, wherein the real-time operation data is real-time travel, actual measurement speed or actual measurement stress;
comparing the collected real-time operation data of the current moving part with a preset operation threshold, and if the real-time stroke of the current moving part is greater than a stroke threshold, starting a deceleration control module, wherein the operation threshold is an allowed maximum stroke, a target speed or a target stress;
and sending a deceleration control signal when starting, and giving a control speed to decelerate the working machine.
Further, the step of sending a deceleration control signal at start-up to give a control speed to decelerate the work machine comprises:
adopting a preset array mode to reduce the speed of the operation machine; given control speed viAs can be seen from the following formula,
vi＝vi-1-ki×a
wherein v isi-1The array ki is (k1, k2, k3, k4, …) and a is the preset deceleration acceleration.
Further, the step of issuing a deceleration control signal at start-up to give a control speed to decelerate the work machine includes
The speed of the operation machine is reduced by adopting a trigonometric function mode; given output speed viAs can be seen from the following formula,
wherein v isi-1K and S0 are constants for the current speed of the operating mechanism.
Further, the step of sending a deceleration control signal at start-up to give a control speed to decelerate the work machine comprises:
the operation machine is decelerated by adopting a linear deceleration mode; given output speed viAs can be seen from the following formula,
vi＝vi-1-a0
wherein v isi-1Is the current speed of the operating mechanism, a0Is a constant.
Further, the step of sending a deceleration control signal at start-up to give a control speed to decelerate the work machine comprises:
the operating machine is decelerated by adopting a mode of controlling acceleration; given output speed viAs can be seen from the following formula,
vi＝vi-1-a1
wherein v isi-1Is the current speed of the operating mechanism, a1K ∑ ia '+ bk, b is a preset coefficient, K is a constant, i is the number of cycles, and a' is a preset acceleration increment.
The beneficial effects obtained by the invention are as follows:
the invention provides a system and a method for controlling the deceleration motion of a working machine.A deceleration control part adopts a controller and a power amplification element, the controller comprises an acquisition module, a comparison module and a deceleration control module, and the acquisition module acquires the real-time operation data of the current motion part; the comparison module compares the real-time operation data of the current moving part acquired by the acquisition module with a preset operation threshold value, and if the real-time stroke of the current moving part is greater than the stroke threshold value, the deceleration control module is started; the deceleration control module sends out a deceleration control signal when being started, and gives out a control speed so as to decelerate the operation machine. The system and the method for controlling the deceleration movement of the working machine control the process of the deceleration movement of the working machine, so that the movement smoothness of the working machine is improved, and the working quality, the working safety and the working efficiency of the working machine are improved.
Drawings
FIG. 1 is a functional block diagram of an embodiment of a work machine retarding motion control system according to the present disclosure;
FIG. 2 is a functional block diagram of one embodiment of the controller of FIG. 1;
FIG. 3 is a functional block diagram of one embodiment of the deceleration control assembly of FIG. 1;
FIG. 4 is a flowchart illustrating a method for controlling deceleration movement of a work machine according to an embodiment of the present disclosure;
FIG. 5 is a flowchart illustrating an embodiment of a smooth deceleration control method before reaching a limit in the work machine deceleration control method of FIG. 4;
FIG. 6 is a schematic flow chart illustrating another embodiment of a smooth deceleration control method before reaching a limit in the work machine deceleration control method of FIG. 4;
FIG. 7 is a flowchart illustrating an embodiment of a smooth deceleration control method before reaching the speed target in the deceleration control method of the work machine shown in FIG. 4;
FIG. 8 is a flowchart illustrating another embodiment of a smooth deceleration control method before reaching the speed target in the deceleration control method of the work machine of FIG. 4;
FIG. 9 is a flowchart illustrating an embodiment of a force-up-to-standard smooth deceleration control method of the work machine deceleration control method of FIG. 4;
fig. 10 is a flowchart illustrating an embodiment of a smooth deceleration control method before reaching the speed standard in the work machine deceleration motion control method of fig. 4.
The reference numbers illustrate:
100. a moving part; 200. a drive member; 300. a deceleration control section; 400. an operating mechanism; 310. a controller; 320. a power amplifying element; 10. an acquisition module; 20. a comparison module; 30. a deceleration control module; 31. a first deceleration control unit; 32. a second deceleration control unit; 33. a third deceleration control unit; 34. a fourth deceleration control unit.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
As shown in fig. 1, fig. 1 is a functional block diagram of an embodiment of a work machine deceleration motion control system provided by the present invention, the system includes an operating mechanism 400, a deceleration control component 300, a driving component 200, and a moving component 100, which are connected in sequence, the deceleration control component 300 includes a controller 310 and a power amplifying element 320, the power amplifying element 320 is connected to the controller 310, wherein the operating mechanism 400 is connected to the control component 300 and is configured to issue a deceleration control command and transmit the deceleration control command to the deceleration control component 300; the deceleration control part 300 is respectively connected with the operating mechanism 400 and the driving part 200, and is used for receiving a deceleration control command transmitted by the operating mechanism 400, correcting the operating speed of the working machine and transmitting a deceleration control signal to the driving part 200; the driving component 200 is connected to the deceleration control component 300 and the moving component 100, respectively, and is configured to receive a deceleration control command from the deceleration control component 300, and drive the moving component 100 to act according to the deceleration control command, so as to complete an expected work machine acceleration control operation. The working machine may be mechanically, hydraulically, or electrically driven. The operating mechanism 400 is used for a driver to operate the working machine for work. The operating mechanism 400 receives the control command and outputs the control command to the control part; for example, the operating handle and foot pedal of an excavator are the operating mechanism 400 of the work machine. Common drive components 200 include hydraulic rams, hydraulic motors, electric motor drives, and the like. In order to measure the motion of the driving part 200, sensors are mounted on the driving part 200 for measuring the speed (including linear speed and rotational speed) and position (including linear displacement and angular displacement) of the driving part 200. The power amplifying element 320 may employ a power amplifier. The moving member 100 is generally a mechanical device, and for example, a boom, an arm, a bucket, or the like may be used. In order to measure the motion of the moving member, a sensor is mounted on the moving member 100 for measuring the velocity (including linear velocity and rotational velocity) and position (including linear displacement and angular displacement) of the moving member.
In this embodiment, the power amplifying element 320 is configured to amplify the deceleration control signal sent by the controller 310 and output the amplified deceleration control signal to the driving component 200; the controller 310 comprises an acquisition module 10, a comparison module 20 and a deceleration control module 30, wherein the acquisition module 10 is used for acquiring real-time operation data of the current moving part, and the real-time operation data is a stroke execution, an actual measurement speed or an actual measurement stress; the comparison module 20 is respectively connected to the acquisition module 10 and the deceleration control module 30, and is configured to compare the real-time operation data of the current moving component acquired by the acquisition module 10 with a preset operation threshold, and if the real-time stroke of the current moving component is greater than the stroke threshold, start the deceleration control module 30, where the operation threshold is a maximum stroke, a target speed, or a target stress allowed by the working machine; the deceleration control module 30 is connected to the comparison module 20 and is configured to send a deceleration control signal to give a control speed when the vehicle is started, so as to decelerate the work machine.
Referring to fig. 3, fig. 3 is a functional block diagram of an embodiment of the deceleration control component shown in fig. 1, in the embodiment, the deceleration control module 30 includes a first deceleration control unit 31,
the first deceleration control unit 31 is configured to decelerate the work machine in a preset array manner; given control speed viAs can be seen from the following formula,
vi＝vi-1-ki×a (1)
wherein, in the formula (1), vi-1The array ki is (k1, k2, k3, k4, …) and a is the preset deceleration acceleration.
Further, referring to FIG. 3, the present embodimentIn the work machine deceleration motion control system according to the embodiment, the deceleration control module 30 further includes a second deceleration control unit 32, and the second deceleration control unit 32 is configured to decelerate the work machine in a trigonometric function manner; given output speed viAs can be seen from the following formula,
wherein, in the formula (2), vi-1For the current speed of the operating mechanism, k and S0Is a constant.
Further, referring to fig. 3, in the work machine deceleration motion control system provided in this embodiment, the deceleration control module 30 further includes a third deceleration control unit 33, where the third deceleration control unit 33 is configured to decelerate the work machine in a linear deceleration manner; given output speed viAs can be seen from the following formula,
vi＝vi-1-a0(3)
wherein, in the formula (3), vi-1Is the current speed of the operating mechanism, a0Is a constant.
Further, referring to fig. 3, in the work machine deceleration motion control system provided in the present embodiment, the deceleration control module 30 further includes a fourth deceleration control unit 34, where the fourth deceleration control unit 34 is configured to decelerate the work machine by using a control acceleration manner; given output speed viAs can be seen from the following formula,
vi＝vi-1-a1(4)
wherein, in the formula (4), vi-1Is the current speed of the operating mechanism, a1K ∑ ia '+ bk, b is a preset coefficient, K is a constant, i is the number of cycles, and a' is a preset acceleration increment.
The work machine deceleration motion control system provided by the embodiment is mainly applied to the following occasions:
first, control of smooth deceleration before reaching limit
When the moving part 100 approaches the maximum stroke, the speed should be reduced in advance to prevent the irregularity caused by the sudden stop when the high speed reaches the limit, so as to increase the speed smoothness.
The acquisition module 10 acquires the real-time stroke S of the current driving component 200; the comparison module 20 compares the real-time stroke S with the maximum stroke Smax, and if the absolute value of the difference between the real-time stroke S and the maximum stroke Smax is smaller than a preset constant S0, the real-time stroke S which is not seen in driving is considered to be close to the maximum stroke Smax, and the deceleration control module 30 should be started. At this time, even if the target speed v given to the operating mechanism 400 is0The deceleration control module 30 continues to gradually decelerate based on the current actual speed v.
The deceleration control module 30 may perform deceleration in a predetermined array. The deceleration acceleration a and the number ki are preset (k1, k2, k3, k4, …), and when the deceleration control module 30 is activated, the deceleration control module 30 gives the control speed:
vi＝vi-1-ki×a
second, control of smooth speed reduction before reaching limit
When the moving part 100 approaches the maximum stroke, the speed should be reduced in advance to prevent the irregularity caused by the sudden stop when the high speed reaches the limit, so as to increase the speed smoothness.
The acquisition module 10 acquires the current real-time stroke S of the driving component 200, the comparison module 20 compares the real-time stroke S with the maximum stroke Smax, and if the absolute value of the difference between the real-time stroke S and the maximum stroke Smax is smaller than a preset constant S0, the real-time stroke S which is not seen in driving is considered to be close to the maximum stroke Smax, and the deceleration control module 30 should be started at this time. At this time, even if the target speed v given to the operating mechanism 400 is0The deceleration control module 30 continues to gradually decelerate based on the current actual speed v.
The speed reduction can be performed by means of a trigonometric function. A preset constant k, the control speed given by the deceleration control module 30 when the deceleration control module 30 is activated:
third, control of smooth speed reduction before reaching limit
When the moving part 100 approaches the maximum stroke, the speed should be reduced in advance to prevent the irregularity caused by the sudden stop when the high speed reaches the limit, so as to increase the speed smoothness.
The acquisition module 10 acquires the real-time stroke S of the current driving component 200; the comparison module 20 compares the real-time stroke S with the maximum stroke Smax, and if the absolute value of the difference between the real-time stroke S and the maximum stroke Smax is smaller than a preset constant S0, the real-time stroke S of the driving component is considered to be close to the maximum stroke Smax, and the first deceleration control module is started; if the absolute value of the difference between the two is less than a preset constant S1, the real-time stroke S of the drive member is considered to be very close to the maximum stroke Smax, and the second deceleration control module should be activated. At this time, even if the target speed v given to the operating mechanism 400 is0The deceleration control module 30 continues to gradually decelerate based on the current actual speed v.
The deceleration may be performed using a linear deceleration method. A predetermined constant a0As a unit of linear deceleration, when the first deceleration control module is activated, the deceleration control module 30 gives the speed:
vi＝vi-1-a0
a plurality of constants a can also be preset0、a1… are used for linear deceleration units for different speed phases, respectively. For example, 0 < a0 < a is preset1When the deceleration control module 30 is activated, the deceleration control module 30 gives the control speed:
vi＝vi-1-a0
when the second deceleration control module is activated, the controller 310 gives the speed:
vi＝vi-1-a1
by analogy, more than two linear speed reduction units and speed reduction modules can be arranged.
Fourth, control of smooth deceleration of limited acceleration
When the moving part 100 approaches the maximum stroke, the speed should be reduced in advance to prevent the irregularity caused by the sudden stop when the high speed reaches the limit, so as to increase the speed smoothness.
Some moving parts of the working machine have a particularly high requirement for smoothness, and at this time, the speed needs to be controlled for smoothness, and the smoothness of the acceleration needs to be controlled, so that the acceleration is slowly increased to the maximum acceleration.
The acquisition module 10 acquires the real-time stroke S of the current driving component 200; the comparison module 20 compares the real-time stroke S with the maximum stroke Smax, and if the absolute value of the difference between the real-time stroke S and the maximum stroke Smax is smaller than a preset constant S0, the real-time stroke S which is not seen in driving is considered to be close to the maximum stroke Smax, and the deceleration control module 30 should be started. At this time, even if the operating mechanism 400 is given a target speed v0, the deceleration control module 30 gradually decelerates based on the current actual speed v.
The deceleration may be performed by controlling the acceleration.
A predetermined constant a0As a deceleration unit, when the deceleration control module 30 is activated, the deceleration control module 30 gives a control speed:
vi＝vi-1-a0
wherein, a0K ∑ ia '+ b, where k and b are preset coefficients, i is the number of cycles, and a' is a preset acceleration increment.
A is calculated as the number of cycles increases0And also gradually increases.
Fifthly, before the speed reaches the standard, smooth speed reduction control
When the measured speed of the moving member 100 approaches a given speed, the acceleration should be reduced in advance to increase the speed smoothness.
When | v-v0|＜C1× v0, it indicates that the measured speed v is close to the target speed v0, otherwise, it is regarded that the measured speed v is not close to the target speed v0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured velocity v has approached the target velocity v0Allowing acceleration without exceeding a maximum acceleration; when the measured velocity v has approached the target velocity v0The acceleration value needs to be lowered gradually.
There are various ways to gradually decrease the acceleration value, for example, by multiplying the initial acceleration value by a set of predetermined decreasing values in a plurality of cycles to obtain a new set of acceleration values. For example, a predetermined set of decrement values ki is (1, 0.8, 0.6, 0.4, 0.2, 0.1, 0).
The difference Δ v ═ v between the measured speed and the target speed may be used0-v as a basis for the calculation.
For example,
a＝k×Δv
wherein k is a preset constant.
Sixth, before the speed reaches the standard, the smooth speed reduction control
When the measured speed of the moving member 100 approaches a given speed, the acceleration should be reduced in advance to increase the speed smoothness.
When | v-v0|＜C1× v0, indicating that the measured speed v is close to the target speed v0Otherwise, the measured speed v is considered not to be close to the target speed v0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured velocity v has approached the target velocity v0The speed needs to be reduced gradually.
The speed reduction can be performed by means of a trigonometric function. A preset constant k, the control speed given by the deceleration control module 30 when the deceleration control module 30 is activated:
seventh, smooth speed reduction control before speed reaching standard
When the measured speed of the moving member 100 approaches a given speed, the acceleration should be reduced in advance to increase the speed smoothness.
When | v-v0|＜C1× v0, indicating that the measured speed v is close to the target speed v0Otherwise, the measured speed v is considered not to be close to the target speed v0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured velocity v has approached the target velocity v0The speed needs to be reduced gradually.
The deceleration may be performed using a linear deceleration method. A predetermined constant a0As a linear deceleration unit, when the deceleration control module is first activated, the given control speed:
vi＝vi-1-a0
a plurality of constants a can also be preset0、a1… are used for linear deceleration units for different speed phases, respectively. For example, preset 0 < a0＜a1When the first deceleration control module is started, the given control speed is:
vi＝vi-1-a0
when the second deceleration control module is activated, the given control speed:
vi＝vi-1-a1
by analogy, more than two linear speed reduction units and speed reduction modules can be arranged.
Eighthly, smooth speed reduction control before speed reaching the standard
When the measured speed of the moving member 100 approaches a given speed, the acceleration should be reduced in advance to increase the speed smoothness.
When | v-v0|＜C1×v0When the measured speed v is close to the target speed v0Otherwise, the measured speed v is considered not to be close to the target speed v0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured velocity v has approached the target velocity v0The speed needs to be reduced gradually.
Some moving parts of the working machine have a particularly high requirement for smoothness, and at this time, the speed needs to be controlled for smoothness, and the smoothness of the acceleration needs to be controlled, so that the acceleration is slowly increased to the maximum acceleration.
The deceleration may be performed by controlling the acceleration.
A predetermined constant a0As a deceleration unit, when the deceleration control module 30 is activated, the deceleration control module 30 gives a control speed:
vi＝vi-1-a0
wherein, a0K ∑ ia '+ b, where k and b are preset coefficients, i is the number of cycles, and a' is a preset acceleration increment.
A is calculated as the number of cycles increases0And also gradually increases.
Nine, smooth-going deceleration control before stress reaches standard
When the measured force of the moving part 100 approaches the given force, the speed should be reduced in advance to increase the smoothness.
When | F-F0|＜C1×F0When the measured force F is close to the target speed F0Otherwise, the measured stress F is not close to the target stress F0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured force F is close to the maximum force F0When the speed is allowed to accelerate without exceeding the maximum speed; when the measured force F is close to the maximum force F0The speed value needs to be reduced gradually.
There are various methods for gradually decreasing the speed value, for example, a set of preset decreasing values is used to multiply the initial speed value in a plurality of cycles respectively to obtain a new set of speed values. For example, a predetermined set of decrement values ki is (1, 0.8, 0.6, 0.4, 0.2, 0.1, 0).
The difference Δ F between the measured speed and the target speed may be F0-F as a basis for the calculation.
For example,
a＝k×ΔF
wherein k is a preset constant.
Ten, smooth speed reduction control before speed reaching standard
When the measured speed of the moving member 100 approaches a given speed, the speed should be reduced in advance to increase the smoothness.
When | F-F0|＜C1×F0When the measured stress F is close to the maximum stress F0Otherwise, the measured force F is not close to the maximum force F0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured force F is close to the maximum force F0The speed needs to be reduced gradually.
The speed reduction can be performed by means of a trigonometric function. A preset constant k, the control speed given by the deceleration control module 30 when the deceleration control module 30 is activated:
eleven-step smooth speed reduction control before reaching the standard
When the measured speed of the moving member 100 approaches a given speed, the speed should be reduced in advance to increase the smoothness.
When | F-F0|＜C1×F0If not, the measured stress F is not close to the maximum stress F00. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured force F is close to the maximum force F0The speed needs to be reduced gradually.
The deceleration may be performed using a linear deceleration method. A constant a0 is preset as a linear deceleration unit, and when the first deceleration control module is started, the given control speed is:
vi＝vi-1-a0
a plurality of constants a can also be preset0、a1… are used for linear deceleration units for different speed phases, respectively. For example, preset 0 < a0＜a1When the first deceleration control module is started, the given control speed is:
vi＝vi-1-a0
when the second deceleration control module is activated, the given control speed:
vi＝vi-1-a1
by analogy, more than two linear speed reduction units and speed reduction modules can be arranged.
Twelve, smooth speed reduction control before reaching the standard
When the measured speed of the moving member 100 approaches a given speed, the speed should be reduced in advance to increase the smoothness.
When | F-F0|＜C1×F0When the measured stress F is close to the maximum stress F0Otherwise, the measured force F is not close to the maximum force F0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured force F is close to the maximum force F0The speed needs to be reduced gradually.
Some moving parts of the working machine have a particularly high requirement for smoothness, and at this time, the speed needs to be controlled not only for smoothness but also for smoothness, so that the speed is slowly increased to the maximum speed.
The deceleration may be performed by controlling the acceleration.
A predetermined constant a0As a deceleration unit, when the deceleration control module 30 is activated, the deceleration control module 30 gives a control speed:
vi＝vi-1-a0
wherein, a0K ∑ ia '+ b, k and b being preset coefficients, i being the number of cycles, a' being the preset speed increment.
A is calculated as the number of cycles increases0And also gradually increases.
The embodiment provides a work machine deceleration motion control system, wherein a deceleration control part adopts a controller and a power amplification element, the controller comprises an acquisition module, a comparison module and a deceleration control module, and real-time operation data of the current motion part is acquired through the acquisition module; the comparison module compares the real-time operation data of the current moving part acquired by the acquisition module with a preset operation threshold value, and if the real-time stroke of the current moving part is greater than the stroke threshold value, the deceleration control module is started; the deceleration control module sends out a deceleration control signal when being started, and gives out a control speed so as to decelerate the operation machine. The work machine deceleration motion control system provided by the embodiment controls the work machine deceleration motion process, so that the motion smoothness of the work machine is improved, and the work quality, the work safety and the work efficiency of the work machine are improved.
Referring to fig. 4, fig. 4 is a schematic flow chart of an embodiment of a method for controlling deceleration movement of a working machine according to the present invention, which is applied to the motion control system of the working machine, and the method for controlling deceleration movement of a working machine includes the following steps:
and S100, acquiring real-time operation data of the current moving part, wherein the real-time operation data is real-time travel, actual measurement speed or actual measurement stress.
And S200, comparing the acquired real-time operation data of the current moving part with a preset operation threshold, and starting a deceleration control module if the real-time stroke of the current moving part is greater than a stroke threshold, wherein the operation threshold is an allowed maximum stroke, a target speed or a target stress.
And step S300, sending a deceleration control signal when the working machine is started, and giving a control speed so as to decelerate the working machine.
Step S300 first embodiment:
step S300A, adopting a preset array mode to reduce the speed of the working machine; given control speed viAs can be seen from the following formula,
vi＝vi-1-ki×a (5)
wherein, in the formula (5), vi-1The array ki is (k1, k2, k3, k4, …) and a is the preset deceleration acceleration.
Step S300 second embodiment:
step S300B, the speed of the working machine is reduced by adopting a trigonometric function mode; given output speed viAs can be seen from the following formula,
wherein, in the formula (6), vi-1K and S0 are constants for the current speed of the operating mechanism.
Step S300 third embodiment:
step S300C, performing speed reduction on the working machine in a linear speed reduction mode; given output speed viAs can be seen from the following formula,
vi＝vi-1-a0(7)
wherein, in the formula (7), vi-1Is the current speed of the operating mechanism, a0Is a constant.
Step S300 fourth embodiment:
step S300D, the speed of the working machine is reduced by adopting a control acceleration mode; given output speed viAs can be seen from the following formula,
vi＝vi-1-a1(8)
wherein, in the formula (8), vi-1Is the current speed of the operating mechanism, a1K ∑ ia '+ bk, b is a preset coefficient, K is a constant, i is the number of cycles, and a' is a preset acceleration increment.
The application scenarios of the method for controlling deceleration motion of a working machine according to the present embodiment are as follows:
first, control method for smooth speed reduction before reaching limit
As shown in fig. 5, when the moving part 100 approaches the maximum stroke, the speed should be reduced in advance to prevent the irregularity caused by the sudden stop when the high speed reaches the limit, so as to increase the speed smoothness.
The acquisition module 10 acquires the real-time stroke S of the current driving component 200; the comparison module 20 compares the real-time stroke S with the maximum stroke Smax, and if the absolute value of the difference between the real-time stroke S and the maximum stroke Smax is smaller than a preset constant S0, the real-time stroke S which is not seen in driving is considered to be close to the maximum stroke Smax, and the deceleration control module 30 should be started. At this time, even if the operating mechanism 400Given a target speed v0The deceleration control module 30 continues to gradually decelerate based on the current actual speed v.
The deceleration control module 30 may perform deceleration in a predetermined array. The deceleration acceleration a and the number ki are preset (k1, k2, k3, k4, …), and when the deceleration control module 30 is activated, the deceleration control module 30 gives the control speed:
vi＝vi-1-ki×a
second, control method for smooth speed reduction before reaching limit
As shown in fig. 6, when the moving part 100 approaches the maximum stroke, the speed should be reduced in advance to prevent the irregularity caused by the sudden stop when the high speed reaches the limit, so as to increase the speed smoothness.
The acquisition module 10 acquires the current real-time stroke S of the driving component 200, the comparison module 20 compares the real-time stroke S with the maximum stroke Smax, and if the absolute value of the difference between the real-time stroke S and the maximum stroke Smax is smaller than a preset constant S0, the real-time stroke S which is not seen in driving is considered to be close to the maximum stroke Smax, and the deceleration control module 30 should be started at this time. At this time, even if the operating mechanism 400 is given a target speed v0, the deceleration control module 30 gradually decelerates based on the current actual speed v.
The speed reduction can be performed by means of a trigonometric function. A preset constant k, the control speed given by the deceleration control module 30 when the deceleration control module 30 is activated:
third, control method for smooth speed reduction before reaching limit
When the moving part 100 approaches the maximum stroke, the speed should be reduced in advance to prevent the irregularity caused by the sudden stop when the high speed reaches the limit, so as to increase the speed smoothness.
The acquisition module 10 acquires the real-time stroke S of the current driving component 200; the comparison module 20 compares the real-time stroke S with the maximum stroke Smax and considers that the real-time stroke S of the drive member has been reached if the absolute value of the difference between the two is less than a preset constant S0Approaching the maximum stroke Smax, at which time the first deceleration control module should be activated; if the absolute value of the difference between the two is less than a preset constant S1, the real-time stroke S of the drive member is considered to be very close to the maximum stroke Smax, and the second deceleration control module should be activated. At this time, even if the target speed v given to the operating mechanism 400 is0The deceleration control module 30 continues to gradually decelerate based on the current actual speed v.
The deceleration may be performed using a linear deceleration method. A predetermined constant a0As a unit of linear deceleration, when the first deceleration control module is activated, the deceleration control module 30 gives the speed:
vi＝vi-1-a0
a plurality of constants a can also be preset0、a1… are used for linear deceleration units for different speed phases, respectively. For example, preset 0 < a0＜a1When the deceleration control module 30 is activated, the deceleration control module 30 gives the control speed:
vi＝vi-1-a0
when the second deceleration control module is activated, the controller 310 gives the speed:
vi＝vi-1-a1
by analogy, more than two linear speed reduction units and speed reduction modules can be arranged.
Fourth, control method for limiting smooth deceleration of acceleration
When the moving part 100 approaches the maximum stroke, the speed should be reduced in advance to prevent the irregularity caused by the sudden stop when the high speed reaches the limit, so as to increase the speed smoothness.
Some moving parts of the working machine have a particularly high requirement for smoothness, and at this time, the speed needs to be controlled for smoothness, and the smoothness of the acceleration needs to be controlled, so that the acceleration is slowly increased to the maximum acceleration.
The acquisition module 10 acquires the real-time stroke S of the current driving component 200; the comparison module 20 compares the real-time stroke S with the maximum stroke Smax, and if the absolute value of the difference between the real-time stroke S and the maximum stroke Smax is smaller than a preset constant S0, the real-time stroke S which is not seen in driving is considered to be close to the maximum stroke Smax, and the deceleration control module 30 should be started. At this time, even if the operating mechanism 400 is given a target speed v0, the deceleration control module 30 gradually decelerates based on the current actual speed v.
The deceleration may be performed by controlling the acceleration.
A predetermined constant a0As a deceleration unit, when the deceleration control module 30 is activated, the deceleration control module 30 gives a control speed:
vi＝vi-1-a0
wherein, a0K ∑ ia '+ b, where k and b are preset coefficients, i is the number of cycles, and a' is a preset acceleration increment.
As the number of cycles increases, the calculated a0 also increases gradually.
Fifth, smooth speed reduction control method before speed reaches standard
When the measured speed of the moving member 100 approaches a given speed, the acceleration should be reduced in advance to increase the speed smoothness.
When | v-v0|＜C1× v0, it indicates that the measured speed v is close to the target speed v0, otherwise, it is regarded that the measured speed v is not close to the target speed v0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured velocity v has approached the target velocity v0Allowing acceleration without exceeding a maximum acceleration; when the measured velocity v has approached the target velocity v0The acceleration value needs to be lowered gradually.
There are various ways to gradually decrease the acceleration value, for example, by multiplying the initial acceleration value by a set of predetermined decreasing values in a plurality of cycles to obtain a new set of acceleration values. For example, a predetermined set of decrement values ki is (1, 0.8, 0.6, 0.4, 0.2, 0.1, 0).
The difference Δ v ═ v between the measured speed and the target speed may be used0-v as a basis for the calculation.
For example,
a＝k×Δv
wherein k is a preset constant.
Sixth, smooth speed reduction control method before speed reaching standard
As shown in fig. 8, when the measured speed of the moving member 100 approaches a given speed, the acceleration should be reduced in advance to increase the speed smoothness.
When | v-v0|＜C1× v0, indicating that the measured speed v is close to the target speed v0Otherwise, the measured speed v is considered not to be close to the target speed v0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured velocity v has approached the target velocity v0The speed needs to be reduced gradually.
The speed reduction can be performed by means of a trigonometric function. A preset constant k, the control speed given by the deceleration control module 30 when the deceleration control module 30 is activated:
seventh, smooth speed reduction control method before speed reaching standard
When the measured speed of the moving member 100 approaches a given speed, the acceleration should be reduced in advance to increase the speed smoothness.
When | v-v0|＜C1× v0, indicating that the measured speed v is close to the target speed v0Otherwise, the measured speed v is considered not to be close to the target speed v0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured velocity v has approached the target velocity v0The speed needs to be reduced gradually.
The deceleration may be performed using a linear deceleration method. A predetermined constant a0As a linear deceleration unit, when the deceleration control module is first activated, the given control speed:
vi＝vi-1-a0
a plurality of constants a can also be preset0、a1… are used for linear deceleration units for different speed phases, respectively. For example, preset 0 < a0＜a1When the first deceleration control module is started, the given control speed is:
vi＝vi-1-a0
when the second deceleration control module is activated, the given control speed:
vi＝vi-1-a1
by analogy, more than two linear speed reduction units and speed reduction modules can be arranged.
Eighthly, smooth speed reduction control method before speed reaches standard
When the measured speed of the moving member 100 approaches a given speed, the acceleration should be reduced in advance to increase the speed smoothness.
When | v-v0|＜C1×v0When the measured speed v is close to the target speed v0Otherwise, the measured speed v is considered not to be close to the target speed v0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured velocity v has approached the target velocity v0The speed needs to be reduced gradually.
Some moving parts of the working machine have a particularly high requirement for smoothness, and at this time, the speed needs to be controlled for smoothness, and the smoothness of the acceleration needs to be controlled, so that the acceleration is slowly increased to the maximum acceleration.
The deceleration may be performed by controlling the acceleration.
A constant a0 is preset as a deceleration unit, and when the deceleration control module 30 is activated, the deceleration control module 30 gives a control speed:
vi＝vi-1-a0
wherein, a0K ∑ ia '+ b, where k and b are preset coefficients, i is the number of cycles, and a' is a preset acceleration increment.
With increasing cycle numberCalculated a0And also gradually increases.
Nine, smooth speed reduction control method before standard reaching of stress
As shown in fig. 9, when the measured force of the moving member 100 approaches the given force, the speed should be reduced in advance to increase the smoothness.
When | F-F0|＜C1×F0When the measured force F is close to the target speed F0Otherwise, the measured stress F is not close to the target stress F0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured force F is close to the maximum force F0When the speed is allowed to accelerate without exceeding the maximum speed; when the measured force F is close to the maximum force F0The speed value needs to be reduced gradually.
There are various methods for gradually decreasing the speed value, for example, a set of preset decreasing values is used to multiply the initial speed value in a plurality of cycles respectively to obtain a new set of speed values. For example, a predetermined set of decrement values ki is (1, 0.8, 0.6, 0.4, 0.2, 0.1, 0).
The difference Δ F between the measured speed and the target speed may be F0-F as a calculation basis. For example,
a＝k×ΔF
wherein k is a preset constant.
Ten-step smooth speed reduction control method before speed reaches standard
As shown in fig. 10, when the measured speed of the moving member 100 approaches a given speed, the speed should be reduced in advance to increase the smoothness.
When | F-F0|＜C1×F0When the measured stress F is close to the maximum stress F0Otherwise, the measured force F is not close to the maximum force F0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured force F is close to the maximum force F0The speed needs to be reduced gradually.
The speed reduction can be performed by means of a trigonometric function. A preset constant k, the control speed given by the deceleration control module 30 when the deceleration control module 30 is activated:
eleven-speed smooth speed reduction control method before reaching standard
When the measured speed of the moving member 100 approaches a given speed, the speed should be reduced in advance to increase the smoothness.
When | F-F0|＜C1×F0When the measured stress F is close to the maximum stress F0Otherwise, the measured force F is not close to the maximum force F0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured force F is close to the maximum force F0The speed needs to be reduced gradually.
The deceleration may be performed using a linear deceleration method. A predetermined constant a0As a unit of linear deceleration, when the first deceleration control module is activated, the given control speed:
vi＝vi-1-a0
a plurality of constants a can also be preset0、a1… are used for linear deceleration units for different speed phases, respectively. For example, preset 0 < a0＜a1When the first deceleration control module is started, the given control speed is:
vi＝vi-1-a0
when the second deceleration control module is activated, the given control speed:
vi＝vi-1-a1
by analogy, more than two linear speed reduction units and speed reduction modules can be arranged.
Twelve-speed smooth speed reduction control method before reaching standard
When the measured speed of the moving member 100 approaches a given speed, the speed should be reduced in advance to increase the smoothness.
When | F-F0|＜C1×F0When the measured stress F is close to the maximum stress F0Otherwise, the measured force F is not close to the maximum force F0. Wherein, C1Is a preset coefficient, 0 < C1＜1。
When the measured force F is close to the maximum force F0The speed needs to be reduced gradually.
Some moving parts of the working machine have a particularly high requirement for smoothness, and at this time, the speed needs to be controlled not only for smoothness but also for smoothness, so that the speed is slowly increased to the maximum speed.
The deceleration may be performed by controlling the acceleration.
A predetermined constant a0As a deceleration unit, when the deceleration control module 30 is activated, the deceleration control module 30 gives a control speed:
vi＝vi-1-a0
wherein, a0K ∑ ia '+ b, k and b being preset coefficients, i being the number of cycles, a' being the preset speed increment.
A is calculated as the number of cycles increases0And also gradually increases.
The embodiment provides a method for controlling the deceleration motion of a working machine, which comprises the steps of collecting real-time operation data of a current moving part through a collection module; the comparison module compares the real-time operation data of the current moving part acquired by the acquisition module with a preset operation threshold value, and if the real-time stroke of the current moving part is greater than the stroke threshold value, the deceleration control module is started; the deceleration control module sends out a deceleration control signal when being started, and gives out a control speed so as to decelerate the operation machine. According to the method for controlling the deceleration movement of the working machine, the process of the deceleration movement of the working machine is controlled, so that the movement smoothness of the working machine is improved, and the working quality, the working safety and the working efficiency of the working machine are improved.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. The work machine deceleration motion control system is characterized by comprising an operating mechanism (400), a deceleration control part (300), a driving part (200) and a moving part (100) which are sequentially connected, wherein the deceleration control part (300) comprises a controller (310) and a power amplification element (320), and the power amplification element (320) is connected with the controller (310) and is used for amplifying a deceleration control signal sent by the controller (310) and outputting the deceleration control signal to the driving part; the controller (310) comprises an acquisition module (10), a comparison module (20) and a deceleration control module (30), wherein,
the acquisition module (10) is used for acquiring real-time operation data of the current moving part, wherein the real-time operation data is a stroke, an actual measurement speed or an actual measurement stress;
the comparison module (20) is respectively connected with the acquisition module (10) and the deceleration control module (30) and is used for comparing the real-time operation data of the current moving part acquired by the acquisition module (10) with a preset operation threshold, and if the real-time stroke of the current moving part is greater than the stroke threshold, the deceleration control module (30) is started, wherein the operation threshold is the maximum stroke, the target speed or the target stress allowed by the operation machine;
and the deceleration control module (30) is connected with the comparison module (20) and is used for sending a deceleration control signal when the working machine is started and giving a control speed so as to decelerate the working machine.
2. The work machine retarding motion control system of claim 1,
the deceleration control module (30) comprises a first deceleration control unit (31),
the first deceleration control unit (31) is used for decelerating the working machine in a preset array mode; given control speed viAs can be seen from the following formula,
vi＝vi-1-ki×a
wherein v isi-1The array ki is (k1, k2, k3, k4, …) and a is the preset deceleration acceleration.
3. The work machine retarding motion control system of claim 1,
the deceleration control module (30) comprising a second deceleration control unit (32),
the second deceleration control unit (32) is used for decelerating the working machine in a trigonometric function mode; given output speed viAs can be seen from the following formula,
wherein v isi-1For the current speed of the operating mechanism, k and S0Is a constant.
4. The work machine retarding motion control system of claim 1,
the deceleration control module (30) comprising a third deceleration control unit (33),
the third deceleration control unit (33) is used for decelerating the working machine in a linear deceleration mode; given output speed viAs can be seen from the following formula,
vi＝vi-1-a0
wherein v isi-1To operateCurrent speed of the mechanism, a0Is a constant.
5. The work machine retarding motion control system of claim 1,
the deceleration control module (30) comprising a fourth deceleration control unit (34),
the fourth deceleration control unit (34) is used for decelerating the working machine in an acceleration control mode; given output speed viAs can be seen from the following formula,
vi＝vi-1-a1
wherein v isi-1Is the current speed of the operating mechanism, a1K ∑ ia '+ bk, b is a preset coefficient, K is a constant, i is the number of cycles, and a' is a preset acceleration increment.
6. A work machine deceleration motion control method applied to the work machine motion control system according to any one of claims 1 to 5, characterized by comprising the steps of:
acquiring real-time operation data of a current moving part, wherein the real-time operation data is real-time travel, actual measurement speed or actual measurement stress;
comparing the collected real-time operation data of the current moving part with a preset operation threshold, and starting the speed reduction control module if the real-time travel of the current moving part is greater than the travel threshold, wherein the operation threshold is the allowed maximum travel, the target speed or the target stress;
and sending a deceleration control signal when starting, and giving a control speed to decelerate the working machine.
7. The work machine retarding motion control method of claim 6,
the step of sending a deceleration control signal to give a control speed to decelerate the work machine at the time of starting includes:
adopting a preset array mode to reduce the speed of the operation machine; given control speed viAs can be seen from the following formula,
vi＝vi-1-ki×a
wherein v isi-1The array ki is (k1, k2, k3, k4, …) and a is the preset deceleration acceleration.
8. The work machine retarding motion control method of claim 6,
the step of sending a deceleration control signal to give a control speed to decelerate the work machine at the time of starting includes:
adopting a trigonometric function mode to reduce the speed of the working machine; given output speed viAs can be seen from the following formula,
wherein v isi-1K and S0 are constants for the current speed of the operating mechanism.
9. The work machine retarding motion control method of claim 6,
the step of sending a deceleration control signal to give a control speed to decelerate the work machine at the time of starting includes:
the operation machine is decelerated in a linear deceleration mode; given output speed viAs can be seen from the following formula,
vi＝vi-1-a0
wherein v isi-1Is the current speed of the operating mechanism, a0Is a constant.
10. The work machine retarding motion control method of claim 6,
the step of sending a deceleration control signal to give a control speed to decelerate the work machine at the time of starting includes:
the operating machine is decelerated by adopting a mode of controlling acceleration; given output speed viAs can be seen from the following formula,
vi＝vi-1-a1
wherein v isi-1Is the current speed of the operating mechanism, a1K ∑ ia '+ bk, b is a preset coefficient, K is a constant, i is the number of cycles, and a' is a preset acceleration increment.
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| CN107555343A (en) * | 2017-08-31 | 2018-01-09 | 中信重工机械股份有限公司 | A kind of mine hoist torque-controllable sure brake system and braking method |
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| CN112093672A (en) * | 2020-08-13 | 2020-12-18 | 中联重科股份有限公司 | Stroke limiting control system and method based on speed control and tower crane |
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