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EP4056760B1 - Finisseuse de routes à régulation en cascade de nivellement - Google Patents

Finisseuse de routes à régulation en cascade de nivellement Download PDF

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Publication number
EP4056760B1
EP4056760B1 EP21162228.7A EP21162228A EP4056760B1 EP 4056760 B1 EP4056760 B1 EP 4056760B1 EP 21162228 A EP21162228 A EP 21162228A EP 4056760 B1 EP4056760 B1 EP 4056760B1
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EP
European Patent Office
Prior art keywords
screed
control
basis
leveling
leveling cylinder
Prior art date
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Application number
EP21162228.7A
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German (de)
English (en)
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EP4056760A1 (fr
Inventor
Stefan Simon
Philipp Stumpf
Ralf Weiser
Martin Buschmann
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Joseph Voegele AG
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Joseph Voegele AG
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Filing date
Publication date
Application filed by Joseph Voegele AG filed Critical Joseph Voegele AG
Priority to EP21162228.7A priority Critical patent/EP4056760B1/fr
Priority to PL21162228.7T priority patent/PL4056760T3/pl
Priority to JP2022036233A priority patent/JP2022140380A/ja
Priority to US17/691,602 priority patent/US20220290382A1/en
Priority to BR102022004541-0A priority patent/BR102022004541A2/pt
Priority to CN202210249699.XA priority patent/CN115075096B/zh
Publication of EP4056760A1 publication Critical patent/EP4056760A1/fr
Application granted granted Critical
Publication of EP4056760B1 publication Critical patent/EP4056760B1/fr
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    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
    • E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
    • E01C19/22—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for consolidating or finishing laid-down unset materials
    • E01C19/42—Machines for imparting a smooth finish to freshly-laid paving courses other than by rolling, tamping or vibrating
    • 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
    • E01C19/48—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 laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • 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
    • E01C19/48—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 laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
    • E01C19/4866—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 laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ with solely non-vibratory or non-percussive pressing or smoothing means for consolidating or finishing
    • E01C19/4873—Apparatus designed for railless operation
    • 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
    • E01C19/004—Devices for guiding or controlling the machines along a predetermined path
    • E01C19/006—Devices for guiding or controlling the machines along a predetermined path by laser or ultrasound

Definitions

  • the present invention relates to a road finisher with a leveling system according to claim 1.
  • the present invention also relates to a method for leveling a screed of a road finisher according to method claim 14.
  • Known road finishers are equipped with leveling systems that are used during a paving journey to compensate for unevenness in the subsoil that acts on the road finisher's chassis or directly on the screed of the road finisher. Based on the sensor measurements of a leveling system, the screed of the road finisher can be adjusted in height by means of a leveling cylinder, which has an extendable piston coupled to the screed, in order to produce a level paving layer.
  • the distance sensor In conventional leveling systems, when leveling is carried out using a stringline and distance sensor, the distance sensor is installed on the towing beam between a front towing point formed thereon, to which the piston of the leveling cylinder is attached, and the screed body towed by the towing beam, i.e. approximately at the level of the transverse distributor device in the direction of travel. From this position, the distance sensor detects neither the exact position of the rear edge of the screed behind it, which generally defines a screed height and which decisively determines the evenness of the installed covering, nor the influence of uneven ground on the front traction point. These imprecise sensor measurements do not reflect the profile of the existing subsoil so that the screed cannot be leveled based on this, which means that unevenness in the subsoil can be precisely compensated for.
  • DE 196 47 150 A1 discloses a road finisher with a leveling system that has a height control circuit as master controller that works on the basis of a measured height of the rear edge of the screed. This is configured to generate an actuating signal as a command signal for a towing point control loop designed as a slave controller, which based on this and with regard to a detected inclination of the towing arm of the screed actuates a hydraulic valve of a leveling cylinder coupled to the front towing point of the screed.
  • DE 100 25 474 B4 discloses a leveling system that uses a layer thickness control circuit as a master controller, from which an actuating signal based on a calculated actual layer thickness value and based on a layer thickness setpoint value emerges.
  • This control signal specifies an inclination target value that can be supplied to a levelness control circuit designed as a follow-up controller.
  • This evenness control circuit calculates and Based on an inclination of the towing arm detected during the paving journey, a control variable for controlling a leveling cylinder for adjusting the height of the screed.
  • the object of the invention is to provide a road finisher with a leveling system that can be used to almost completely compensate for any disruptive influence of the subsoil on the tow point position of the screed. It is also the object of the invention to provide a leveling method for a road finisher that responds precisely to the existing subsurface profile.
  • the invention relates to a road finisher with a screed for producing a paving layer on a subsoil on which the road finisher moves in the direction of travel during a paving run.
  • the road finisher according to the invention comprises a leveling system for adjusting the height of the screed, the leveling system having a cascade control.
  • the cascade control comprises an outer control loop, which has a first controller (also referred to below as a screed controller), which is designed to, on the basis of a detected actual value of a screed height of the screed relative to a predetermined reference and on the basis of a target value of the screed height relative to it the predetermined reference to determine a target value of a towing point position of a towing point of the screed relative to the predetermined reference.
  • the screed height here means in particular the height of a rear edge of the screed of the paving screed.
  • the tow point position is preferably determined by a front end of the tow arm of the screed.
  • the cascade control system also includes an inner control loop, which has a second controller (also referred to below as a leveling cylinder controller), which is designed to, on the basis of a detected actual value of a leveling cylinder position of an extendable piston of a leveling cylinder that is attached to the towing point, and on the basis of a leveling cylinder held up to the second controller setpoint the leveling cylinder position to determine an actuating signal for the leveling cylinder, on the basis of which the leveling cylinder can be controlled.
  • a second controller also referred to below as a leveling cylinder controller
  • the cascade control comprises either a middle control loop between the outer and the inner control loop, which has a third controller (also referred to below as the towing point controller), which is designed to, on the basis of a detected actual value of the towing point position of the towing point of the screed for the predetermined reference and on To determine the setpoint of the leveling cylinder position for the second controller on the basis of the setpoint of the tow point position determined by means of the first controller, or the cascade control has a tow point control between the outer and the inner control circuit, which is designed to do this on the basis of the setpoint determined by means of the first controller the traction point position of the traction point of the screed and in particular on the basis of a digital terrain model of the subsoil provided to the traction point control, on which the road finisher moves to produce the paving layer, to determine the target value of the leveling cylinder position for the second controller.
  • a third controller also referred to below as the towing point controller
  • the cascade control has a tow point control
  • the cascade control comprises at least three control circuits, namely an outer, a middle and an inner control circuit, which are nested in one another to produce the actuating signal for the leveling cylinder.
  • the second alternative of the road finisher according to the invention provides a cascade control with integrated traction point control for improved leveling of the screed.
  • the tow point control used for this forms a command control for the inner control loop and a follow-up control for the outer control loop and can almost completely compensate for the tow point disturbance on the basis of the digital terrain model provided, in which unevenness in the subsoil is taken into account as known.
  • Both of the above-mentioned alternatives of the road finisher according to the invention make it possible for disturbing influences on the traction point position and the screed caused by unevenness in the subsoil to be precisely detected and accordingly almost completely corrected.
  • This is primarily due to the fact that the leveling system is divided into several controlled/controlled system sections, which can be better designed with regard to their respective controlled/controlled system in order to almost completely compensate for any unevenness in the subsoil and other disturbance variables that occur in practice when leveling the screed to compensate.
  • the outer control loop preferably includes a controlled system whose output variable (controlled variable) is the detected actual value of the screed height relative to the predetermined reference and/or whose input variable is the detected actual value of the tow point position of the tow point of the screed relative to the predetermined reference.
  • the input variable can be an actual value of the towing point position of the towing point calculated as a function of a detected actual value of the leveling cylinder position.
  • the outer control circuit makes it possible to regulate the screed height with regard to the predetermined reference, for example a guide wire stretched next to the roadway.
  • the leveling system for the outer control loop has at least one first sensor, which is designed to detect the actual value of the screed height.
  • This sensor is therefore also referred to below as a screed sensor.
  • the first sensor is designed to detect a distance between the trailing edge of the screed and the predetermined reference.
  • the first sensor is a distance sensor positioned in the area of a trailing edge of the screed for detecting a distance from the predetermined reference.
  • the sensor is attached to a side shifter of the screed.
  • the outer feedback can be based on the feedback of the inner control loop, with the inner feedback preferably taking place more quickly, so that the disturbance variable compensation by means of the inner control loop or control loops and the control behavior of the outer control loop can be better matched to one another.
  • the inner control circuit preferably includes a controlled system whose output variable is the detected actual value of the leveling cylinder position of the extendable piston of the leveling cylinder attached to the towing point and/or whose input variable is the control signal for the leveling cylinder.
  • the leveling system for the inner control loop has at least one second sensor, which is designed to detect the actual value of the leveling cylinder position.
  • This sensor is also referred to below as the leveling cylinder sensor.
  • the second sensor is a distance sensor positioned in the area of the leveling cylinder for detecting an extension path of the piston of the leveling cylinder. This means that the leveling cylinder position can be precisely recorded as a controlled variable, in particular the current extension path of the leveling cylinder piston, and fed back to the second controller of the inner control loop.
  • the middle control loop has a controlled system whose output variable is the detected actual value of the tow point position of the screed and/or whose input variable is the detected actual value of the leveling cylinder position.
  • the leveling system for the central control loop has at least one third sensor (also referred to below as the tow point sensor), which is designed to detect the actual value of the tow point position relative to the predetermined reference. It is expedient if the third sensor is a distance sensor positioned in the area of the towing point of the screed for detecting a distance from the predetermined reference. This means that the tow point position, which is directly influenced by unevenness, can be precisely recorded as a controlled variable and fed back to the third controller of the middle control loop.
  • the third sensor also referred to below as the tow point sensor
  • the sensors for detecting the position of the screed and the tow point can be designed as path measuring sensors.
  • the use of laser, ultrasonic, LIDAR and/or radar sensors would be conceivable.
  • at least one tachymeter arranged on the road finisher and/or a laser receiver attached to the assembly of screeds can be used as a measuring device for detecting the position of the screed and the tow point. It is conceivable that the tachymeter for target tracking of the predetermined reference is designed to be automatically adjustable in a motorized manner.
  • a pitch sensor would be used in combination with a distance sensor.
  • the distance sensor can be installed on the screed beam at any point between the rear edge of the screed and the towing point.
  • the inclination sensor measures the angle of attack of the screed. Due to the known geometry of the screed, it is irrelevant at which position of the screed or the drawbar the inclination sensor is installed.
  • the distances between the trailing edge of the screed and the towing point can be used as a reference (see the in Fig.2 distances y bo and y zp shown) can be determined by trigonometric calculations based on the measured angle and the measured distance. The structure and parameterization of the controller remain unaffected.
  • This sensor configuration can also be used if an underground model is used as a reference (also referred to below as a virtual reference).
  • the cascade control preferably has at least one feedforward control of disturbance variables. It would be possible for the feedforward control to function on the basis of a calculated, indirect determination of at least one disturbance variable and/or on the basis of at least one directly measurable disturbance variable. Based on the feedforward feedforward, a manipulated variable, for example the manipulated variable for the towing point position, can be adjusted proactively by means of an upstream transfer function, instead of allowing the influence of the disturbance variable on the controlled variable present at the output.
  • the disturbance variable control is equipped with at least one filter for smoothing calculated or recorded disturbance variables.
  • the reaction of the controller functionally connected to the feedforward control can be dampened.
  • Measurements of a subsoil profile recorded by means of a scanner and/or a digital terrain model can be used for the disturbance variables.
  • the cascade control includes a first feedforward control for the outer control loop and a second feedforward control for the middle control loop.
  • the respective disturbance variables can be activated and deactivated independently of one another, individually or together. It is conceivable that based on at least one process parameter measured on the road finisher during paving operation and/or based on a measured property of the paving layer produced, at least one disturbance variable triggering that responds directly or indirectly to the process parameter and/or the property of the paving layer can be automatically activated.
  • the cascade control is supplemented by a layer thickness calculation module, which is designed to determine the target value of the plank height as a reference variable based on a determined current layer thickness of the paving layer produced and/or on the basis of a target value of the layer thickness of the paving layer to be produced that is held available to it for the outer control loop.
  • a layer thickness calculation module which is designed to determine the target value of the plank height as a reference variable based on a determined current layer thickness of the paving layer produced and/or on the basis of a target value of the layer thickness of the paving layer to be produced that is held available to it for the outer control loop.
  • the layer thickness calculation module is configured to determine the layer thickness from a profile of the sensor measurements used for the leveling, possibly temporarily stored.
  • the actual value of the layer thickness can be determined using a layer thickness measuring system installed on the road finisher. It would be conceivable for the measurement results of at least one distance sensor to be used to determine the layer thickness produced, the measurement results of which are also used for the operation of the leveling system.
  • the reference is designed as a real physical reference (e.g. guide wire).
  • a physical reference is not always available.
  • a reference referred to here as "virtual” is used. This can be, for example, a rotating laser and a laser receiver mounted on the screed or a tachymeter that tracks a prism mounted on the screed. Typical distance sensors are not used for these two measurement methods, since the reference and sensor form a system.
  • an executable virtual reference is a mathematical model of the subsoil, which is available as a digital terrain model (DTM) or in another digital form (data from a (laser) scanner).
  • DTM digital terrain model
  • distance sensors continue to determine the distance to the ground and thus to the reference.
  • the corresponding target distance for the screed and towing point to the ground is selected depending on the location so that the desired screed height is set.
  • r bo ( x ) z bo applies should ( x ) ⁇ z ref ( x ) with r bo ( x ) > 0 ⁇ x .
  • the actuating signal of the screed controller is overlaid with the negative progression of the reference in order to achieve the traction point position desired by the screed controller.
  • the invention also relates to a method for leveling a paving screed of a road finisher in order to produce a paving layer on a subsoil on which the road finisher moves in the direction of travel during a paving run.
  • unevenness in the subsoil is compensated for by means of a leveling system, which adjusts the height of the screed by means of a cascade control.
  • an outer control loop of the cascade control uses a first controller to determine a setpoint value for a tow point position of a screed relative to a predetermined reference based on a detected actual value of a screed height relative to a predetermined reference and based on a setpoint value of the screed height that can be provided to the first controller as a reference variable Pull point of the screed relative to the predetermined reference.
  • an inner control loop of the cascade control uses a second controller to determine an actuating signal for the leveling cylinder based on a detected actual value of a leveling cylinder position of an extendable piston of a leveling cylinder attached to the traction point of the screed and on the basis of a setpoint value of the leveling cylinder position provided to the second controller for adjusting the height of the screed.
  • the method according to the invention provides that either a central control loop of the cascade control integrated between the outer and inner control loops is controlled by means of a third controller on the basis of a detected actual value of the towing point position of the towing point of the screed relative to the predetermined reference and on the basis of the setpoint value determined by means of the first controller the towing point position determines the target value of the leveling cylinder position for the second controller, or that a towing point control functionally integrated between the outer and the inner control circuit based on the target value of the towing point position of the towing point of the screed determined by means of the first controller and in particular on the basis of a digital signal provided to the towing point control Terrain model of the subsoil on which the road finisher moves to produce the paving layer, determines the target value of the leveling cylinder position for the second controller.
  • the setpoint value of the leveling cylinder position provided as the reference variable for setting the leveling cylinder and thus also the required manipulated variable for the leveling cylinder are determined either by means of a three-stage, nested cascade control, i.e. using the superimposed first, second and third control circuits or on the basis of the outer and inner control loops and the traction point control formed in between. Based on both alternatives is one Better compensation for unevenness in the subsoil is possible because both the influence of unevenness on the screed height and the influence of unevenness on the traction point mechanism are recorded directly and taken into account to generate the control signal for setting the leveling cylinder.
  • the cascade control is preferably supplemented by at least one feedforward control.
  • This can proactively respond to unevenness in the ground and other disturbance variables in order to determine the desired traction point and/or leveling cylinder position and reliably compensate for these by transmitting the associated disturbance variables to the screed controller, i.e. the controller of the outer control loop, and/or the traction point controller, i.e. the Controller of the middle loop, by means of a predetermined transfer function.
  • the cascade control is supplemented by a layer thickness calculation module, which determines the target value of the plank height for the outer control loop on the basis of a layer thickness of the paving layer that has been produced and/or on the basis of a target value of the layer thickness of the paving layer to be produced that is held available to it.
  • the layer thickness calculation module could use the leveling sensor signals to calculate the target screed height.
  • the road finisher 1 shows a road finisher 1, which produces a paving layer 2 with a desired layer thickness S on a substrate 3, on which the road finisher 1 moves in a travel direction R during a paving run.
  • the road finisher 1 has a levelable screed 4 for compacting the paving layer 2.
  • the screed 4 has a pull arm 5, which at one front towing point 6 is connected to a leveling cylinder 7 attached to the chassis of the road finisher 1 .
  • the leveling cylinder 7 can raise and lower the towing arm 5 at the front towing point 6 so that an angle of attack of the towed screed 4 can be set during the paving journey, with the screed 4 being raised or lowered in response thereto.
  • unevenness 8 in the subsurface 3 can be compensated for by dynamic control of the leveling cylinder setting.
  • FIG. 2 shows an isolated, schematic representation of the paving screed 4 in a reference coordinate system K, including the subsoil 3 and the dimensions relating to the screed geometry, which are associated with the Figures 3 and 4 are explained in more detail below.
  • FIG. 1 shows a leveling system 10A that is designed to level the screed 4.
  • the leveling system 10A includes a cascade control 100A, which includes three superimposed control loops, namely an inner control loop 11, a middle control loop 12 and an outer control loop 13.
  • the outer control loop 13 has a first sensor H bo (screed sensor), the inner control loop 11 has a second sensor H nz (leveling cylinder sensor) and the middle control loop 12 has a third sensor H zp (traction point sensor).
  • H bo screw sensor
  • H nz leveling cylinder sensor
  • H zp traction point sensor
  • Each of the three control circuits 11, 12, 13 thus has according to 2 each have a separate sensor.
  • the sensors H bo , H nz , H zp are configured to use the in 2 to measure the distances shown, in particular the extension path of the leveling cylinder s nz , the screed height z bo and the towing point position z zp .
  • Corresponding sensor signals y bo , y nz , y zp are fed from the respective sensors H bo , H nz , H zp as actual controlled variables to the three controllers C bo , C zp , C nz .
  • the cascade control 100A is supplemented by an optional feedforward control S1, S2, which is shown here schematically in dashed form.
  • the cascade control 100A is described in the following without feedforward control S1, S2.
  • the three control loops 11, 12, 13 of the cascade control 100A are nested in one another.
  • the screed height Z bo is adjusted.
  • the dynamic behavior of the "screed" controlled system is described by the transfer function G bo .
  • the output variable of this controlled system is the detected screed height Z bo .
  • the screed height Z bo is determined by the screed sensor H bo , which is located near a rear edge 14 of the screed (see Figures 1 and 2 ) is installed.
  • the corresponding sensor signal y bo is fed back to the controller C bo .
  • the input variable of the transfer function G bo is the measured actual value of the tow point position z zp .
  • the corresponding target value of the tow point position r zp is the actuating signal from the first Controller C bo (screed controller) and is calculated from the set value of the screed height r bo stored here and the sensor signal y bo
  • the actuating signal r zp of the outer control loop 13 is the reference signal of the central control loop 12, which regulates the tow point position Z zp with the aid of the tow point controller C zp .
  • the actual value of the tow point position z zp is detected by the sensor H zp , which determines the distance of the tow point from the reference L (for example a rope or guide wire stretched next to the roadway).
  • the tow point position Z zp is the output variable of the tow point mechanics G zp .
  • the resulting sensor signal y zp is fed back to the traction point controller C zp .
  • the actuating signal of the traction point controller C zp is the set value of the leveling cylinder position r zp .
  • the actuating signal from the traction point controller C zp represents the command variable of the inner control loop 11, the actual value of which is the leveling cylinder position s nz .
  • the inner control circuit 11 includes the leveling cylinder function G nz as the controlled system, with the sensor H nz detecting the leveling cylinder position and feeding it to the leveling cylinder controller C nz .
  • u nz is the actuating signal of the leveling cylinder controller C nz , which acts on the leveling cylinder 7 .
  • d zp is due to the interaction of the chassis fw with the ground 3, here in 2 Subsoil to u , given.
  • the signals y bo , y nz , y zp are recorded and the screed disturbance d bo (x) at the waypoint x is calculated from the tow point disturbance dzp of the previous waypoint x ⁇ szh .
  • the information regarding the paving thickness s es (x) can be displayed to the operator, for example on a display at the outside control station of the screed.
  • the above cascade control 100A can be expanded by a layer thickness calculation module for layer thickness control, which can be provided with a target layer thickness as the desired layer thickness, on the basis of which the layer thickness calculation module calculates the target value of the plank height r bo .
  • the special feature of the layer thickness calculation module is that the relationship between layer thickness and plank height is algebraic. This means that a change in layer thickness corresponds exactly to the same change in plank height. Two variants are conceivable for implementing a layer thickness control.
  • the current layer thickness is determined from the course of the sensor measurements and compared with the target layer thickness provided. This deviation is processed in the screed controller to change the screed height.
  • the context s it x y bo x ⁇ y zp x ⁇ s zh ⁇ s bo ⁇ y na x ⁇ s zh ⁇ s bo + s zp be used to determine the nominal value of the plank height r bo directly from the desired layer thickness.
  • the difference between the cascade control and the cascade control extended by the layer thickness calculation module is essentially whether the user enters a target value for the plank height or for the layer thickness.
  • the cascade control 100A described above can be expanded by the in 2 Disturbance variable switching S1, S2 shown in dashed lines can be expanded.
  • Information regarding the subsoil zu and the resulting disturbances d bo and d zp are recorded and fed to the screed controller C bo and the traction point controller C zp , which use them to calculate the desired traction point and leveling cylinder position r zp , r nz in order to proactively Compensate for disturbance variables d bo and d zp without waiting for them to flow into the control variables Z bo , Z zp .
  • the control signal calculation in the screed controller C bo takes into account that the disturbance d bo lags behind the disturbance d zp with a dead time that depends on the paving speed.
  • Both the computational determination of the disturbance variables d bo and d zp , as described above, and the direct measurement of the disturbance variables d bo and d zp using suitable measuring systems H dbo and H dzp (eg scanners, etc.) are possible.
  • the measurement can be carried out both "online”, ie during installation, and "offline", ie before installation, for example using a digital terrain model (DGM). Courses measured offline are stored in the control system.
  • DGM digital terrain model
  • the leveling method is not limited to any particular sensor technology.
  • measuring systems such as tachymeters and/or laser receivers can be used to record the position of the screed and the tow point.
  • An inclination sensor that measures the angle of attack of the screed would also be conceivable.
  • One of the two ultrasonic sensors could be replaced by such a tilt sensor.
  • the distance measured by the replaced sensor could then be determined by trigonometric relationships.
  • it is also possible to deviate from the specified sensor positions at the towing point and the rear edge of the screed which can have advantages in practice.
  • the use of measuring systems without a fixed reference for example a BigSki mounted on the drawbar 5 of the road finisher 1, which measures the distance to the subsurface 3 at different positions, could possibly also be used with a loss of accuracy.
  • the underground profile z u is not known.
  • a sufficiently accurate digital terrain model (DGM) is given by this model and d zp can be calculated using the chassis fw of the road finisher 1 .
  • the towing point 6 is influenced by a known disturbance.
  • the middle control circuit 12 including the sensor H zp is no longer required and can be replaced by a traction point control C' zp .
  • the information regarding z u can be used for an optional feedforward control.
  • the measuring devices H dbo and H dzp can consequently also be omitted.
  • Figure 12 shows the embodiment including a leveling system 10B with a digital terrain model (DTM) processing cascade controller 100B.
  • the screed controller C bo is in comparison to the basic version 3 almost unchanged.
  • a difference to the variant shown 3 consists in the fact that, if a disturbance variable compensation is used, the disturbance d bo in the screed controller C bo is calculated from z u .
  • the traction point controller C zp in 4 no longer available, but is calculated by the traction point control C' zp , which calculates a target value position r nz of the leveling cylinder from the known subsurface profile z u and the target position of the traction point r zp . This calculation is based on equations (2) and (3).
  • Equation (3) is then solved for dzp .
  • d zp fw(z u ) applies.

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  • Engineering & Computer Science (AREA)
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  • Road Paving Machines (AREA)
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Claims (15)

  1. Finisseur routier (1) comprenant une table d'ouvrage (4) pour la fabrication d'une couche d'ouvrage (2) sur une sous-couche (3), sur laquelle le finisseur routier (1) se déplace dans une direction de déplacement (R) pendant une passe d'ouvrage, dans lequel le finisseur routier (1) présente un système de nivellement (10A, 10B) pour le réglage en hauteur de la table d'ouvrage (4) afin de compenser des inégalités (8) dans la sous-couche (3), dans lequel le système de nivellement (10A, 10B) présente une régulation en cascade (100A, 100B) qui comprend un circuit de régulation externe (13) qui présente un premier régulateur (Cbo), qui est conçu pour, sur la base d'une valeur réelle détectée d'une hauteur de table (zbo) de la table d'ouvrage (4) par rapport à une référence prédéterminée (L) et sur la base d'une valeur de consigne pouvant être conservée par celui-ci de la hauteur de table (rbo) par rapport à la référence prédéterminée (L), déterminer une valeur de consigne d'une position de point de traction (rzp) d'un point de traction (6) de la table d'ouvrage (4) par rapport à la référence prédéterminée (L), et qui comprend un circuit de régulation interne (11) qui présente un deuxième régulateur (Cnz) qui est conçu pour, sur la base d'une valeur réelle détectée d'une position de cylindre de nivellement (snz) d'un piston d'un cylindre de nivellement (7) fixé au point de traction (6) et extensible, et sur la base d'une valeur de consigne de la position de cylindre de nivellement (rnz), qui est conservée par le deuxième régulateur (Cnz), déterminer un signal de réglage (Unz) pour le cylindre de nivellement (7), à l'aide duquel le cylindre de nivellement (7) peut être commandé,
    caractérisé en ce que
    la régulation en cascade (100A), entre le circuit de régulation externe et le circuit de régulation interne (11, 13), comprend un circuit de régulation médian (12) qui présente un troisième régulateur (Czp) qui est conçu pour, sur la base d'une valeur réelle détectée de la position de point de traction (zzp) du point de traction (6) de la table d'ouvrage (4) par rapport à la référence prédéterminée (L) et sur la base de la valeur de consigne de la position de point de traction (rzp) déterminée au moyen du premier régulateur (Cbo), déterminer la valeur de consigne de la position de cylindre de nivellement (rnz) pour le deuxième régulateur (Czp), ou en ce que la régulation en cascade (100B), entre les circuits de régulation externe et interne (11, 13), présente une commande de point de traction (C'zp), qui est conçue pour, sur la base de la valeur de consigne déterminée au moyen du premier régulateur (Cbo) de la position de point de traction (rzp) du point de traction (6) de la table d'ouvrage (4), et en particulier sur la base d'un modèle numérique de terrain (DGM) conservé par la commande de point de traction (C'zp) de la sous-couche (3), sur laquelle le finisseur routier (1) pour la fabrication de la couche d'ouvrage (2) se déplace, déterminer la valeur de consigne de la position de cylindre de nivellement (rnz) pour le deuxième régulateur (Cnz).
  2. Finisseur routier selon la revendication 1, caractérisé en ce que le circuit de régulation externe (13) comprend une section de régulation (Cbo) dont la grandeur de sortie est la valeur réelle détectée de la hauteur de table (zbo) de la table d'ouvrage (4) par rapport à la référence prédéterminée (L) et/ou dont la grandeur d'entrée est la valeur réelle détectée de la position de point de traction (zzp) du point de traction (6) de la table d'ouvrage (4) par rapport à la référence prédéterminée (L).
  3. Finisseur routier selon la revendication 1 ou 2, caractérisé en ce que le système de nivellement (10A, 10B) présente au moins un premier capteur (Hbo) pour le circuit de régulation externe (13), qui est conçu pour détecter la valeur réelle de la hauteur de table (zbo).
  4. Finisseur routier selon la revendication 3, caractérisé en ce que le premier capteur (Hbo) est un capteur de distance positionné dans la zone d'un bord de table arrière (14) de la table d'ouvrage (4) pour détecter une distance par rapport à la référence prédéterminée (L).
  5. Finisseur routier selon l'une quelconque des revendications précédentes, caractérisé en ce que le circuit de régulation interne (11) comprend une section de régulation (Gnz) dont la grandeur de sortie est la valeur réelle détectée de la position de cylindre de nivellement (snz) du piston extensible et fixé au point de traction (6) du cylindre de nivellement (7) et/ou dont la grandeur d'entrée est le signal de réglage (unz) pour le cylindre de nivellement (7).
  6. Finisseur routier selon l'une quelconque des revendications précédentes, caractérisé en ce que le système de nivellement (10A, 10B) pour le circuit de régulation interne (11) présente au moins un deuxième capteur (Hnz) qui est conçu pour détecter la valeur réelle de la position de cylindre de nivellement (snz).
  7. Finisseur routier selon la revendication 6, caractérisé en ce que le deuxième capteur (Hnz) est un capteur de distance positionné dans la zone du cylindre de nivellement (7) pour détecter la position de cylindre de nivellement (snz) du piston du cylindre de nivellement (7).
  8. Finisseur routier selon l'une quelconque des revendications précédentes, caractérisé en ce que le circuit de régulation médian (12) comprend une section de régulation (Gzp) dont la grandeur de sortie est la valeur réelle détectée de la position de point de traction (zzp) de la table d'ouvrage (4) et/ou dont la grandeur d'entrée est la valeur réelle détectée de la position de cylindre de nivellement (snz).
  9. Finisseur routier selon l'une quelconque des revendications précédentes, caractérisé en ce que le système de nivellement (10A, 10B), pour le circuit de régulation médian (12), présente un troisième capteur (Hzp) qui est conçu pour détecter la valeur réelle de la position de point de traction (zzp) par rapport à la référence prédéterminée (L).
  10. Finisseur routier selon la revendication 9, caractérisé en ce que le troisième capteur (Hzp) est un capteur de distance positionné dans la zone du point de traction (6) de la table d'ouvrage (4) pour détecter une distance par rapport à la référence prédéterminée (L).
  11. Finisseur routier selon l'une quelconque des revendications précédentes, caractérisé en ce que la régulation en cascade (100A, 100B) présente au moins une compensation de grandeur parasite (S1, S2).
  12. Finisseur routier selon l'une quelconque des revendications précédentes, caractérisé en ce que la régulation en cascade (100A, 1008) est complétée par un module de calcul d'épaisseur de couche, qui est conçu pour déterminer la valeur de consigne de la hauteur de table (rbo) sur la base d'une épaisseur de couche actuelle déterminée (S) de la couche d'ouvrage (2) fabriquée et/ou sur la base de la valeur de consigne conservée de l'épaisseur de couche (S) de la couche d'ouvrage (2) à fabriquer pour le circuit de régulation externe (13).
  13. Finisseur routier selon la revendication 12, caractérisé en ce que le module de calcul d'épaisseur de couche est conçu pour déterminer l'épaisseur de couche (S) à partir d'un tracé des mesures de capteur utilisées pour le nivellement.
  14. Procédé de nivellement d'une table d'ouvrage (4) d'un finisseur routier (1) pour la fabrication d'une couche d'ouvrage (2) sur une sous-couche (3) sur laquelle le finisseur routier (1) se déplace dans la direction de déplacement (R) pendant une passe d'ouvrage, dans lequel des irrégularités (8) dans la sous-couche (3) sont compensées au moyen d'un système de nivellement (10A, 10B) qui effectue un nivellement de la table d'ouvrage (4) au moyen d'une régulation en cascade (100A, 100B), dans lequel un circuit de régulation externe (13) de la régulation en cascade (100A, 100B) est régulé au moyen d'un premier régulateur (Cbo) sur la base d'une valeur réelle détectée d'une hauteur de table (zbo) de la table d'ouvrage (4) par rapport à une référence prédéterminée (L) et, sur la base d'une valeur de consigne pouvant être conservée par le premier régulateur (Cbo) de la hauteur de table (rbo) par rapport à la référence prédéterminée (L), détermine une valeur de consigne d'une position de point de traction (rzp) d'un point de traction (6) de la table d'ouvrage (4) par rapport à la référence prédéterminée (L), et dans lequel un circuit de régulation interne (11) de la régulation en cascade (100A, 1008), au moyen d'un deuxième régulateur (Cnz), sur la base d'une valeur réelle détectée d'une position de cylindre de nivellement (snz) d'un piston d'un cylindre de nivellement (7) extensible et fixé au point de traction (6) de la table d'ouvrage (4), et sur la base d'une valeur de consigne (rnz) pouvant être conservée par le deuxième régulateur (Cnz) de la position de cylindre de nivellement, détermine un signal de régulation (unz) pour le cylindre de nivellement, à l'aide duquel le cylindre de nivellement (7) est commandé pour le réglage en hauteur de la table d'ouvrage (4),
    caractérisé en ce que
    un circuit de régulation médian (12) de la régulation en cascade (100A), se trouvant entre le circuit de régulation externe et le circuit de régulation interne (11, 13), au moyen d'un troisième régulateur (C zp), sur la base d'une valeur réelle détectée de la position de point de traction (zzp) du point de traction (6) de la table d'ouvrage (4) par rapport à la référence prédéterminée (L), et sur la base de la valeur de consigne de la position de point de traction (rzp) déterminée au moyen du premier régulateur (Cbo), détermine la valeur de consigne de la position de cylindre de nivellement (rnz) pour le deuxième régulateur (Cnz), ou en ce qu'une commande de point de traction (C'zp) se trouvant entre les circuits de régulation externe et interne (11, 13) de la régulation en cascade (100B), sur la base de la valeur de consigne déterminée au moyen du premier régulateur (Cbo) de la position de point de traction (rzp) du point de traction (6) de la table d'ouvrage (4), et en particulier sur la base d'un modèle numérique de terrain (GDM) conservé par la commande de point de traction (C'zp) de la sous-couche (3), sur laquelle le finisseur routier (1) pour la fabrication de la couche d'ouvrage (2) se déplace, détermine la valeur de consigne de la position de cylindre de nivellement (rnz) pour le deuxième régulateur (Cnz).
  15. Procédé selon la revendication 14, caractérisé en ce que la régulation en cascade (100A, 100B) est complétée par au moins une compensation de grandeur parasite (S1, S2) et/ou par un module de calcul d'épaisseur de couche qui, sur la base d'une épaisseur de couche déterminée (S) de la couche d'ouvrage (2) fabriquée et/ou sur la base d'une valeur de consigne conservée de l'épaisseur de couche (S) de la couche d'ouvrage (2) à fabriquer, pour le circuit de régulation externe (13), détermine la valeur de consigne de la hauteur de table (rbo).
EP21162228.7A 2021-03-12 2021-03-12 Finisseuse de routes à régulation en cascade de nivellement Active EP4056760B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP21162228.7A EP4056760B1 (fr) 2021-03-12 2021-03-12 Finisseuse de routes à régulation en cascade de nivellement
PL21162228.7T PL4056760T3 (pl) 2021-03-12 2021-03-12 Układarka z regulację poziomowania kaskadowego
JP2022036233A JP2022140380A (ja) 2021-03-12 2022-03-09 平準化カスケード制御を備える路面仕上げ機
US17/691,602 US20220290382A1 (en) 2021-03-12 2022-03-10 Road finishing machine with leveling cascade control
BR102022004541-0A BR102022004541A2 (pt) 2021-03-12 2022-03-11 Máquina de acabamento de rodovias com sistema de nivelamento e método de nivelamento de uma mesa de uma máquina de acabamento de rodovias
CN202210249699.XA CN115075096B (zh) 2021-03-12 2022-03-14 具有调平级联控制的道路整修机

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EP21162228.7A EP4056760B1 (fr) 2021-03-12 2021-03-12 Finisseuse de routes à régulation en cascade de nivellement

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EP4056760B1 true EP4056760B1 (fr) 2023-08-09

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US20220290382A1 (en) 2022-09-15
EP4056760A1 (fr) 2022-09-14
PL4056760T3 (pl) 2024-02-19
JP2022140380A (ja) 2022-09-26
CN115075096A (zh) 2022-09-20
CN115075096B (zh) 2024-06-25

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