A self-adaptive control method for excavator walking direction
A technology of self-adaptive control and walking direction, which is applied in the direction of earth mover/shovel, construction, etc., can solve the problem of pedal excavator walking forward, achieve intuitive and convenient operation, simple implementation method, and improve safety sexual effect
Active Publication Date: 2019-01-25
FLIGHT AUTOMATIC CONTROL RES INST
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Problems solved by technology
The problem existing in the existing product is: when the forward direction 13 is consistent with the driver's line of sight direction 14, the excavator walks forward by stepping on the pedal before the driver, and walks backward by pedaling the excavator backward; After the angle 15 between the direction 13 and the driver's line of sight direction 14 exceeds 90°, the excavator will walk backward when the driver steps on the front pedal, and then the excavator will walk forward if the driver pedals back.
[0007] (2) The driver cannot accurately feel the 90° angle only by sensory experience, and there may be situations where the driver turns the excavator 90° and still expects the crawler to move forward
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[0031] The present invention will be further described below in conjunction with the accompanying drawings.
[0032] figure 2 No matter where the driver's line of sight direction 14 is located, the driver may turn to any angle when continuously stepping on the walking pedal to walk. At this time, he does not wish to switch the walking direction.
[0033] FIG. 3 shows the critical working condition when the angle 15 between the forward direction of the excavator and the driver's line of sight is located in the transition zone 16 . The working device including bucket 1, stick 2, and boom 3 will cross repeatedly at nearly 90°. According to the general control strategy, the output of the controller will change direction repeatedly at this time, but the driver still expects to walk along the in one direction; in addition, the driver cannot precisely control the turntable to rotate through a 90° angle only by senses, so the working condition shown in Figure 3(b) should be the same...
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The invention belongs to control technologies of engineering machinery, particularly relates to a self-adaptive control method for the walking direction of an excavator. The self-adaptive control method is used for improving intuition and safety of walking operation of the excavator. A conventional walking control manner has the problems that the operation burden is increased due to the fact that the excavator can rotate by 360 degrees, the excavator can walk forwards and can walk backwards when a driver forwards steps or backwards treads a pedal to control walking, and the driver needs to test to judge the direction, and potential safety hazards exist front the point of operational safety. According to the self-adaptive control method for the walking direction of the excavator based on rotation angle measurement provided by the invention, time threshold values and rotation angle hysteresis are introduced into a control algorithm, so that the switching control for the walking direction under the special critical condition of rotation that an included angle of the forward direction and the gazing direction of the driver is close to 90 degrees is well treated; and through the method, no matter the excavator rotates to which position, the moving direction of the excavator is always consistent with a habitual direction of the driver when the driver forwards steps or backwards treads the pedal, so that walking control of the excavator is greatly simplified, and the main-machine work efficiency and safety of walking control are improved.
Description
technical field [0001] The invention belongs to engineering machinery control technology, and in particular relates to an adaptive control method for the walking direction of an excavator, which is used to improve the intuitiveness and safety of the excavator's walking operation. Background technique [0002] Excavator is a kind of construction machinery and is the main equipment for earthwork construction. It is widely used in industries, civil construction, roads and bridges, municipal engineering, farmland water conservancy and other fields. [0003] Excavators are generally composed of main components such as working devices, hydraulic control devices, slewing devices and walking devices, see figure 1 shown. The working device (digging bucket 1, arm 2, boom 3), hydraulic control device 8 and engine 9 are installed on the upper frame 10, and the walking crawler belt 5 is installed on the lower frame 11. The upper frame 10 and the lower frame 11 Connection via swivel uni...
Claims
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IPC IPC(8): E02F9/20
Inventor 潘文俊孙鹏冬袁豪放孙逊黄子林李凯
Owner FLIGHT AUTOMATIC CONTROL RES INST