A paving machine and travel control method, system and controller therefor

Abstract

This invention discloses a paver travel control method. Based on the set paver straight-line travel speed, the method determines the set displacement of the travel motor and the preset displacement of the travel pump. Based on the set paver straight-line travel speed, the set displacement of the travel motor, and the preset displacement of the travel pump, the method determines the set speed of the AC motor. The method controls the AC motor to operate at the set AC motor speed and controls the travel motor to operate at the set travel motor displacement. Based on the set paver straight-line travel speed υ and the obtained actual speed, the method adjusts the travel pump displacement through speed closed-loop control to achieve the set straight-line travel speed. During use, the method can dynamically adjust the motor speed, travel pump displacement, and travel motor displacement according to the actual travel conditions of the paver, ensuring that the paver is always in the optimal working state. This improves the stability of the paver travel system and effectively reduces its energy consumption during operation.

Description

Technical Field

[0001] This invention relates to a paver and its driving control method, system and controller, belonging to the field of paver technology. Background Technology

[0002] The paver is mainly used for paving stabilized soil and asphalt concrete on roads. The forward or backward movement and travel speed are controlled by adjusting the speeds of the left and right drive units; steering is achieved by adjusting the speed difference between the left and right drive units.

[0003] The power unit of a paver typically uses a diesel engine, which drives a transfer case. The transfer case then powers the left and right travel piston pumps, left and right material conveying piston pumps, left and right sorting piston pumps, and hydraulic cylinder pumps, among other hydraulic systems. To accommodate the speed requirements of each mechanism, the diesel engine operates at a constant or high speed during operation. This means the engine speed cannot be adjusted according to the travel speed, causing the following problems that need to be addressed:

[0004] 1. During low-speed paving, the travel pump operates in a small displacement range, resulting in low volumetric efficiency of the travel pump and low efficiency of the hydraulic system, leading to energy waste.

[0005] 2. During low-speed paving operations, the travel pump operates in a small displacement range, resulting in unstable flow rate and poor low-speed stability of the equipment;

[0006] 3. During equipment construction, the diesel engine operates at constant or high speeds, resulting in energy-inefficient equipment.

[0007] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of the prior art and provide a paver and its driving control method, system and controller to solve the technical problems of poor stability, low working efficiency and lack of energy saving in the operation of the prior art paver.

[0009] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0010] A paver travel control method includes:

[0011] Based on the set straight-line travel speed υ of the paver, determine the set displacement V of the travel motor. m Preset displacement V of the travel pump p ;

[0012] Based on the set straight-line travel speed υ of the paver and the set displacement V of the travel motor m Preset displacement V of the travel pump p Determine the set speed n of the AC motor;

[0013] Control the AC motor to operate at the set speed n of the AC motor;

[0014] Control the travel motor to set the displacement V m The system operates and, based on the set straight-line travel speed υ of the paver and the actual speed obtained, adjusts the displacement of the travel pump through speed closed-loop control until the set straight-line travel speed is reached.

[0015] As a preferred embodiment of the present invention, the formula for calculating the displacement of the driving motor is as follows:

[0016] V m =f1(υ)=k Vm ×V m_max

[0017] Among them, V m Let f1(υ) be the displacement of the driving motor, and k be the function for determining the set displacement of the motor in relation to the set speed parameter. Vm V is the displacement coefficient of the driving motor. m_max This is the maximum displacement constant of the driving motor.

[0018] And / or, the formula for calculating the preset displacement of the driving pump is:

[0019]

[0020] Among them, V p The preset displacement of the pump is given by f2(υ), which is a function related to the set speed parameter to calculate the preset displacement of the pump. V is the displacement coefficient of the pump. p_max This is the maximum displacement constant of the traveling pump.

[0021] And / or, the formula for calculating the set speed of the motor is:

[0022]

[0023] Where n is the set speed of the motor, Q is the flow rate of the hydraulic system, and V is the set speed of the motor. p Preset the displacement of the travel pump. Where i is the displacement coefficient of the travel pump, i is the proportional coefficient for correcting transmission deviations in the system, and n is the displacement coefficient of the travel pump. m For the speed of the driving motor, V is the displacement coefficient of the pump. p_max k is the maximum displacement constant of the traveling pump. Vm V is the displacement coefficient of the driving motor.m_max This is the maximum displacement constant of the driving motor;

[0024] n m =k υ ×υ

[0025] Where, n m k is the speed of the driving motor. υ υ is the conversion constant between the linear speed and rotational motion of the paver, and υ is the set speed for the paver's linear travel.

[0026] As a preferred technical solution of the present invention, the constraint conditions for determining the preset displacement of the travel pump used to calculate the set speed of the motor also include the high-efficiency zone of the volumetric efficiency of the travel pump when it is working, as well as the dynamic adjustment margin of the travel pump displacement when the paver travels in closed-loop control and differential steering of the paver.

[0027] As a preferred technical solution of the present invention, the closed-loop control of the paver's left-hand travel and right-hand travel is achieved by dynamically coordinating and controlling the motor speed, the travel pump displacement, and the travel motor displacement.

[0028] The priority order of the coordinated control is as follows: adjusting the displacement of the travel motor, adjusting the displacement of the travel pump, and adjusting the motor speed.

[0029] As a preferred embodiment of the present invention, the method for starting the paver includes:

[0030] Adjust both drive motors to their maximum displacement, and simultaneously adjust both drive pumps to zero displacement;

[0031] The deviation between the actual motor speed and the set motor speed is collected and compared. The motor speed is then adjusted through closed-loop control until the motor reaches the set speed and runs stably, thus completing the paver startup.

[0032] As a preferred technical solution of the present invention, the method for stopping the paver includes gradually adjusting the motor speed to stop, and while adjusting the motor speed, adjusting the displacement of the two travel pumps proportionally to reduce the speed of the paver proportionally.

[0033] As a preferred embodiment of the present invention, the method for stopping the paver further includes keeping the motor speed constant and gradually adjusting the discharge rates of the two travel pumps proportionally until the paver stops moving.

[0034] A paver travel controller is provided, the controller being used to execute the paver travel control method as described in any of the above embodiments.

[0035] A paver travel control system includes a controller as described in the above embodiment and a transfer case driven by a motor. The transfer case is driven by two travel pumps, each of which is connected to a travel motor. The two travel motors drive the paver to travel to the left and to the right, respectively. The controller is used to control the movement of the paver by controlling the motor, the travel pumps, and the travel motors.

[0036] A paver includes a paver travel control system as described in the above embodiments.

[0037] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0038] When in use, this invention can dynamically adjust the motor speed, travel pump displacement, and travel motor displacement according to the actual driving conditions of the paver, ensuring that the paver is always in the best working state. While improving the stability of the paver's travel system, it can also effectively reduce its energy consumption during operation. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the system structure of the present invention;

[0040] Figure 2 This is the control flowchart of the paver in this invention;

[0041] Figure 3 The displacement coefficient k of the driving motor in this invention Vm Relationship diagram with linear set speed υ;

[0042] Figure 4 The preset displacement coefficient of the traveling pump in this invention Relationship with linear set speed υ 1;

[0043] Figure 5 The preset displacement coefficient of the traveling pump in this invention Relationship with the linear set speed υ 2. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0045] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0046] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0047] like Figures 1 to 5 As shown, a paver travel control method includes,

[0048] Set the straight-line travel speed of the paver and calculate the set rotational speed of the motor;

[0049] Adjust the motor speed to the set speed;

[0050] The actual motor speed is detected, and closed-loop control of the motor is performed based on the deviation between the set motor speed and the actual motor speed until the motor speed stabilizes.

[0051] Based on the paver's straight-line travel speed, calculate and obtain the preset displacement of the travel pump and the set displacement of the travel motor;

[0052] Adjust the displacement of the travel pump and travel motor to drive the paver's movement;

[0053] Collect and compare the differences between the paver's left and right travel speeds and the paver's set speed. Adjust the travel pump displacement, travel motor displacement, and motor speed through closed-loop control until the paver reaches the preset straight-line travel speed.

[0054] The methods for starting a paver include:

[0055] Adjust both drive motors to their maximum displacement, and simultaneously adjust both drive pumps to zero displacement;

[0056] The deviation between the actual motor speed and the set motor speed is collected and compared. The motor speed is then adjusted through closed-loop control until the motor reaches the set speed and runs stably, thus completing the paver startup.

[0057] When the paver is in motion, the displacement of the left and right travel motors is adjusted to the displacement determined by the travel motor displacement coefficient. At the same time, based on the left and right travel speed set values ​​and the actual speed feedback values, the displacement of the left and right pumps is adjusted separately through speed closed-loop control to achieve constant left and right travel speed. When the paver's straight travel set speed is adjusted, the above process of achieving constant left and right travel speed is repeated, thus realizing the control of the paver's travel speed.

[0058] Methods for stopping a paver include gradually adjusting the motor speed until it stops, and simultaneously adjusting the displacement of the two travel pumps proportionally to reduce the paver speed proportionally; or, keeping the motor speed constant, gradually adjusting the displacement of the two travel pumps proportionally until the paver stops moving.

[0059] The motor that powers the paver during operation needs to be set to a predetermined speed. This ensures that the motor speed is within a reasonable and efficient range during operation to avoid insufficient power or wasted energy. Specifically, the motor speed is determined by calculating the preset displacement of the travel pump and the preset displacement of the travel motor. The preset displacement of the travel pump and the preset displacement of the travel motor are calculated based on the paver's straight-line travel speed.

[0060] The specific driving control method of the paver is as follows:

[0061] Determine the parameters:

[0062] The first step is to determine the speed of the drive motor.

[0063] The formula for calculating the speed of the driving motor is as follows:

[0064] n m =k υ ×υ

[0065] Where, n m k is the speed of the driving motor. υ υ is the conversion constant between the linear speed and rotational motion of the paver, and υ is the set speed for the paver's linear travel.

[0066] The second step is to determine the displacement of the drive motor.

[0067] The formula for calculating the displacement of the driving motor is:

[0068] V m=f1(υ)=k Vm ×V m_max

[0069] Among them, V m Let f1(υ) be the displacement of the driving motor, and k be the function for determining the set displacement of the motor in relation to the set speed parameter. Vm V is the displacement coefficient of the driving motor. m_max k is the maximum displacement constant of the driving motor. Vm The functional relationship curve between υ and υ is as follows: Figure 3 (For illustrative purposes only.)

[0070] For k Vm The indeterminate functional relationship between υ and k can be determined by referring to Table 1, where k lies between the two velocities in the table. Vm The calculation was performed using linear interpolation.

[0071]

[0072] Table 1

[0073] The third step is to determine the preset displacement of the driving pump.

[0074] The formula for calculating the preset displacement of the travel pump is:

[0075]

[0076] Among them, V p The preset displacement of the pump is given by f2(υ), which is a function related to the set speed parameter to calculate the preset displacement of the pump. V is the displacement coefficient of the pump. p_max This is the maximum displacement constant of the traveling pump.

[0077] To meet the requirements of differential steering and improved hydraulic system volumetric efficiency, the travel pump displacement is multiplied by the travel speed by a travel pump displacement coefficient less than 1.0. The functional relationship between the travel pump displacement coefficient and the paver's set straight-line travel speed is as follows: Figure 4 , Figure 5 (For illustrative purposes only.)

[0078] For the uncertain functional relationship between the travel pump displacement coefficient and the paver's straight-line travel set speed, it can be determined by referring to Table 2. The travel pump displacement coefficient between the two speeds in the table is calculated using the linear difference method.

[0079]

[0080] Table 2

[0081] The fourth step is to determine the set speed of the AC motor.

[0082] The formula for calculating the set speed of the motor is:

[0083]

[0084] Where n is the set speed of the motor, Q is the flow rate of the hydraulic system, and V is the set speed of the motor. p Preset the displacement of the travel pump. Where i is the displacement coefficient of the travel pump, i is the proportional coefficient for correcting transmission deviations in the system, and n is the displacement coefficient of the travel pump. m For the speed of the driving motor, V is the displacement coefficient of the pump. p_max k is the maximum displacement constant of the traveling pump. Vm V is the displacement coefficient of the driving motor. m_max This is the maximum displacement constant of the driving motor.

[0085] The constraints for determining the preset displacement of the travel pump used to calculate the set speed of the motor also include the high-efficiency zone of the volumetric efficiency of the travel pump during operation, as well as the dynamic adjustment margin of the travel pump displacement during the paver's travel speed closed-loop control and differential steering of the paver.

[0086] The dynamic adjustment margin here refers to the adjustment space between the maximum displacement constant of the pump and the left and right pump displacement when the left and right differential steering and the left and right pump displacement are adjusted, so as to ensure that there is adjustment space to realize the left and right differential steering of the paver.

[0087] The volumetric efficiency of a travel pump is determined during component selection based on the specific model of the travel pump. Different models of travel pumps have synchronized volumetric efficiency zones, which are adjusted by a proportional coefficient to reach their inherent efficiency zones.

[0088] The closed-loop control of the paver's left and right travel is achieved by dynamically coordinating the motor speed, travel pump displacement, and travel motor displacement. The priority order of the coordinated control is as follows: adjusting the travel motor displacement, adjusting the travel pump displacement, and adjusting the motor speed.

[0089] The closed-loop control of the paver's left and right travel speeds essentially involves judging the deviation between the set speed and the actual speed, and coordinating the adjustment of the motor speed, travel pump displacement, and travel motor displacement based on the deviation value, so as to continuously adjust the paver's left and right travel speeds and ensure that the paver always travels at the preset speed.

[0090] The adjustment of the left and right travel speeds of the paver is based on the actual situation, which involves coordinated adjustment of the motor speed, travel pump displacement, and travel motor displacement. The coordinated adjustment is based on the premise of system stability. The priority order of coordinated adjustment can be to adjust the pump displacement first, then the motor displacement, and finally the motor speed. In special cases, multiple variables can be adjusted synchronously.

[0091] A paver travel controller for performing any of the paver travel control methods described in the above embodiments, the controller comprising,

[0092] The rotational speed measurement unit is used to acquire the motor speed, the left travel speed of the paver, and the right travel speed of the paver.

[0093] The displacement control unit is used to control the displacement of the travel pump and the displacement of the travel motor;

[0094] The processing unit is used to determine the set speed of the motor based on the set speed of the paver's straight-line travel, and to control the left travel speed and right travel speed of the paver through the displacement control unit;

[0095] The processing unit performs closed-loop control of the paver's left travel speed, right travel speed, and motor speed by comparing the data obtained from the speed measurement unit.

[0096] That is, the controller achieves closed-loop speed control of the two driving devices by dynamically adjusting the motor speed, the displacement of the left and right driving pumps, and the displacement of the two driving motors, while ensuring that the left and right driving pumps operate in the high-efficiency zone of volumetric efficiency, thus achieving the coordinated control of the above multivariables.

[0097] A paver travel control system includes a controller as described in the above embodiment and a transfer case driven by a motor. The transfer case is driven by two travel pumps, each of which is connected to a travel motor. The two travel motors drive the paver to travel to the left and to the right, respectively. The controller is used to control the movement of the paver by controlling the motor, the travel pumps, and the travel motors.

[0098] The paver has two travel pumps, a left travel pump and a right travel pump, each connected to a left travel motor and a right travel motor, respectively. The left and right travel motors drive the left and right travel drive units, enabling the paver to travel to the left and right.

[0099] A paver includes a paver travel control system as described in the above embodiments.

[0100] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A paving machine travel control method characterized by, Comprising: According to the set paving machine straight driving speed υ, the driving motor set displacement is determined , the driving pump preset displacement ; According to the set paving machine straight driving speed υ, driving motor set displacement , driving pump preset displacement , determine the AC motor set speed ; Controlling an alternating current motor to an alternating current motor set speed Running; Controlling the traveling motor to set the traveling motor displacement operates, and according to the set paving machine straight traveling speed υ and the obtained actual speed, adjusts the traveling pump displacement through speed closed-loop control, until the set straight traveling speed is reached. The calculation formula for setting the displacement of the traveling motor is: ； wherein is the driving motor displacement, is a function for finding the motor set displacement related to the set speed parameter, is the driving motor displacement coefficient, is the driving motor maximum displacement constant; The calculation formula for setting the displacement of the traveling pump is: ； wherein is a travel pump preset displacement, is a function for finding a pump preset displacement in relation to a set speed parameter, is a travel pump displacement coefficient, is a travel pump maximum displacement constant; The calculation formula for setting the rotating speed of the motor is: ； wherein, set a rotational speed for the electric motor, set a flow for the hydraulic system, set a displacement for the travel pump, set a displacement coefficient for the travel pump, set a proportional coefficient for correcting a transmission deviation of the system, set a speed for the travel motor, set a maximum displacement constant for the travel pump, set a displacement coefficient for the travel motor, set a maximum displacement constant for the travel motor; ； wherein is the travel motor speed, is the paving machine linear speed and rotation motion conversion constant, is the paving machine linear travel set speed.

2. The traveling control method of the paver according to claim 1, wherein the constraint condition for calculating the preset displacement of the traveling pump for setting the rotating speed of the motor further comprises the high-efficiency region of the volumetric efficiency of the traveling pump when working, and the dynamic adjustment margin of the traveling pump displacement when the paver is traveling at a closed-loop controlled speed or when the paver is traveling at a differential speed during steering.

3. The travel control method of claim 1, wherein The closed-loop control of the paver left traveling and the paver right traveling is achieved by dynamically coordinating the rotating speed of the motor, the displacement of the traveling pump and the displacement of the traveling motor. The priority order of the coordination control is adjusting the displacement of the traveling motor, adjusting the displacement of the traveling pump and adjusting the rotating speed of the motor.

4. The travel control method of claim 1, wherein The starting method of the paver comprises: adjusting both of the displacements of the traveling motors to the maximum displacement, and adjusting both of the displacements of the traveling pumps to zero displacement; collecting and comparing the deviation between the actual rotating speed of the motor and the set rotating speed of the motor, adjusting the rotating speed of the motor to the set rotating speed of the motor by closed-loop control, and stably operating to complete the starting of the paver.

5. The travel control method of claim 1, wherein The stopping method of the paver comprises gradually adjusting the rotating speed of the motor to stop, and adjusting both of the displacements of the traveling pumps in the same proportion to reduce the speed of the paver in the same proportion while adjusting the rotating speed of the motor.

6. The paving machine travel control method of claim 5, wherein, The stopping method of the paver further comprises keeping the rotating speed of the motor unchanged, and gradually adjusting both of the displacements of the traveling pumps in the same proportion to stop the paver.

7. A paving machine travel controller characterized by, The controller is used to execute the traveling control method of the paver according to any one of claims 1-6.

8. A paving machine travel control system characterized by, The controller according to claim 7 and the transfer case driven by the motor, the transfer case being drivingly connected with two traveling pumps, each of the two traveling pumps being connected with a traveling motor, the two traveling motors driving the paver left traveling and the paver right traveling respectively, the controller being used to control the movement of the paver by controlling the motor, the traveling pump and the traveling motor.

9. A paving machine characterized by, The paver traveling control system according to claim 8.

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