Paving machine and vibration speed control method thereof

Abstract

The present application discloses a paver and a vibration speed control method thereof, wherein the paver includes a vibration speed controller, a memory, and a vibration speed sensor; the vibration speed sensor is used to measure the vibration speed of a vibration device; the vibration speed controller is electrically connected to the memory, the vibration speed sensor, and the vibration drive, respectively; the vibration drive is connected to the vibration device; the memory is at least used to store the historical correspondence between the vibration speed and the vibration speed control amount; the vibration speed controller controls the vibration speed control amount sent to the vibration drive to adjust the vibration speed of the vibration device based on at least the historical correspondence between the vibration speed and the vibration speed control amount. The present invention can accurately control the vibration speed of the vibration device in the start-up stage of the paver, which is beneficial to improving the road paving quality.

Description

Technical Field

[0001] The invention relates to the technical field of paver vibration, and in particular to a paver and a vibration speed control method thereof. Background Art

[0002] As an important mechanism on the paver, the vibrator includes an eccentric shaft, a fixed bearing seat, a movable bearing seat, a bearing, a vibrator beam, etc. The eccentric shaft rotates to drive the vibrator beam up and down to pre-compact the paving material. The vibrator is usually driven by a vibrator drive (pump, motor), and the vibrator speed can be adjusted by adjusting the pump displacement; in some cases, the pump displacement is fixed, and the vibrator drive can include a flow valve, and the vibrator speed can also be adjusted by the flow valve.

[0003] Ensuring the consistency of compaction of the paved road surface during the paving process is of great significance to the final quality and service life of the road surface. Patent application number CN200810086652.6 discloses a technical solution that associates the vibration speed with the walking speed to improve the compaction consistency.

[0004] It is known in the prior art that a vibration speed sensor is used to measure the actual vibration speed and perform closed-loop control, which is beneficial to ensure that the vibration speed is within the ideal range. However, there is still room for improvement in the prior art. During the construction process, the paver and its vibration device often have to go through multiple starts and stops. However, during the start-up stage of the current vibration device, there is a phenomenon of overshoot of the vibration speed and too long adjustment time, which is not conducive to further improving the quality of road paving. Summary of the invention

[0005] The purpose of the present application is to overcome the deficiencies in the prior art and to provide a paver and a method for controlling the vibration speed thereof, which can regulate the vibration speed of the paver's vibration device.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0007] On the one hand, the present invention provides a paver, including a vibrating device and a vibrating drive, wherein the vibrating device is used to perform preliminary compaction on the paving material, and the vibrating drive is used to provide driving force to the vibrating device and adjust the vibrating speed, characterized in that: it also includes a vibrating speed controller, a memory, and a vibrating speed sensor;

[0008] The vibration speed controller is electrically connected to the memory, the vibration speed sensor and the vibration drive respectively;

[0009] The vibrating drive is connected to the vibrating device;

[0010] The vibration speed sensor is used to measure the vibration speed of the vibration device;

[0011] The memory is at least used to store the historical correspondence between the vibration speed and the vibration speed control amount;

[0012] The vibration speed controller controls the vibration speed control amount sent to the vibration drive at least based on the historical correspondence between the vibration speed and the vibration speed control amount to adjust the vibration speed of the vibration device.

[0013] Further, the vibration drive includes a vibration pump and a vibration motor;

[0014] The output end of the vibration speed controller is connected to a vibration pump, the vibration pump is driven to connect to a vibration motor, and the vibration motor is driven to connect to a vibration device;

[0015] The vibration speed controller regulates the vibration speed of the vibration device by controlling the vibration speed control amount of the vibration pump.

[0016] Further, the paver comprises a timer;

[0017] The vibration speed controller is electrically connected to the timer.

[0018] Furthermore, the vibration speed controller, timer and memory are integrated into one.

[0019] On the other hand, the present invention provides a method for controlling the vibration speed of a paver, comprising the following steps:

[0020] When the vibrating device is started, based on the historical correspondence between the vibration speed and the vibration speed control amount, the vibration speed control amount corresponding to the vibration speed target value is determined according to the vibration speed target value, and the vibration speed control amount corresponding to the vibration speed target value is the initial vibration speed control amount;

[0021] The vibration speed controller controls the vibration drive by using the initial vibration speed control amount to adjust the vibration speed of the vibration device;

[0022] After a set time or when the real-time vibration speed is stable, the real-time vibration speed is compared with the vibration speed target value, and the vibration drive is controlled according to the comparison result to adjust the vibration speed so that the real-time vibration speed tends to the vibration speed target value.

[0023] Furthermore, the vibration speed controller obtains the real-time vibration speed and the real-time vibration speed control amount, and updates the historical correspondence between the vibration speed and the vibration speed control amount according to the real-time vibration speed and the real-time vibration speed control amount, for use when the vibration device is started next time.

[0024] Furthermore, after the vibration speed controller obtains the current vibration speed and the current vibration speed control amount during construction, it updates the historical correspondence between the current vibration speed and the current vibration speed control amount accordingly.

[0025] On the other hand, after the vibration speed controller obtains the current vibration speed and the current vibration speed control amount during construction, it updates the historical correspondence between all vibration speeds and all vibration speed control amounts accordingly.

[0026] Furthermore, the set time is related to a target value of the vibration speed.

[0027] Furthermore, the set time is proportional to the target value of the vibration speed.

[0028] Further, the comparing the real-time vibration speed with the target value of the vibration speed, and controlling the vibration drive according to the comparison result to adjust the vibration speed so that the real-time vibration speed tends to the target value of the vibration speed includes:

[0029] When the real-time vibration speed measured by the vibration speed sensor is higher than the vibration speed target value, the vibration speed controller reduces the vibration speed control amount transmitted to the vibration drive to reduce the vibration speed;

[0030] When the real-time vibration speed measured by the vibration speed sensor is lower than the vibration speed target value, the vibration speed controller increases the vibration speed control amount transmitted to the vibration drive to increase the vibration speed.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] During the start-up phase of the paver, the vibration speed of the vibrating device can be accurately controlled to avoid overshoot and reduce the vibration speed adjustment time, which is beneficial to improving the road paving quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the structure of the paver of the present invention;

[0034] Figure 2 It is a schematic flow chart of the vibration speed control method of the paver of the present invention. DETAILED DESCRIPTION

[0035] Example 1

[0036] This embodiment provides a paving machine.

[0037] The paving machine of this embodiment includes a vibrating device and a vibrating drive, wherein the vibrating device is used to perform preliminary compaction on the paving material, and the vibrating drive is used to provide driving force to the vibrating device and adjust the vibration speed.

[0038] refer to Figure 1The paving machine of this embodiment further includes a vibrating speed controller, a memory, and a vibrating speed sensor. The vibrating speed controller is electrically connected to the memory, the vibrating speed sensor, and the vibrating drive, respectively. The vibrating drive is connected to the vibrating device; the vibrating speed sensor is used to measure the vibrating speed; and the memory is used to store at least the historical correspondence between the vibrating speed and the vibrating speed control amount.

[0039] In the application, the vibration speed controller controls the vibration speed control amount sent to the vibration drive to control the vibration speed of the vibration device at least based on the historical correspondence between the vibration speed and the vibration speed control amount. Among them, the vibration speed control amount refers to the control amount used to control the displacement of the vibration pump or the flow of the electromagnetic flow valve, and the vibration speed control amount is current, voltage or other control signals. In actual application, the vibration drive includes a vibration pump, a vibration motor and necessary pipelines. The output end of the vibration speed controller is connected to the vibration pump, the vibration pump drive is connected to the vibration motor, and the vibration motor drive is connected to the vibration device.

[0040] Preferably, the displacement of the vibrating pump can be electrically controlled and adjusted, so that the vibration speed can be adjusted. In addition, the vibrating pump can also be of fixed displacement, and the vibrating drive also includes an electromagnetic flow valve, and the vibration speed can be adjusted by an additional electromagnetic flow valve.

[0041] refer to Figure 1 The paver of this embodiment may further include a timer, and the vibration speed controller is electrically connected to the timer. The vibration speed controller, the timer, and the memory may be spatially separated, but preferably may be integrated into one. The control system of a modern paver generally has the functions of control, timing, and storage. There is no need to additionally set up a dedicated vibration speed controller, timer, and memory. The vibration speed may also be controlled by the control system of the existing paver.

[0042] When used, the vibration speed sensor can be of different types such as mechanical, electromagnetic, and optical. It can be integrated into the vibration motor or be set separately.

[0043] Example 2

[0044] Based on Example 1, this example provides a method for controlling the vibration speed of a paver.

[0045] The vibration speed control method of the paver of this embodiment is as follows: Figure 2 , including the following steps:

[0046] S1: When the vibrating device is started, based on the historical correspondence between the vibration speed and the vibration speed control amount, the vibration speed control amount corresponding to the vibration speed target value is determined according to the vibration speed target value, and the vibration speed control amount corresponding to the vibration speed target value is the initial vibration speed control amount;

[0047] The S2 vibration speed controller uses the initial vibration speed control amount to control the vibration drive to adjust the vibration speed of the vibration device;

[0048] S3 compares the real-time vibration speed with the target value of the vibration speed after a set time has passed or when the real-time vibration speed is stable, and controls the vibration drive according to the comparison result to adjust the vibration speed so that the real-time vibration speed tends to the target value of the vibration speed;

[0049] Among them, the vibration speed target value can be manually input or automatically generated by the program.

[0050] During the construction process, the paver and its vibrating device often have to start and stop many times due to waiting for material trucks, changing material trucks, etc. When the paver restarts to pave forward and starts the vibrating device, first, based on the historical correspondence between the vibration speed and the vibration speed control amount, the vibration speed controller uses the vibration speed target value to determine the vibration speed control amount corresponding to the vibration speed target value, and uses the vibration speed control amount corresponding to the vibration speed target value as the initial vibration speed control amount for starting the vibrating device. Then, the vibration speed controller uses the initial vibration speed control amount to control the vibration drive to regulate the vibration speed of the vibrating device; then, after a set time or when the real-time vibration speed is stable, the difference between the real-time vibration speed and the vibration speed target value measured by the vibration speed sensor is used to control the vibration drive to adjust the vibration speed.

[0051] This embodiment can accurately control the vibration speed of the vibrating device during the start-up phase of the paver, avoid overshoot and reduce the vibration speed adjustment time, thereby improving the road paving quality. When applied, compare the real-time vibration speed with the vibration speed target value:

[0052] When the real-time vibration speed measured by the vibration speed sensor is higher than the vibration speed target value, the vibration speed controller reduces the vibration speed control amount transmitted to the vibration drive to reduce the vibration speed so that the real-time vibration speed tends to the vibration speed target value;

[0053] When the real-time vibration speed measured by the vibration speed sensor is lower than the vibration speed target value, the vibration speed controller increases the vibration speed control amount transmitted to the vibration drive to increase the vibration speed so that the real-time vibration speed tends to the vibration speed target value.

[0054] In actual application of this embodiment, it is easy to know whether the vibration speed has reached a stable state through the vibration speed sensor, that is, whether the vibration speed change is less than a set value, which is generally 5%. In addition, a timer can also be used to time, and the vibration speed can also reach a stable state after the set time.

[0055] The historical correspondence between the vibration speed and the vibration speed control amount can be stored in the memory in the form of a function or a plurality of discrete point mapping relationships. When stored in the form of a function, the vibration speed control amount corresponding to the vibration speed target value, i.e., the initial vibration speed control amount, can be easily obtained through the vibration speed target value; when stored in the form of a plurality of discrete point mapping relationships, the initial vibration speed control amount can be obtained according to the vibration speed target value through interpolation.

[0056] The historical correspondence between the initial vibration speed and the vibration speed control amount may be built into the memory by the manufacturer when the paver leaves the factory, but it may also be edited by the user based on experience or the manufacturer's recommended value.

[0057] In the application, the vibration speed controller obtains the real-time vibration speed and the real-time vibration speed control amount, and updates the historical correspondence between the vibration speed and the vibration speed control amount according to the real-time vibration speed and the real-time vibration speed control amount, and updates the historical correspondence between the vibration speed and the vibration speed control amount stored in the memory with the updated historical correspondence, so as to be used when the vibration device is started next time. It is easy to understand that if the difference between the current actual correspondence and the historical correspondence is very small, the historical correspondence may not be updated. The so-called "history" refers to controlling the start of the vibration device this time through the previous or last correspondence and controlling the next start of the vibration device through the current or this correspondence.

[0058] In addition, after the vibration speed controller obtains the real-time vibration speed and the real-time vibration speed control amount during construction, it can only update the historical correspondence between the current vibration speed and the current vibration speed control amount. For example: during the current construction, it is found that when the vibration speed control amount, such as the control current is 200mA, the vibration speed is 600r / min, then only the correspondence between the vibration speed of 600r / min and the control current of 200mA is updated in the memory. Assuming that the vibration speed target value is still 600r / min when the vibration device is started next time, the initial vibration speed control amount of 200mA is called again according to the historical correspondence and the vibration speed target value to control the vibration drive to adjust the vibration speed.

[0059] However, a more favorable approach is that after the vibration speed controller obtains the real-time vibration speed and the real-time vibration speed control amount during construction, it updates the historical correspondence between all vibration speeds and all vibration speed control amounts accordingly. For example, if the correspondence originally stored in the memory is that the vibration speed of 500r / min corresponds to the vibration speed control amount of 200mA, and the real-time construction vibration speed is 500r / min, and the real-time vibration speed control amount used is 220mA, then the vibration speed control amounts corresponding to all vibration speeds are increased by 20mA.

[0060] During the paving process at the same construction site, various parameters such as construction materials are relatively stable, and the factors affecting the vibration speed are also relatively constant. By using the precise correspondence between the vibration speed before the shutdown and the vibration speed control amount for restarting the vibration device after the shutdown, an accurate initial vibration speed control amount can be obtained. Compared with aimlessly performing closed-loop control at the start-up stage of the vibration device, for example, using a PID algorithm, the vibration drive is first open-loop controlled through this initial vibration speed control amount, and then switched to closed-loop control after a set time, which can effectively avoid overshoot or long-term inadequate adjustment, thereby improving the consistency of compaction at the start-up stage.

[0061] In practical applications, after a set time or when the real-time vibration speed is stable, the vibration speed closed-loop control strategy commonly used in the industry can be adopted. This embodiment combines open-loop control with closed-loop control:

[0062] When the vibrating device is started, the vibration speed controller can directly transfer the initial vibration speed control amount to the vibration drive, or gradually increase the vibration speed control amount to the initial vibration speed control amount corresponding to the vibration speed target value in the form of a ramp or other function within the set time. After the set time or when the real-time vibration speed is stable, the vibration speed closed-loop control strategy commonly used in the industry can be adopted.

[0063] In the application, the set time is related to the target value of the vibration speed. Preferably, the set time is proportional to the target value of the vibration speed. Of course, other positive correlations may also be used depending on the specific situation.

[0064] The setting time may be a fixed value such as 300ms or 600ms. However, it is better that the setting time is associated with the target value of the vibration speed. The higher the target value of the vibration speed, the longer the setting time. It is easy to understand that the vibration speed has an acceleration process in the startup phase. The higher the speed, the longer the acceleration time required.

[0065] In addition, the vibration speed target value is usually input manually, and can also be automatically generated by the vibration speed controller according to a pre-set program and related parameters.

Claims

1. A method for controlling the vibration speed of a paver, wherein the paver includes a vibration device and a vibration drive, wherein the vibration device is used to perform preliminary compaction on the paving material, and the vibration drive is used to provide driving force to the vibration device and adjust the vibration speed, and further includes a vibration speed controller, a memory, and a vibration speed sensor; The vibration speed controller is electrically connected to the memory, the vibration speed sensor and the vibration drive respectively; The vibrating drive is connected to the vibrating device; The vibration speed sensor is used to measure the vibration speed of the vibration device; The memory is used to store at least the historical correspondence between the vibration speed and the vibration speed control amount; The vibration speed controller controls the vibration speed control amount sent to the vibration drive to adjust the vibration speed of the vibration device based on at least the historical correspondence between the vibration speed and the vibration speed control amount, and is characterized in that: The following steps are involved: When the vibrating device is started, based on the historical correspondence between the vibration speed and the vibration speed control amount, the vibration speed control amount corresponding to the vibration speed target value is determined according to the vibration speed target value, and the vibration speed control amount corresponding to the vibration speed target value is the initial vibration speed control amount; The vibration speed controller controls the vibration drive by using the initial vibration speed control amount to adjust the vibration speed of the vibration device; After a set time or when the real-time vibration speed is stable, the real-time vibration speed is compared with the vibration speed target value, and the vibration drive is controlled according to the comparison result to adjust the vibration speed so that the real-time vibration speed tends to the vibration speed target value.

2. The method for controlling the vibration speed of a paver according to claim 1, characterized in that: The vibration speed controller obtains the real-time vibration speed and the real-time vibration speed control amount, and updates the historical correspondence between the vibration speed and the vibration speed control amount according to the real-time vibration speed and the real-time vibration speed control amount for use when the vibration device is started next time.

3. The method for controlling the vibration speed of a paver according to claim 2, characterized in that: After the vibration speed controller obtains the current vibration speed and the current vibration speed control amount during construction, it updates the historical correspondence between the current vibration speed and the current vibration speed control amount accordingly.

4. The method for controlling the vibration speed of a paver according to claim 2, characterized in that: After the vibration speed controller obtains the current vibration speed and the current vibration speed control amount during construction, it updates the historical correspondence between all vibration speeds and all vibration speed control amounts accordingly.

5. The method for controlling the vibration speed of a paver according to claim 1, characterized in that: The set time is related to the target value of the vibration speed.

6. The vibration speed control method according to claim 1, characterized in that: The vibration drive includes a vibration pump and a vibration motor; The output end of the vibration speed controller is connected to a vibration pump, the vibration pump is driven to connect to a vibration motor, and the vibration motor is driven to connect to a vibration device; The vibration speed controller regulates the vibration speed of the vibration device by controlling the vibration speed control amount of the vibration pump.

7. The vibration speed control method according to claim 1, characterized in that: Includes timer; The vibration speed controller is electrically connected to the timer.

8. The vibration speed control method according to claim 7, characterized in that: The vibration speed controller, timer and memory are integrated into one.

9. The method for controlling the vibration speed of a paver according to any one of claims 1 to 5, characterized in that: The comparing the real-time vibration speed with the target value of the vibration speed, and controlling the vibration drive according to the comparison result to adjust the vibration speed so that the real-time vibration speed tends to the target value of the vibration speed includes: When the real-time vibration speed measured by the vibration speed sensor is higher than the vibration speed target value, the vibration speed controller reduces the vibration speed control amount transmitted to the vibration drive to reduce the vibration speed; When the real-time vibration speed measured by the vibration speed sensor is lower than the vibration speed target value, the vibration speed controller increases the vibration speed control amount transmitted to the vibration drive to increase the vibration speed.

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