Control system and method for chain cutter diaphragm wall equipment; chain cutter diaphragm wall equipment

Abstract

This invention discloses a control system and method for a chain cutter type continuous wall device, and the chain cutter type continuous wall device. Under lateral cutting conditions, the control system first controls the electro-proportional control valve to operate at a preset current. Then, based on the operating parameters of the cutting motor and the lateral thrust cylinder, the power of the cutting motor and the lateral thrust cylinder at this time is calculated. The sum of the two is taken as the system operating power, and the system operating power is compared with the total power range. Based on the comparison result, the cutting speed and the advance speed are controlled to ensure that the system operating power is within the total power range and to obtain the highest construction efficiency. Closed-loop control is achieved through power distribution, and the control logic is simple and reliable, ensuring that there is no risk of over-powering while achieving optimal construction efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of chain cutter type diaphragm wall equipment, and in particular, to a control system and method for chain cutter type diaphragm wall equipment. Furthermore, it also relates to a chain cutter type diaphragm wall equipment employing the above-mentioned control system. Background Technology

[0002] With the continuous upgrading of urban construction scale in China and the increasing saturation of ground space, people are turning their attention underground to seek new spaces for urban development. Chain cutter continuous wall equipment is a key piece of equipment in TRD (Training to Die) construction, characterized by high wall-forming efficiency, good wall-forming accuracy, strong adaptability to complex geological and construction conditions, and good water-stopping performance. It is suitable for deep foundation pit projects and retaining structures such as river dredging, dam reinforcement, and basements of high-rise buildings, and is particularly suitable for deep foundation pit construction in densely built-up urban areas. The cutting operation of this equipment involves a lateral movement cylinder driving the entire cutting mechanism (including the cutter box and chain cutter) to move laterally along the wall-forming direction to cut a groove until the predetermined wall-forming design length (endpoint) is reached. This process is referred to as the cutting condition. Then, the traveling mechanism moves the entire vehicle to the end of the groove, at which point the lateral movement cylinder floats, and the rod-side and rodless-side chambers are hydraulically connected, achieving passive retraction. This process is referred to as the return condition. The cutting condition and the return condition constitute a complete cutting stroke, with the chain cutter performing the cutting throughout the entire process. Therefore, the cutting operation involves a combined action of chain cutter cutting and lateral movement cylinder, while the return operation involves a combined action of chain cutter cutting and equipment travel. Due to complex geological conditions and deep trenches, the equipment requires high cutting power; due to the overall weight of the equipment, the equipment requires high travel power; and due to the slow propulsion speed and low flow rate, the equipment requires low propulsion power. That is, the cutting power of the chain cutter continuous wall equipment > travel power > propulsion power. To prevent the motor (engine) from exceeding its power limit, the power setting (static setting) must meet the maximum power during the combined action. Currently, the motor power setting must meet the maximum cutting power plus the maximum travel power. However, this results in a large motor (engine) size, requiring a larger overall vehicle assembly space. Furthermore, during the cutting operation, the system power is less than the maximum power of the motor (engine), and during the return operation, because the cutting is done in place, the cutting power is lower, and the system power is also less than the maximum power of the motor (engine), resulting in underutilization of the motor power.

[0003] Therefore, while meeting equipment performance requirements, minimizing the size of the motor (engine) is crucial to reducing the overall size and weight of the machine. Ensuring full utilization of equipment power can also be achieved by reducing idle power. However, with reduced motor power, without power allocation, the system power setting (static setting) will decrease proportionally, leading to a proportional reduction in equipment performance and consequently lower construction efficiency. Furthermore, the reduced power sometimes results in the total power required by the complex action system exceeding the power provided by the motor (engine), posing a risk of over-powering. Therefore, how to ensure the system power does not exceed the motor (engine) power through power control and achieve optimal construction efficiency through power allocation is a problem that needs to be solved. Summary of the Invention

[0004] This invention provides a control system and method for a chain cutter type continuous wall device, as well as a chain cutter type continuous wall device, to solve the technical problem of how to achieve system power without exceeding motor power and achieve optimal construction efficiency while reducing motor power.

[0005] According to one aspect of the present invention, a control system for a chain-knife type continuous wall device is provided, comprising:

[0006] The first pressure sensor is used to detect the outlet pressure of the second pump;

[0007] The second pressure sensor is used to detect the pressure at port A of the first pump;

[0008] The third pressure sensor is used to detect the pressure at port B of the first pump;

[0009] The first speed sensor is used to detect the speed of the cutting motor;

[0010] A speed sensor is used to detect the propulsion speed of the transverse push cylinder;

[0011] The control device is electrically connected to the first pressure sensor, the second pressure sensor, the third pressure sensor, the first speed sensor, and the velocity sensor, respectively. It is used to control the electro-proportional control valve of the first pump to operate at a preset current under the transverse cutting condition. It calculates the power of the transverse thrust cylinder based on the propulsion speed of the transverse thrust cylinder and the outlet pressure of the second pump. It calculates the power of the cutting motor based on the speed of the cutting motor, the pressure at port A and port B of the first pump. It adds the power of the transverse thrust cylinder and the power of the cutting motor to obtain the system working power. It compares the system working power with the total power range and controls the cutting speed and propulsion speed according to the comparison result so that the system working power is within the total power range and the highest construction efficiency is obtained.

[0012] Furthermore, it also includes a second speed sensor electrically connected to the control device for detecting the speed of the travel motor. The control device is also used to control the electro-proportional multi-way valve and the electro-proportional control valve of the first pump to operate at maximum current during the lateral return stroke. It calculates the power of the travel motor based on the speed of the travel motor and the outlet pressure of the second pump, and calculates the power of the cutting motor based on the speed of the cutting motor, the pressure at port A and port B of the first pump. It adds the power of the travel motor and the power of the cutting motor to obtain the system working power, and compares the system working power with the total power range. Based on the comparison result, it controls the cutting speed and travel speed to obtain the highest construction efficiency.

[0013] Furthermore, under transverse cutting conditions, if the system's operating power is within the total power range, the control device controls the operating current of the electro-proportional control valve and the electro-proportional multi-way valve according to the current cutting speed and feed speed.

[0014] If the system's operating power is less than the total power range, the control device adopts an optimization control strategy that prioritizes adjusting the feed speed to adjust the cutting speed and feed speed, so as to adjust the system's operating power to within the total power range;

[0015] If the system's operating power is greater than the total power range, the control device will reduce the operating current of the electro-proportional control valve until the system's operating power is less than the total power range. Then, an optimization control strategy will be adopted to adjust the cutting speed and feed speed to bring the system's operating power back to the total power range.

[0016] Furthermore, the optimization control strategy is specifically as follows:

[0017] The control device first controls the propulsion speed to increase by one propulsion step, and then determines whether the system's operating power exceeds the total power range at this time;

[0018] If the system's operating power is within the total power range at this time, the control device will control the operating current of the electro-proportional multi-way valve according to the increased propulsion speed.

[0019] If the system's operating power is still less than the total power range at this time, the control device will control the propulsion speed to continue to increase by one propulsion step, and so on, until the system's operating power is adjusted to within the total power range;

[0020] If the system's operating power is greater than the total power range at this time, the control device will control the cutting speed to decrease by one cutting step at a time until the system's operating power is adjusted to within the total power range.

[0021] Furthermore, when the control device increases the feed speed to the maximum feed speed, if the system working power is still less than the total power range, the control device controls the cutting speed to increase by one cutting step at a time until the system working power is adjusted to within the total power range, or until the cutting speed is increased to the maximum cutting speed.

[0022] Furthermore, in the lateral return operation, if the system operating power is less than or equal to the total power range, the control device will not make any adjustments;

[0023] If the system operating power is greater than the total power range, the control device will reduce the operating current of the electro-proportional control valve until the system operating power is adjusted to within the total power range.

[0024] Furthermore, under lateral cutting conditions, the preset operating current of the electro-proportional control valve is set according to the geological conditions of the rock strata being constructed.

[0025] In addition, the present invention also provides a control method for a chain-knife type continuous wall device, which employs the control system described above and includes the following:

[0026] In the transverse cutting condition, the electro-proportional control valve controlling the first pump operates at a preset current;

[0027] The power of the transverse thrust cylinder and the cutting motor at this time are calculated separately, and the two are added together to obtain the system working power;

[0028] The system's working power is compared with the total power range, and the cutting speed and feed speed are controlled based on the comparison results to ensure that the system's working power is within the total power range and to achieve the highest construction efficiency.

[0029] Furthermore, it also includes the following:

[0030] During the lateral return stroke, the electro-proportional multi-way valve and the electro-proportional control valve of the first pump operate at maximum current.

[0031] The power of the travel motor and the cutting motor at this time is calculated separately, and the two are added together to obtain the system working power;

[0032] The system's operating power is compared with the total power range, and the cutting speed and travel speed are controlled based on the comparison results to achieve the highest construction efficiency.

[0033] In addition, the present invention also provides a chain knife type continuous wall device, which adopts the control system described above.

[0034] The present invention has the following effects:

[0035] The control system of the chain cutter continuous wall equipment of the present invention, under the transverse cutting condition, first controls the electro-proportional control valve to operate at a preset current, and then calculates the power of the cutting motor and the transverse thrust cylinder at this time based on the working parameters of the cutting motor and the transverse thrust cylinder respectively. The sum of the two is taken as the system working power, and the system working power is compared with the total power range. Based on the comparison result, the cutting speed and the advancing speed are controlled so that the system working power is within the total power range and the highest construction efficiency is obtained. Closed-loop control is realized through power distribution, and the control logic is simple and reliable, which not only ensures that there is no risk of over-powering, but also achieves the best construction efficiency.

[0036] In addition, the control method and the chain cutter continuous wall device of the present invention also have the above-mentioned advantages.

[0037] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0038] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0039] Figure 1 This is a schematic diagram of the connection structure of the control system of the chain-knife type continuous wall device according to a preferred embodiment of the present invention.

[0040] Figure 2 This is a schematic diagram of the control principle of the control system of the chain knife type continuous wall equipment according to a preferred embodiment of the present invention.

[0041] Figure 3 This is a flowchart illustrating the control method of a chain-knife type continuous wall device according to another embodiment of the present invention.

[0042] Figure 4 This is another schematic flowchart of the control method for a chain-knife type continuous wall device according to another embodiment of the present invention.

[0043] Explanation of reference numerals in the attached figures

[0044] 1. Motor; 2. First pump; 3. Electro-proportional control valve; 4. Second pump; 5. Load-sensitive valve; 6. Cutting motor; 7. Electro-proportional multi-way valve; 8. Horizontal thrust cylinder; 9. Travel motor; 10. Control device; 11. First pressure sensor; 12. Second pressure sensor; 13. First speed sensor; 14. Third pressure sensor; 15. Speed ​​sensor; 16. Second speed sensor. Detailed Implementation

[0045] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0046] like Figure 1 As shown, a preferred embodiment of the present invention provides a control system for a chain cutter continuous wall device, used to control the hydraulic system of the chain cutter continuous wall device. Specifically, the hydraulic system includes a motor 1, a first pump 2, a second pump 4, a cutting motor 6, an electro-proportional multi-way valve 7, a transverse thrust cylinder 8, and a travel motor 9. The first pump 2 and the second pump 4 adopt a dual-pump structure. The motor 1 provides power to the first pump 2 and the second pump 4. The first pump 2 provides pressurized oil to the cutting motor 6, and the second pump 4 provides pressurized oil to the transverse thrust cylinder 8 and the travel motor 9. The first pump 2 is a bidirectional variable displacement piston pump with electro-proportional variable displacement and pressure cut-off adjustment functions. The electro-proportional control valve 3 is integrated into the first pump 2, and the displacement of the first pump 2 is changed by changing the input current value of the electro-proportional control valve 3. The second pump 4 is a load-sensitive variable displacement piston pump with load-sensing, pressure cut-off, and constant power regulation functions. The load-sensitive valve 5 integrated with the second pump 4 is connected to the electro-proportional multi-way valve 7, which is used to set the pressure difference across the electro-proportional multi-way valve 7 to a constant value. This ensures that the output flow of the second pump 4 changes only with the opening of the electro-proportional multi-way valve 7. In other words, the output flow of the second pump 4 can be adjusted by regulating the electrical signal of the electro-proportional multi-way valve 7, thereby regulating the lateral thrust speed and the equipment travel speed. The cutting motor 6 provides power for the equipment's cutting operation. The electro-proportional multi-way valve 7 controls the forward and reverse rotation of the lateral thrust cylinder 8 and the travel motor 9. Simultaneously, controlling the electrical signal of the electro-proportional multi-way valve 7 controls its output flow, thereby controlling the lateral thrust speed and the equipment travel speed. The lateral thrust cylinder 8 pushes the cutting mechanism for lateral cutting, and the travel motor 9 provides power for the equipment's movement. The control system specifically includes:

[0047] The first pressure sensor 11 is used to detect the outlet pressure of the second pump 4;

[0048] The second pressure sensor 12 is used to detect the pressure at port A of the first pump 2;

[0049] The third pressure sensor 14 is used to detect the pressure at port B of the first pump 2;

[0050] The first speed sensor 13 is used to detect the speed of the cutting motor 6;

[0051] Speed ​​sensor 15 is used to detect the propulsion speed of the transverse thrust cylinder 8;

[0052] The control device 10 is electrically connected to the first pressure sensor 11, the second pressure sensor 12, the third pressure sensor 14, the first speed sensor 13, and the speed sensor 15, respectively. It is used to control the electro-proportional control valve 3 of the first pump 2 to operate at a preset current under the transverse cutting condition. It calculates the power of the transverse thrust cylinder 8 based on the propulsion speed of the transverse thrust cylinder 8 and the outlet pressure of the second pump 4. It calculates the power of the cutting motor 6 based on the speed of the cutting motor 6, the pressure at port A and port B of the first pump 2. It adds the power of the transverse thrust cylinder 8 and the power of the cutting motor 6 to obtain the system working power. It compares the system working power with the total power range and controls the cutting speed and propulsion speed according to the comparison result so that the system working power is within the total power range and the highest construction efficiency is obtained.

[0053] It is understood that the control system of the chain cutter continuous wall equipment in this embodiment first controls the electro-proportional control valve 3 to work with a preset current under the transverse cutting condition. Then, based on the working parameters of the cutting motor 6 and the transverse push cylinder 8, the power of the cutting motor 6 and the transverse push cylinder 8 at this time is calculated. The sum of the two is taken as the system working power. The system working power is compared with the total power range. The cutting speed and the advance speed are controlled according to the comparison result so that the system working power is within the total power range and the highest construction efficiency is obtained. Closed-loop control is achieved through power distribution. The control logic is simple and reliable, which not only ensures that there is no risk of over-power but also obtains the best construction efficiency.

[0054] Preferably, the control system further includes a second speed sensor 16 electrically connected to the control device 10 for detecting the speed of the travel motor 9. The control device 10 is also used to control the electro-proportional multi-way valve 7 and the electro-proportional control valve 3 of the first pump 2 to operate at maximum current during the lateral return stroke. It calculates the power of the travel motor 9 based on its speed and the outlet pressure of the second pump 4, and calculates the power of the cutting motor 6 based on its speed, the pressure at port A and port B of the first pump 2. The power of the travel motor 9 and the power of the cutting motor 6 are added together to obtain the system operating power. The system operating power is then compared with the total power range. Based on the comparison result, the cutting speed and travel speed are controlled to achieve the highest construction efficiency while ensuring no risk of over-powering.

[0055] It can be understood that after motor 1 starts, it drives the first pump 2 and the second pump 4 to work. Port A of the first pump 2 is connected to port A of the cutting motor 6, and port B of the first pump 2 is connected to port B of the cutting motor 6. The second pressure sensor 12 and the third pressure sensor 14 respectively detect and read the pressure parameters at ports A and B of the first pump 2 and transmit these parameters to the control device 10 via control lines. The first speed sensor 13 detects and reads the speed parameters of the cutting motor 6 and transmits these parameters to the control device 10 via control lines. The outlet of the second pump 4 is connected to the inlet of the electro-proportional multi-way valve 7, and the outlet of the electro-proportional multi-way valve 7 is connected to the oil tank. The two working ports of the electro-proportional multi-way valve 7 are respectively connected to the two chambers of the horizontal thrust cylinder 8 and ports A and B of the travel motor 9. The first pressure sensor 11 detects and reads the outlet pressure parameters of the second pump 4 and transmits these parameters to the control device 10 via control lines. The speed sensor 15 detects and reads the propulsion speed parameters and transmits these parameters to the control device 10 via control lines. The second speed sensor 16 detects and reads the speed parameters and transmits these parameters to the control device 10 via control lines. Figure 2 As shown, the control device 10 can calculate the power of the transverse thrust cylinder 8 based on the thrust speed of the transverse thrust cylinder 8 detected by the speed sensor 15 and the outlet pressure of the second pump 4 detected by the first pressure sensor 11; it can also calculate the power of the cutting motor 6 based on the rotational speed of the cutting motor 6 detected by the first speed sensor 13 and the pressure at port A and port B of the first pump 2 detected by the second pressure sensor 12 and the third pressure sensor 14; it can also calculate the power of the travel motor 9 based on the rotational speed of the travel motor 9 detected by the second speed sensor 16 and the outlet pressure of the second pump 4 detected by the first pressure sensor 11.

[0056] Specifically, the relationship between the input current value of the electro-proportional control valve 3 and the displacement of the first pump 2 is as follows:

[0057] V2 = AI3 - B Formula (1)

[0058] Where V2 represents the displacement (mL / r) of the first pump 2, A and B represent fixed coefficients, which are related to the pump model, and I3 represents the operating current (mA) of the electro-proportional control valve 3.

[0059] The output flow rate can be calculated based on the displacement and rotational speed of the first pump 2:

[0060] Q2=n2V2 / 1000 Formula (2)

[0061] Where Q2 represents the output flow rate of the first pump 2 (L / min), and n2 represents the rotational speed of the first pump 2 (r / min).

[0062] The input flow rate of the cutting motor 6 can then be calculated based on the output flow rate of the first pump 2.

[0063] q m =η1Q2 Formula (3)

[0064] Where, q m η1 represents the input flow rate (L / min) of the cutting motor 6, and η1 represents the efficiency coefficient of the cutting motor 6.

[0065] The output speed of the cutting motor 6 can then be calculated based on its input flow rate and displacement.

[0066] n m =1000q m / V m Formula (4)

[0067] Where, n m V represents the rotational speed (r / min) of the cutting motor 6. m This indicates the displacement (mL / r) of the cutting motor 6.

[0068] The cutting speed can then be calculated based on the output speed of the cutting motor 6.

[0069] V 切削 =βn m Formula (5)

[0070] Among them, V 切削 β represents the cutting speed (r / min), and β represents a fixed coefficient that is related to the pitch circle diameter of the cutting drive wheel of the equipment.

[0071] Therefore, the relationship between the operating current of the electro-proportional control valve 3 and the cutting speed can be obtained:

[0072] V 切削 =βη1n2(AI3-B) / V m Formula (6)

[0073] Wherein, β, η1, n2, A, B, V m All values ​​are constants, meaning the cutting speed is directly proportional to the operating current I3 of the electro-proportional control valve 3. The cutting speed can be adjusted by controlling the operating current of the electro-proportional control valve 3.

[0074] Furthermore, the relationship between the input current and output flow rate of the electro-proportional multi-way valve 7 is as follows:

[0075] Q7=CI7-D formula (7)

[0076] Where Q7 represents the output flow rate (L / min) of the electro-proportional multi-way valve 7, C and D are fixed coefficients related to the valve model, and I7 represents the operating current (mA) of the electro-proportional multi-way valve 7.

[0077] The input flow rate of the transverse thrust cylinder 8 can then be calculated based on the output flow rate of the electro-proportional multi-way valve 7.

[0078] Q t =η2Q7 Formula (8)

[0079] Among them, Q t η1 represents the input flow rate (L / min) of the transverse thrust cylinder 8, and η2 represents the efficiency coefficient of the transverse thrust cylinder 8.

[0080] The propulsion speed can then be calculated based on the input flow rate and cylinder specifications of the transverse thrust cylinder 8.

[0081] V 推进 =EQ t Formula (9)

[0082] Among them, V 推进 This indicates the propulsion speed of the transverse thrust cylinder 8, and E represents a fixed coefficient, which is related to the specifications and model of the transverse thrust cylinder 8.

[0083] Therefore, the relationship between the propulsion speed and the input current value of the electro-proportional multi-way valve 7 can be obtained:

[0084] V 推进 =Eη2(CI7-D) Formula (10)

[0085] Among them, E, η2, C and D are all constant values, that is, the propulsion speed is directly proportional to the working current of the electro-proportional multi-way valve 7.

[0086] In addition, the input flow rate of the travel motor 9 can be calculated from the output flow rate of the electro-proportional multi-way valve 7.

[0087] Q x =η3Q7 Formula (11)

[0088] Among them, Q x η3 represents the input flow rate (L / min) of the walking motor 9, and η3 represents the efficiency coefficient of the walking motor 9.

[0089] The rotational speed of the travel motor 9 can then be calculated based on its input flow rate and displacement.

[0090] n x =1000Q x / V x Formula (12)

[0091] Where, n x V represents the rotational speed (r / min) of the travel motor 9. x This indicates the displacement (L / min) of the travel motor 9.

[0092] The walking speed can then be calculated based on the rotational speed of the walking motor 9.

[0093] V 行走 =δn x Formula (13)

[0094] Where V_travel represents the travel speed (r / min), and δ represents a fixed coefficient, which is related to the pitch circle diameter of the equipment's travel drive wheel.

[0095] Therefore, the relationship between walking speed and the input current value of the electro-proportional multi-way valve 7 can be obtained:

[0096] V 行走 =1000δη3(CI7-D) / V x Formula (14)

[0097] Among them, δ, η3, C, D and V x All values ​​are constants, and the walking speed is directly proportional to the working current of the electro-proportional multi-way valve 7.

[0098] Furthermore, given the system pressure and flow rate, the system power can be calculated:

[0099] W=F×Q×P Formula (15)

[0100] Where W represents system power, F represents a fixed coefficient, Q represents system flow rate, and P represents system pressure.

[0101] In addition, under the transverse cutting condition, the feed speed and the rotational speed of the cutting motor 6 also have the following relationship:

[0102]

[0103] Where α represents an empirical parameter, indicating how many revolutions are needed in place to effectively complete the cut, and L represents the effective cutting length (m) of the chain cutter.

[0104] The control device 10 reads the rotational speed of the cutting motor 6 in real time using the first speed sensor 13, calculates the flow rate of the cutting motor 6 according to formula (4), and, in conjunction with the second pressure sensor 12 reading the pressure at port A of the first pump 2 in real time and the third pressure sensor 14 reading the pressure at port B of the first pump 2 in real time, calculates the power of the cutting motor 6 according to formula (15) under the condition that the system pressure and flow rate are known. The control device 10 also reads the rotational speed of the travel motor 9 in real time using the second speed sensor 16, calculates the flow rate of the travel motor 9 according to formula (12), and, in conjunction with the first pressure sensor 11 reading the outlet pressure of the second pump 4 in real time, calculates the power of the travel motor 9 according to formula (15) under the condition that the system pressure and flow rate are known. The control device 10 also reads the propulsion speed of the transverse thrust cylinder 8 in real time using the speed sensor 15, calculates the flow rate of the transverse thrust cylinder 8 according to formula (9), and, in conjunction with the first pressure sensor 11 reading the outlet pressure of the second pump 4 in real time, calculates the power of the transverse thrust cylinder 8 according to formula (15) under the condition that the system pressure and flow rate are known.

[0105] Understandably, during the lateral cutting operation, the control device 10 first controls the electro-proportional control valve 3 to operate at a preset current, which is set according to the geological conditions of the rock strata being constructed. At this time, high-pressure oil is output from port A of the first pump 2, and oil returns from port B. The cutting motor 6 rotates forward. Because the input current of the electro-proportional control valve 3 is proportional to the cutting speed, the equipment operates at a preset cutting speed V. 切0 Forward cutting. Then, calculate the preset feed rate V corresponding to the preset cutting speed according to formulas 5 and 16. 推0 Because the input current value of the electro-proportional multi-way valve 7 is proportional to the propulsion speed, the preset propulsion speed V is used. 推0A preset positive current signal I7 from the electro-proportional multi-way valve 7 is obtained, causing the high-pressure oil output from the second pump 4 to act on the rodless chamber of the transverse thrust cylinder 8 through the electro-proportional multi-way valve 7, thus propelling the cutting mechanism in a forward transverse movement. Oil from the rod chamber returns to the oil tank. At this time, the equipment operates forward at a preset cutting speed and propulsion speed. Simultaneously, the first pressure sensor 11, the second pressure sensor 12, and the third pressure sensor 14 read pressure parameters in real time and transmit them to the control device 10 via control lines. The first speed sensor 13 reads speed parameters in real time and transmits them to the control device 10 via control lines. The speed sensor 15 reads speed parameters in real time and transmits them to the control device 10 via control lines. The control device 10 calculates the power of the transverse thrust cylinder 8 based on the real-time reading of the propulsion speed and the outlet pressure of the second pump 4, and calculates the power of the cutting motor 6 based on the rotational speed of the cutting motor 6 and the pressures at ports A and B of the first pump 2. The pressures at ports A and B of the cutting motor 6 mainly depend on factors such as the propulsion speed of the transverse thrust cylinder 8 and the geological conditions of the construction site. Therefore, there is a strong nonlinear coupling effect between the power of the cutting motor 6 and its rotational speed and the propulsion speed of the transverse thrust cylinder 8. At this point, the control device 10 adds the power of the transverse thrust cylinder 8 and the power of the cutting motor 6 to obtain the system operating power, and compares the system operating power with the total power range.

[0106] It is understandable that if, under the operating conditions of preset cutting speed and preset feed speed, the system's working power is within the total power range, then it indicates that the preset cutting speed V is within the acceptable range. 切0 and preset propulsion speed V 推0 When the equipment is matched, the construction efficiency is at its highest. Then the control device 10 controls the working current of the electro-proportional control valve 3 and the electro-proportional multi-way valve 7 according to the current preset cutting speed and preset propulsion speed.

[0107] It is understandable that if, under the operating conditions of preset cutting speed and preset feed speed, the system's working power is less than the total power range, the control device 10 will adopt an optimization control strategy that prioritizes adjusting the feed speed to adjust the cutting speed and feed speed, thereby bringing the system's working power within the total power range. It is also understandable that when the system's working power is less than the total power range, the equipment operates at a preset cutting speed V. 切0 and propulsion speed V 推0In forward construction, there is a strong nonlinear coupling effect between the power of the cutting motor 6, its rotational speed, and the propulsion speed of the transverse push cylinder 8. Since the cutting speed is an input value, i.e., a constant, according to formula 5, the rotational speed of the cutting motor 6 is also a constant. At this time, by changing the propulsion speed of the transverse push cylinder 8, the power of the transverse push cylinder 8 and the power of the cutting motor 6 are changed. Therefore, by changing the propulsion speed of the transverse push cylinder 8, the propulsion speed is matched with the cutting speed to achieve the maximum propulsion speed and the maximum cutting speed, or to achieve power matching within the total power range of the system. At this time, the equipment operates with optimal efficiency.

[0108] Specifically, the optimization control strategy is as follows: the control device 10 first controls the propulsion speed to increase by one propulsion step ΔV. 推 Since the cutting speed is a fixed input value, that is, the rotational speed of the cutting motor 6 is a fixed value, the power of the cutting motor 6 and the power of the transverse push cylinder 8 increase by ΔP as the propulsion speed increases by one step. At this time, it is necessary to determine whether the system working power exceeds the total power range.

[0109] If the system's operating power is within the total power range at this time, it means that the propulsion speed after increasing the propulsion step size matches the cutting speed. At this time, the construction efficiency of the equipment is the highest. Then, the control device 10 controls the operating current of the electro-proportional multi-way valve 7 according to the increased propulsion speed, and still controls the operating current of the electro-proportional control valve 3 according to the preset cutting speed.

[0110] If the system's operating power is still less than the total power range, the control device 10 increases the feed speed by one feed step, and so on, until the system's operating power is adjusted to within the total power range. Then, the control device 10 controls the operating current of the electro-proportional multi-way valve 7 according to the final increased feed speed, and still controls the operating current of the electro-proportional control valve 3 according to the preset cutting speed. If, after the control device 10 increases the feed speed to the maximum feed speed, the system's operating power is still less than the total power range, it indicates that the preset cutting speed is too low. In this case, the control device 10 increases the cutting speed by one cutting step ΔV. 切 The system continues operating until its power output is adjusted to within the total power range. At this point, the control device 10 controls the operating current of the electro-proportional multi-way valve 7 at the maximum feed speed and controls the operating current of the electro-proportional control valve 3 at the increased cutting speed. Alternatively, if the system power output has not yet reached the total power range after the control device 10 increases the cutting speed to the maximum cutting speed, and since both the cutting speed and feed speed have reached their maximum values, resulting in the highest working efficiency, then the operating currents of the electro-proportional control valve 3 and the electro-proportional multi-way valve 7 are controlled according to the maximum cutting speed and the maximum feed speed.

[0111] If the system's operating power exceeds the total power range after the feed rate increases by at least two feed steps, then the control device 10 controls the cutting speed to decrease by one cutting step ΔV at a time. 切 The system's operating power is adjusted to within the total power range until the increased propulsion speed matches the decreased cutting speed, at which point the equipment's construction efficiency is at its highest.

[0112] Among them, the step size ΔV 推 and cutting step length ΔV 切 When the value is small, if the system's operating power is less than the total power range, increasing the increment step will not increase the system's operating power beyond the total power range; it will remain less than or equal to the total power range. For example, if the total power range is 90kW ± 5, and the initial value is 84kW, increasing the increment step will not increase the system's operating power by 11kW to reach 96kW.

[0113] It is understandable that if the system's operating power exceeds the total power range under the preset cutting speed and preset feed speed operating conditions, the control device 10 will control the operating current of the electro-proportional control valve 3 to decrease until the system's operating power falls below the total power range. Then, an optimal control strategy will be adopted to adjust the cutting speed and feed speed to bring the system's operating power within the total power range. It is also understandable that when the system's operating power exceeds the total power range, the feed power is much lower than the cutting power, and the feed speed directly affects the equipment's construction efficiency; therefore, ensuring the feed power is the preferred option. At this time, the control device 10 controls the operating current of the electro-proportional control valve 3 on the first pump 2 to decrease the output flow of the first pump 2, thereby controlling the cutting speed to decrease to a certain value, causing the power of the cutting motor 6 to decrease to a certain value. Simultaneously, the feed speed at this cutting speed is calculated according to formulas 5 and 16. Through the above-mentioned optimal control strategy, the feed speed is matched to the cutting speed, ultimately adjusting the system's operating power within the total power range to prevent the system from exceeding its power limit.

[0114] It can be understood that the total power range includes a lower limit and an upper limit. When the system operating power is less than the total power range, it means that the system operating power is less than the lower limit. When the system operating power is within the total power range, it means that the system operating power is greater than or equal to the lower limit and less than or equal to the upper limit. When the system operating power is greater than the total power range, it means that the system operating power is greater than the upper limit.

[0115] Understandably, during the lateral return stroke, after motor 1 starts, the electro-proportional control valve 3 sets the maximum forward current signal, high-pressure oil is output from port A of the first pump 2, and oil returns from port B of the first pump 2. The cutting motor 6 rotates forward, and the equipment cuts at its maximum cutting speed. The electro-proportional multi-way valve 7 sets the maximum forward current signal, and the high-pressure oil output from the second pump 4 is applied to port A of the travel motor 9 through the electro-proportional multi-way valve 7. Oil returns from port B of the travel motor 9, and the travel motor 9 rotates forward. At this time, the equipment travels forward at its maximum travel speed. The pressure parameters read in real time by the first pressure sensor 11, the second pressure sensor 12, and the third pressure sensor 14 are transmitted to the control device 10 through the control line. The speed parameters read in real time by the first speed sensor 13 and the second speed sensor 16 are transmitted to the control device 10 through the control line. The control device 10 calculates the input flow rate of the walking motor 9 based on the real-time reading of its rotational speed and known displacement, and calculates its power based on the real-time reading of its pressure. Simultaneously, it calculates the input flow rate of the cutting motor 6 based on the real-time reading of its rotational speed and known displacement, and calculates its power based on the real-time reading of the pressure at ports A and B. The calculated power of the walking motor 9 and the cutting motor 6 are then added to obtain the system operating power, which is compared with the total power range. If the system operating power is less than or equal to the total power range, it means that the system does not require power control, and the control device 10 makes no adjustment. In this case, the equipment operates at its maximum cutting speed and maximum walking speed, resulting in the highest construction efficiency. If the system's operating power exceeds the total power range, since the chain cutter is only cutting in place, the return efficiency is directly related to the equipment's movement. Considering construction efficiency, this solution prioritizes the movement power, allowing the equipment to move at the set maximum movement speed. At this time, the control device 10 controls the reduction of the operating current of the electro-proportional control valve 3 on the first pump 2, thereby controlling and reducing the output flow of the first pump 2, causing the power of the cutting motor 6 to drop to a certain value, so that the system's operating power is within the total power range, thus solving the over-power problem. Furthermore, since the equipment returns at the maximum movement speed, the equipment is also at its highest construction efficiency at this time.

[0116] In addition, such as Figure 3 As shown, another embodiment of the present invention also provides a control method for a chain-knife type continuous wall device, preferably employing the control system described above, including the following:

[0117] Step S1: Under the transverse cutting condition, control the electro-proportional control valve 3 of the first pump 2 to operate with a preset current;

[0118] Step S2: Calculate the power of the horizontal thrust cylinder 8 and the cutting motor 6 at this time, and add them together to get the system working power;

[0119] Step S3: Compare the system's working power with the total power range, and control the cutting speed and feed speed according to the comparison results so that the system's working power is within the total power range and the highest construction efficiency is achieved.

[0120] It is understood that the control method of the chain cutter continuous wall equipment in this embodiment, under the transverse cutting condition, first controls the electro-proportional control valve 3 to work with a preset current, and then calculates the power of the cutting motor 6 and the transverse push cylinder 8 at this time based on the working parameters of the cutting motor 6 and the transverse push cylinder 8 respectively. The sum of the two is used as the system working power, and the system working power is compared with the total power range. The cutting speed and the advance speed are controlled according to the comparison result so that the system working power is within the total power range and the highest construction efficiency is obtained. Closed-loop control is achieved through power distribution, and the control logic is simple and reliable, which not only ensures that there is no risk of over-power, but also obtains the best construction efficiency.

[0121] Optionally, such as Figure 4 As shown, the control method further includes the following:

[0122] Step S100: In the lateral return operation, the electro-proportional multi-way valve 7 and the electro-proportional control valve 3 of the first pump 2 operate at the maximum current.

[0123] Step S200: Calculate the power of the travel motor 9 and the cutting motor 6 at this time, and add them together to get the system working power;

[0124] Step S300: Compare the system's working power with the total power range, and control the cutting speed and travel speed according to the comparison results to obtain the highest construction efficiency.

[0125] In addition, another embodiment of the present invention provides a chain knife type continuous wall device, which preferably employs the control system described above.

[0126] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control system for a chain-knife type continuous wall equipment, characterized in that, include: The first pressure sensor (11) is used to detect the outlet pressure of the second pump (4); The second pressure sensor (12) is used to detect the pressure at port A of the first pump (2); The third pressure sensor (14) is used to detect the pressure at port B of the first pump (2); The first speed sensor (13) is used to detect the speed of the cutting motor (6); A speed sensor (15) is used to detect the propulsion speed of the transverse thrust cylinder (8); The control device (10) is electrically connected to the first pressure sensor (11), the second pressure sensor (12), the third pressure sensor (14), the first speed sensor (13), and the speed sensor (15), respectively. It is used to control the electro-proportional control valve (3) of the first pump (2) to work with a preset current under the transverse cutting condition. It calculates the power of the transverse thrust cylinder (8) based on the propulsion speed of the transverse thrust cylinder (8) and the outlet pressure of the second pump (4). It calculates the power of the cutting motor (6) based on the speed of the cutting motor (6), the pressure at port A and port B of the first pump (2). It adds the power of the transverse thrust cylinder (8) to the power of the cutting motor (6) to obtain the system working power. It compares the system working power with the total power range and controls the cutting speed and propulsion speed according to the comparison result so that the system working power is within the total power range and the highest construction efficiency is obtained.

2. The control system of the chain-knife type continuous wall equipment as described in claim 1, characterized in that, It also includes a second speed sensor (16) electrically connected to the control device (10) for detecting the speed of the travel motor (9). The control device (10) is also used to control the electro-proportional multi-way valve (7) and the electro-proportional control valve (3) of the first pump (2) to operate at maximum current under the lateral return condition. The power of the travel motor (9) is calculated based on the speed of the travel motor (9) and the outlet pressure of the second pump (4). The power of the cutting motor (6) is calculated based on the speed of the cutting motor (6), the pressure at port A and port B of the first pump (2). The power of the travel motor (9) and the power of the cutting motor (6) are added together to obtain the system working power. The system working power is compared with the total power range. The cutting speed and travel speed are controlled according to the comparison result to obtain the highest construction efficiency.

3. The control system of the chain-knife type continuous wall equipment as described in claim 1, characterized in that, In the transverse cutting condition, if the system working power is within the total power range, the control device (10) controls the working current of the electro-proportional control valve (3) and the electro-proportional multi-way valve (7) according to the current cutting speed and feed speed. If the system working power is less than the total power range, the control device (10) adopts an optimization control strategy that prioritizes adjusting the propulsion speed to adjust the cutting speed and the propulsion speed, so as to adjust the system working power to within the total power range; If the system working power is greater than the total power range, the control device (10) controls the working current of the electro-proportional control valve (3) to decrease until the system working power is less than the total power range. Then, an optimization control strategy is adopted to adjust the cutting speed and the feed speed so as to adjust the system working power to within the total power range.

4. The control system of the chain-knife type continuous wall equipment as described in claim 3, characterized in that, The optimization control strategy is specifically as follows: The control device (10) first controls the propulsion speed to increase by one propulsion step, and then determines whether the system working power exceeds the total power range at this time; If the system's operating power is within the total power range at this time, the control device (10) controls the operating current of the proportional multi-way valve (7) according to the increased propulsion speed. If the system working power is still less than the total power range at this time, the control device (10) controls the propulsion speed to continue to increase by one propulsion step, and so on, until the system working power is adjusted to the total power range; If the system working power is greater than the total power range at this time, the control device (10) controls the cutting speed to decrease by one cutting step at a time until the system working power is adjusted to within the total power range.

5. The control system of the chain-knife type continuous wall equipment as described in claim 4, characterized in that, When the control device (10) controls the feed speed to increase to the maximum feed speed, if the system working power is still less than the total power range, the control device (10) controls the cutting speed to increase by one cutting step at a time until the system working power is adjusted to the total power range, or until the cutting speed is increased to the maximum cutting speed.

6. The control system of the chain-knife type continuous wall equipment as described in claim 2, characterized in that, In the lateral return operation, if the system working power is less than or equal to the total power range, the control device (10) will not make any adjustments. If the system operating power is greater than the total power range, the control device (10) controls the operating current of the proportional control valve (3) to decrease until the system operating power is adjusted to within the total power range.

7. The control system of the chain-knife type continuous wall equipment as described in claim 1, characterized in that, Under transverse cutting conditions, the preset operating current of the electro-proportional control valve (3) is set according to the geological conditions of the rock strata being constructed.

8. A control method for a chain-knife type continuous wall device, employing the control system described in any one of claims 1 to 7, characterized in that, Includes the following: In the transverse cutting condition, the electro-proportional control valve (3) controlling the first pump (2) operates with a preset current; The power of the horizontal thrust cylinder (8) and the cutting motor (6) at this time are calculated separately, and the two are added together to obtain the system working power; The system's working power is compared with the total power range, and the cutting speed and feed speed are controlled based on the comparison results to ensure that the system's working power is within the total power range and to achieve the highest construction efficiency.

9. The control method for the chain-knife type continuous wall equipment as described in claim 8, characterized in that, Also includes the following: During the lateral return operation, the electro-proportional control valve (3) of the control electro-proportional multi-way valve (7) and the first pump (2) operates at maximum current; The power of the travel motor (9) and the cutting motor (6) at this time are calculated separately, and the two are added together to obtain the system working power; The system's operating power is compared with the total power range, and the cutting speed and travel speed are controlled based on the comparison results to achieve the highest construction efficiency.

10. A chain-knife type continuous wall device, characterized in that, The control system described in any one of claims 1 to 7 is adopted.

Images