Tire hydraulic excavator brake stability control method, system, device and medium

Abstract

The application discloses a tire hydraulic excavator braking stability control method, system, equipment and medium, wherein the method steps comprise the following steps: calculating an inclination angle revision value based on a real-time collected vehicle inclination angle during braking k , the vehicle inclination angle is collected by a posture sensor, determining a vehicle state based on k and a real-time collected vehicle actual acceleration a during braking, and performing corresponding operations: if a > k, controlling an electric proportional overflow valve to adjust braking pressure, if a <= k and a!= 0, re-collecting a new vehicle inclination angle and recalculating the inclination angle revision value k ; and if a = 0, performing ending.

Description

Technical Field

[0001] This invention relates to a method, system, equipment, and medium for braking stability control of tire-driven hydraulic excavators, belonging to the field of engineering machinery technology. Background Technology

[0002] Wheeled excavators, with their high travel speed and flexible relocation capabilities, are seeing a further increase in market share. Braking is a fundamental function of wheeled excavators, and its stability is paramount for driving safety. However, as hydraulically driven and mechanically braked vehicles, especially those with high speeds and high centers of gravity, they are prone to rear-wheel lift-off or even rollover during braking, posing a threat to both vehicle and personal safety.

[0003] In existing technical solutions, such as Figure 1 As shown, the gear pump provides the power source for the hydraulic system, while the filling valve and accumulator ensure the control of hydraulic oil flow and pressure. During braking, the driver depresses the brake pedal valve to control the direction of high-pressure oil, establishing hydraulic cylinder pressure and displacement, and pushing the brake pads for braking control. Friction is generated between the brake cylinder and the friction pads, creating resistance to tire rotation and thus braking the entire vehicle. During braking, especially at high speeds, the friction pads are prone to locking up, and excessive vehicle inertia often causes the rear wheels to lift off the ground, resulting in poor braking stability. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the present invention aims to provide a braking stability control method, system, equipment, and medium for tire-hydraulic excavators, which solves the problems of friction plates easily locking up, excessive vehicle inertia often causing the rear wheels to lift off the ground, and poor braking stability in existing technologies.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A method for controlling the braking stability of a tire-mounted hydraulic excavator includes the following steps:

[0007] Based on the vehicle tilt angle α collected in real time during braking, the tilt angle revision value k is calculated;

[0008] Based on the tilt angle revision value k and the actual vehicle acceleration a collected in real time during braking, the vehicle state is determined and corresponding operations are performed: if a>k, the electric proportional relief valve is controlled to adjust the braking pressure; if a≤k and a≠0, a new vehicle tilt angle α is collected again and the tilt angle revision value k is recalculated; if a=0, the execution ends.

[0009] Furthermore, the formula for calculating the aforementioned tilt angle revision value k is:

[0010] k = k0 - k0 × sinα

[0011] In the formula, k0 is the maximum braking acceleration set by default for the vehicle.

[0012] Furthermore, if a > k, the steps for controlling the proportional relief valve to adjust the braking pressure include:

[0013] Calculate the regulating pressure p:

[0014]

[0015] In the formula: m is the total vehicle mass, i 桥 Let E be the speed ratio between the tire and the brake pads, u be the friction coefficient of the friction pads, S be the cross-sectional area of ​​the brake cylinder, and F be the resistance of the brake cylinder.

[0016] The controller sends a signal to the electro-proportional relief valve, which adjusts the braking pressure according to the regulating pressure p.

[0017] A braking stability control system for a tire-mounted hydraulic excavator includes an attitude sensor, a controller, and an electro-proportional relief valve;

[0018] Attitude sensors are used to collect the vehicle tilt angle α and the actual vehicle acceleration a in real time during braking;

[0019] The controller receives the vehicle tilt angle α and the actual vehicle acceleration a from the attitude sensor, determines the vehicle state, and controls the proportional relief valve to return oil to relieve pressure when the vehicle brakes and the attitude reaches the threshold.

[0020] An electronic device includes a processor and a memory, the memory storing a computer medium, which, when executed by the processor, performs any of the aforementioned control methods.

[0021] A computer medium storing a computer program, wherein the computer program is executed by a processor to perform any of the aforementioned control methods.

[0022] The beneficial effects achieved by this invention are as follows:

[0023] During braking, the vehicle's braking acceleration can be controlled according to its attitude to reduce braking pressure. This prevents the rear wheels from lifting off the ground while ensuring the shortest possible braking distance, thus improving vehicle braking stability and reducing the risk of impact and rollover. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of an existing technical solution;

[0025] Figure 2 This is a diagram of the control system of the present invention;

[0026] Figure 3 This is the control flowchart of the present invention;

[0027] Figure 4 This is a hardware block diagram of the present invention.

[0028] The meanings of the labels in the attached diagram are as follows: 1-Gear pump; 2-Filling valve; 3-Accumulator; 4-Brake foot valve; 5-Center rotating body; 6-Drive shaft; 7-Brake cylinder; 8-Brake pad; 9-Tire; 10-Attitude sensor; 11-Controller; 12-Electro-proportional relief valve. Detailed Implementation

[0029] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments and specific features in the embodiments are detailed descriptions of the technical solution of the present application, rather than limitations thereof. In the absence of conflict, the embodiments and technical features in the embodiments can be combined with each other.

[0030] Example 1

[0031] This embodiment discloses a travel braking stability control system for a tire-type hydraulic excavator, such as... Figure 2 and Figure 4 As shown, this invention adds an attitude sensor 10 and an electro-proportional relief valve 12 to the original solution. The oil inlet of the brake cylinder 7 is connected to the inlet of the electro-proportional relief valve 12 via a one-way valve, and the outlet of the electro-proportional relief valve 12 is connected to the oil tank. The existing vehicle braking pressure system and controller 11 are utilized, with the controller 11 connected to the control port of the electro-proportional relief valve 12. The vehicle attitude is acquired by the attitude sensor 10, and the vehicle state is determined by combining the braking pressure from the brake pedal valve 4. When the vehicle brakes and the attitude reaches a threshold, the braking pressure is released through the return oil of the electro-proportional relief valve 12, relieving brake pad resistance, reducing braking pressure, and preventing brake pad lock-up.

[0032] Example 2

[0033] This embodiment discloses a method for controlling the travel braking stability of a tire-type hydraulic excavator, such as... Figure 3 As shown, it includes the following steps:

[0034] 1) When the vehicle brakes, the brake pedal valve 4 opens, and high-pressure oil flows to the brake cylinder 7 to apply the brakes;

[0035] 2) At the same time, the attitude sensor 10 sends the measured actual vehicle acceleration a and vehicle tilt angle α to the controller 11;

[0036] 3) The controller adjusts the k value based on the vehicle tilt angle α. The adjustment principle is as follows:

[0037] k = k0 - k0 × sinα

[0038] In the formula:

[0039] k0 -- The vehicle's default maximum braking acceleration. This value can be obtained through test data analysis or through secondary learning.

[0040] α -- Vehicle tilt angle;

[0041] 4) Compare the revised k value with the actual vehicle acceleration a.

[0042] 5) When a>k, the controller sends a signal to the proportional relief valve to adjust the braking pressure. The principle of pressure p adjustment is as follows:

[0043]

[0044] In the formula:

[0045] m — Vehicle mass

[0046] i 桥 —The speed ratio between the tire and the brake pads.

[0047] E is a constant that depends on the large and small diameters of the brake pads and the friction pair.

[0048] u—the coefficient of friction of the friction plate.

[0049] S—Cross-sectional area of ​​the brake cylinder

[0050] F—Brake cylinder resistance.

[0051] 6) After adjusting the pressure, repeat steps 2-5 until the vehicle stops and the control process ends.

[0052] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0053] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It should be understood that the functions specified in one or more flowchart illustrations and / or one or more blocks in a block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate functions for implementing the functions in the flowchart illustrations. Figure 1One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0054] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0055] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0056] 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 method for controlling the braking stability of a tire-driven hydraulic excavator, characterized in that, Includes the following steps: Based on the vehicle tilt angle collected in real time during braking. Calculate the tilt angle revision value k ; Based on tilt angle revision value k The system collects the actual vehicle acceleration 'a' in real time during braking, determines the vehicle state, and performs corresponding operations: if a > k, it controls the proportional relief valve to adjust the braking pressure; if a ≤ k and a ≠ 0, it re-collects a new vehicle tilt angle. And recalculate the tilt angle revision value. k ; If a=0, then the execution ends; The tilt angle revision value k The formula for calculation is: ； In the formula, The maximum braking acceleration set by default for the vehicle; If a>k, the steps for controlling the proportional relief valve to adjust the braking pressure include: Calculate regulating pressure p : ； In the formula: For the overall vehicle quality, This refers to the speed ratio between the tire and the brake pads. It is a constant. The friction coefficient of the friction plate is . The cross-sectional area of ​​the brake cylinder. For the resistance of the brake cylinder; According to the pressure adjustment p Adjust the braking pressure.

2. The braking stability control method for a tire-driven hydraulic excavator according to claim 1, characterized in that, According to the pressure adjustment p When adjusting the braking pressure, the controller sends a signal to the electro-proportional relief valve.

3. A braking stability control system for a tire-driven hydraulic excavator, characterized in that, For performing the tire hydraulic excavator braking stability control method according to any one of claims 1-2, the control system includes an attitude sensor (10), a controller (11), and an electro-proportional relief valve (12). The attitude sensor (10) is used to collect the vehicle tilt angle during braking in real time. And the vehicle's actual acceleration a; The controller (11) receives the vehicle tilt angle collected by the attitude sensor (10). The vehicle's actual acceleration 'a' is used to determine its state. If the actual acceleration is greater than the vehicle's tilt angle... Calculated tilt angle revision value k At that time, the control proportional relief valve (12) returns oil to relieve pressure.

4. An electronic device, characterized in that, It includes a processor and a memory, the memory storing a computer medium that, when executed by the processor, runs the control method as described in any one of claims 1-2.

5. A computer medium, characterized in that, The computer medium stores a computer program, which is executed by a processor to perform the control method as described in any one of claims 1-2.

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