Control system and control method for automatic winding and unwinding of reels while traveling on a vehicle

Abstract

This invention belongs to the technical field of tunnel construction auxiliary equipment, and specifically relates to a control system and method for an automatic winding and unwinding reel that travels on a vehicle. The control system includes a mobile device, and a power unit, a main logic control unit, and an execution unit installed on the mobile device. The control method includes: the driver changing the device's moving speed by pressing the accelerator pedal, simultaneously changing the generator speed and the gear pump flow rate; the onboard mobile controller uniformly processes the engine speed, device moving speed, and the reel's rotation angle and angular velocity, thereby controlling the control current of the proportional relief valve to change the hydraulic motor flow rate, ultimately controlling the reel's rotation angle and angular velocity. This invention enables automatic winding and unwinding of the reel while the mobile device is moving, while ensuring that the reel's rotation speed matches the device's moving speed.

Description

Technical Field

[0001] This invention belongs to the technical field of tunnel construction auxiliary equipment, and specifically relates to a control system and control method for an automatic winding and unwinding reel that travels with a vehicle. Background Technology

[0002] Non-road construction machinery often uses engine-powered new energy sources for relocation and operation. Power is supplied via external cables for on-site work, and some equipment, such as three-arm drilling rigs and anchor bolt rigs, are also equipped with hose reels. External cables are typically stored in reels, which facilitates both cable storage and deployment. Tunnel construction equipment often employs a dual-control operation system involving both the cab and the electrical control cabinet. While cab-operated control is more common during equipment movement, the inability to match the cable reel's winding and unwinding speed with the equipment's travel speed often forces the cab operator to simultaneously manage driving speed, direction, cable reel winding and unwinding speeds, and hose reel winding and unwinding speeds, significantly distracting the driver. The control cabinet knob control or remote control handle control method refers to the need for dedicated maintenance personnel or construction support personnel to cooperate. When the equipment is moved to another location, the driver is only responsible for driving the equipment, and the reel operator is dedicated to cooperating with the reel winding and unwinding. However, the operating mechanism is mostly behind the equipment. On the one hand, the driver's vision is obstructed by the equipment, and on the other hand, the road surface in front of the tunnel construction face is mostly uneven, which can easily cause injury or death to the operators. Summary of the Invention

[0003] The purpose of this invention is to solve the problem that the winding and unwinding of tunnel equipment reels in the prior art requires manual assistance or driver control. It proposes a control system and method for automatically winding and unwinding reels while the mobile equipment is moving, which can realize the automatic winding and unwinding of reels during the movement of the mobile equipment, while ensuring that the rotation speed of the reel matches the movement speed of the equipment.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention provides a control system for automatically loading and unloading a reel while traveling on a vehicle, including a mobile device, and a power unit, a main logic control unit, and an execution unit installed on the mobile device;

[0006] The power unit includes an engine and a gear pump. The engine provides power for the vehicle to move equipment and for winding and unwinding reels. The gear pump is connected to the engine's gearbox and is driven by the engine to rotate, providing hydraulic pressure for the vehicle in internal combustion mode.

[0007] The main logic control unit includes an on-board mobile controller and a proportional relief valve. The on-board mobile controller is the control center of the entire vehicle, which processes the data collected by the sensors and controls the output of the proportional relief valve. The proportional relief valve is controlled by the on-board mobile controller and indirectly controls the speed of the reel by controlling the flow of the hydraulic motor.

[0008] The execution unit includes a hydraulic motor, a reel, and an angle encoder. The hydraulic motor drives the reel to rotate via hydraulic pressure. The reel serves as a carrier for cables or water pipes. The angle encoder measures the angle and angular velocity of the reel's rotation and sends the data to the vehicle-mounted mobile controller.

[0009] According to the control system of the vehicle-mounted automatic winding and unwinding reel of the present invention, the power unit further includes an accelerator pedal, which controls the engine speed and vehicle speed by changing the position of the accelerator pedal.

[0010] According to the control system of the vehicle-mounted automatic winding and unwinding reel of the present invention, the power unit further includes an engine controller, which processes the acquired engine speed and vehicle speed and sends the data to the vehicle-mounted mobile controller.

[0011] A control method for the above-mentioned vehicle-mounted automatic winding and unwinding reel control system includes:

[0012] The driver changes the equipment's moving speed by pressing the accelerator pedal, which in turn changes the generator speed and the gear pump's flow rate. The on-board mobile controller processes the engine speed, equipment moving speed, and the angle and angular velocity of the reel rotation in a unified manner, thereby controlling the control current of the proportional relief valve to change the flow rate of the hydraulic motor, and ultimately controlling the angle and angular velocity of the reel rotation.

[0013] According to the control method of the automatic winding and unwinding reel control system of the present invention, the vehicle-mounted mobile controller further reads the equipment moving speed v from the engine controller. e and the generator speed r e The vehicle-mounted mobile controller reads the angle θ of the reel from the angle encoder. r and angular velocity ω r .

[0014] According to the control method of the automatic winding and unwinding reel control system of the present invention, the vehicle-mounted mobile controller further calculates the proportional overflow valve control current I. v The process is as follows:

[0015] Displacement s of mobile devices e The calculation formula is: s e =v e t, where t is the walking time of the mobile device;

[0016] Gear pump displacement Q ge The formula for calculating Q is: ge =r e q ge η V , where q ge η is the rated displacement of the gear pump. V The volumetric efficiency of the gear pump;

[0017] The formula for calculating the position adjustment parameter K1 is: K1 = k4(k2s) e -k3θ r ), where k2 is the equipment displacement calibration coefficient, k3 is the logical result of the reel position conversion parameter and calibration coefficient, and k4 is the calibration coefficient of the position adjustment parameter;

[0018] The formula for calculating the speed regulation parameter K2 is: K2 = k7(k5v) e -k6ω r ), where k5 is the calibration coefficient of the equipment moving speed, k6 is the logical result of the reel speed conversion parameter and calibration coefficient, and k7 is the calibration coefficient of the speed adjustment parameter;

[0019] The formula for calculating the current feedback adjustment parameter K3 of the proportional relief valve is: K3 = k8(I E -I f ), where I E I is the desired current value. f K is the feedback current value of the proportional relief valve, and k8 is the calibration coefficient of the proportional relief valve adjustment parameter;

[0020] Proportional relief valve control current I v The calculation formula is: I v =λI MAX , where I MAX λ represents the maximum control current of the proportional relief valve, and λ is the adjustment parameter of the proportional relief valve. Q MAX This is the maximum displacement of the gear pump.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] 1. The vehicle-mounted mobile controller of this invention performs logical processing on data such as engine speed, equipment movement speed, and the angle and angular velocity of the reel rotation. It then controls the control current of the proportional relief valve to change the flow rate of the hydraulic motor, ultimately controlling the rotation speed and angle of the reel. This achieves the purpose of automatically reeling up and down the mobile device during movement, effectively freeing the operator in the cab from distraction during reel reeling and down, and also freeing up the operators assisting with reel reel reeling and down. On the one hand, it reduces labor costs, and on the other hand, it reduces personnel casualties caused by reel reel reeling and down during tunnel construction, thus improving the construction safety performance of the equipment.

[0023] 2. The vehicle-mounted mobile controller of the present invention precisely controls the reel rotation speed to match the equipment movement speed through logic calculation, and controls the equipment movement distance to match the reel rotation angle, so as to achieve the effect of automatically adjusting the reel rotation speed during the reel following the equipment. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the control system for the vehicle-mounted automatic winding and unwinding reel according to Embodiment 1 of the present invention. In the figure, 1 represents the cab, 2 represents the engine controller, 3 represents the vehicle-mounted mobile controller, 4 represents the reel, 5 represents the angle encoder, 6 represents the proportional overflow valve, 7 represents the engine, and 8 represents the gear pump.

[0026] Figure 2 This is a control principle diagram of the automatic winding and unwinding reel control system that travels with the vehicle according to Embodiment 1 of the present invention;

[0027] Figure 3 This is a flowchart illustrating the control method for automatically winding and unwinding a reel while traveling on a vehicle, according to Embodiment 1 of the present invention.

[0028] Figure 4 This is a flowchart illustrating the control method for automatically winding and unwinding a reel while traveling on a vehicle, according to Embodiment 2 of the present invention.

[0029] Figure 5 This is a flowchart illustrating the control method for automatically winding and unwinding a reel while traveling on a vehicle, according to Embodiment 3 of the present invention.

[0030] Figure 6 This is a flowchart illustrating the control method for automatically retracting and extending a reel while traveling on a vehicle, according to Embodiment 4 of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example 1

[0033] like Figure 1 and Figure 2 As shown, the control system for the vehicle-mounted automatic reel winding and unwinding system in this embodiment includes a mobile device and a power unit, a main logic control unit, and an execution unit installed on the mobile device.

[0034] The power unit includes an accelerator pedal, an engine 7, an engine controller 2, and a gear pump 8; the accelerator pedal allows the driver to control the engine speed and vehicle speed by changing its position; the engine provides power for equipment transfer and reel winding; the engine controller (ECU) processes the acquired engine speed and vehicle speed and sends the data to the on-board mobile controller; the gear pump is connected to the engine's gearbox and is driven by the engine to provide hydraulic pressure for the vehicle in internal combustion mode.

[0035] The main logic control unit includes an on-board mobile controller 3 and a proportional relief valve 6. The on-board mobile controller is the control center of the entire vehicle, which processes the data collected by the sensors and controls the output of the proportional relief valve. The proportional relief valve is controlled by the on-board mobile controller and indirectly controls the speed of the reel by controlling the flow of the hydraulic motor.

[0036] The actuator includes a hydraulic motor, a reel 4, and an angle encoder 5; the hydraulic motor drives the reel to rotate via hydraulic pressure; the reel is a carrier for cables or water pipes; the angle encoder measures the angle and angular velocity of the reel's rotation and transmits the data to the vehicle-mounted mobile controller via communication.

[0037] This embodiment also proposes a control method for automatically winding and unwinding a reel while the vehicle is in motion, comprising:

[0038] The driver changes the equipment's moving speed by pressing the accelerator pedal, which in turn changes the generator speed and the gear pump's flow rate. The on-board mobile controller processes the engine speed, equipment moving speed, and the angle and angular velocity of the reel rotation in a unified manner, thereby controlling the control current of the proportional relief valve to change the flow rate of the hydraulic motor, and ultimately controlling the angle and angular velocity of the reel rotation.

[0039] Figure 3This is a flowchart illustrating the control method for the automatic winding and unwinding of the reel while traveling on the vehicle, as shown in the figure. As can be seen from the figure, this control method has three feedback loops: a position feedback loop, a speed feedback loop, and a current control feedback loop.

[0040] Throughout the control process, the on-board motion controller reads the device's moving speed v from the engine controller. e and the generator speed r e The vehicle-mounted mobile controller reads the angle θ of the reel from the angle encoder. r and angular velocity ω r .

[0041] Specifically, the on-board mobile controller calculates the proportional overflow valve control current I. v The process is as follows:

[0042] Displacement s of mobile devices e The calculation formula is: s e =v e t, where t is the walking time of the mobile device.

[0043] Gear pump displacement Q ge The formula for calculating Q is: ge =r e q ge η V , where q ge η is the rated displacement of the gear pump. V This refers to the volumetric efficiency of the gear pump.

[0044] The formula for calculating the position adjustment parameter K1 is: K1 = k4(k2s) e -k3θ r ), where k2 is the equipment displacement calibration coefficient, k3 is the logical result of the reel position conversion parameter and calibration coefficient, and k4 is the calibration coefficient of the position adjustment parameter.

[0045] The formula for calculating the speed regulation parameter K2 is: K2 = k7(k5v) e -k6ω r ), where k5 is the calibration coefficient of the equipment moving speed, k6 is the logical result of the reel speed conversion parameter and calibration coefficient, and k7 is the calibration coefficient of the speed adjustment parameter.

[0046] The formula for calculating the current feedback adjustment parameter K3 of the proportional relief valve is: K3 = k8(I E -I f ), where I E I is the desired current value. f K is the feedback current value of the proportional relief valve, and k8 is the calibration coefficient of the proportional relief valve adjustment parameter.

[0047] Proportional relief valve control current I v The calculation formula is: I v =λI MAX , where I MAX λ represents the maximum control current of the proportional relief valve, and λ is the adjustment parameter of the proportional relief valve. Q MAX This is the maximum displacement of the gear pump.

[0048] As can be seen from the entire calculation process, the fundamental principle of the control method of this invention is to control the flow rate of the hydraulic motor based on the measured engine speed, equipment moving speed, reel angle and reel angular velocity, with the control parameter being the proportional relief valve control current.

[0049] This invention enables automatic winding and unwinding of the reel during equipment movement. Through a three-feedback control system, it precisely matches the reel rotation speed with the equipment's moving speed and the equipment's moving distance with the reel rotation angle, achieving a following effect. Furthermore, it directly reduces the involvement of auxiliary construction personnel, lowers the probability of injury, reduces labor costs, and improves the equipment's construction safety performance.

[0050] The control method for automatically winding and unwinding the reel while it is moving with the vehicle, as given in Example 1, is the optimal implementation scheme. However, there are also three simplified alternative schemes, which can also achieve the purpose of automatically winding and unwinding the reel while it is moving with the equipment, but the effect is slightly worse than that of Example 1.

[0051] Example 2

[0052] like Figure 4 As shown, this embodiment collects the moving speed of the equipment and the engine speed, and uses an open-loop control method that controls the flow rate of the hydraulic motor only by controlling the moving speed of the equipment to control the rotation speed of the reel. This implementation scheme cannot precisely control the speed and position matching of the reel and the equipment, but it can achieve the effect of automatic winding and unwinding of the reel during the movement of the equipment.

[0053] Compared with the optimal implementation scheme of Embodiment 1, this embodiment can automatically rewind and unwind the reel as it follows the equipment, but the reel rotation speed and the equipment movement speed are poorly matched, and there is a certain error between the reel rotation angle and the equipment movement distance.

[0054] Example 3

[0055] like Figure 5 As shown, this embodiment employs a control method using a single feedback mechanism for the reel angular velocity.

[0056] Compared with the optimal implementation scheme of Embodiment 1, in this embodiment, the reel rotation speed can more accurately follow the movement speed of the equipment during the equipment movement process, but the reel rotation angle will have a certain error from the expected position.

[0057] Example 4

[0058] like Figure 6 As shown, this embodiment employs a control method based on single feedback of the reel angle.

[0059] Compared with the optimal implementation scheme of Embodiment 1, this embodiment shows that the reel rotation angle will more accurately follow the movement distance of the equipment during the movement process, but the reel rotation speed is unstable during the movement.

[0060] It should be noted that the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0061] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0062] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is only used to illustrate the technical solution of the present invention, and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A control method for a vehicle-mounted automatic reel winding and unwinding control system, the control system comprising a mobile device, and a power unit, a main logic control unit, and an execution unit installed on the mobile device; the power unit comprising an engine, a gear pump, an accelerator pedal, and an engine controller; the engine providing power for equipment transfer and reel winding and unwinding; the gear pump connected to the engine's gearbox and driven by the engine to provide hydraulic pressure for the vehicle in internal combustion mode; the engine speed and vehicle speed are controlled by changing the position of the accelerator pedal; the engine controller processes the acquired engine speed and vehicle speed. The data is then sent to the vehicle-mounted mobile controller. The main logic control unit includes the vehicle-mounted mobile controller and a proportional relief valve. The vehicle-mounted mobile controller is the control center of the entire vehicle, processing sensor-collected data and controlling the output of the proportional relief valve. The proportional relief valve is controlled by the vehicle-mounted mobile controller, indirectly controlling the speed of the reel by controlling the flow rate of the hydraulic motor. The execution unit includes a hydraulic motor, a reel, and an angle encoder. The hydraulic motor drives the reel to rotate via hydraulic pressure. The reel is a cable or water pipe carrying device. The angle encoder measures the angle and angular velocity of the reel's rotation and sends the data to the vehicle-mounted mobile controller. Its features are, This control method includes: The driver changes the equipment's moving speed by pressing the accelerator pedal, which in turn changes the generator speed and the gear pump's flow rate. The on-board mobile controller processes the engine speed, equipment moving speed, and the angle and angular velocity of the reel rotation in a unified manner, thereby controlling the control current of the proportional relief valve to change the flow rate of the hydraulic motor, and ultimately controlling the angle and angular velocity of the reel rotation. The vehicle-mounted motion controller reads the device's moving speed v from the engine controller. e and the generator speed r e The vehicle-mounted mobile controller reads the angle θ of the reel from the angle encoder. r and angular velocity ω r Based on this, the vehicle-mounted mobile controller calculates the proportional overflow valve control current I. v The process is as follows: Displacement s of mobile devices e The calculation formula is: s e =v e t, where t is the walking time of the mobile device; Gear pump displacement Q ge The formula for calculating Q is: ge =r e q ge η V , where q ge η is the rated displacement of the gear pump. V The volumetric efficiency of the gear pump; The formula for calculating the position adjustment parameter K1 is: K1 = k4(k2s) e -k3θ r ), where k2 is the equipment displacement calibration coefficient, k3 is the logical result of the reel position conversion parameter and calibration coefficient, and k4 is the calibration coefficient of the position adjustment parameter; The formula for calculating the speed regulation parameter K2 is: K2 = k7(k5v) e -k6ω r ), where k5 is the calibration coefficient of the equipment moving speed, k6 is the logical result of the reel speed conversion parameter and calibration coefficient, and k7 is the calibration coefficient of the speed adjustment parameter; The formula for calculating the current feedback adjustment parameter K3 of the proportional relief valve is: K3 = k8(I E -I f ), where I E I is the desired current value. f K is the feedback current value of the proportional relief valve, and k8 is the calibration coefficient of the proportional relief valve adjustment parameter; Proportional relief valve control current I v The calculation formula is: I v =λI MAX , where I MAX λ represents the maximum control current of the proportional relief valve, and λ is the adjustment parameter of the proportional relief valve. Q MAX This is the maximum displacement of the gear pump.

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