A steering control system and method for backfill compactors

Abstract

This invention discloses a steering control system and method suitable for backfill compactors. The system includes an oil tank, a hydraulic pump, an electro-proportional load-sensitive multi-way valve, a left steering cylinder, a right steering cylinder, a controller, and a handle. The B port of the hydraulic pump is connected to the P port of the electro-proportional load-sensitive multi-way valve. The A1 port of the electro-proportional load-sensitive multi-way valve is connected to the rodless chamber of the left steering cylinder and the rod chamber of the right steering cylinder, and the B1 port is connected to the rod chamber of the left steering cylinder and the rodless chamber of the right steering cylinder. The input end of the controller is connected to the handle, and its output end is connected to the electromagnetic coils Ya1 and Yb1 of the electro-proportional load-sensitive multi-way valve. A first sensor is installed between the left steering cylinder and the input end of the controller, and a second sensor is installed between the right steering cylinder and the input end of the controller. This invention can achieve control of different steering speeds, slowing down the speed during the steering action to the limit position and avoiding the impact caused by rapid collision of the steering limit device.

Description

Technical Field

[0001] This invention belongs to the field of engineering machinery, specifically relating to a steering control system and method suitable for backfill compactors. Background Technology

[0002] Currently, there are two main types of hydraulic steering systems used in backfill compactors: the first type consists of a gear pump, steering gear, and steering cylinder; the second type consists of a load-sensitive pump, multi-way valve, and steering cylinder. The first type is simpler and cheaper, but it consistently outputs flow at the full displacement of the gear pump. The second type is more energy-efficient; when there is no load, only a small amount of oil is output, resulting in very low pump power. In today's energy-saving era, the second type is more commonly used. However, during use, it has been found that because backfill compactors are generally large, typically exceeding 28 tons, the corresponding steering mechanism is also large in size and weight. When steering reaches its limit, the collision between the limit devices causes an uncomfortable experience for the driver, and the lifespan of the limit devices is reduced due to prolonged exposure to rapid collisions. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a steering control system and method suitable for backfill compactors. In this solution, the controller adjusts the output current according to the signals monitored by the sensor to achieve different steering speeds, slowing down the speed during the steering action to the limit position and avoiding the impact caused by the rapid collision of the steering limit device.

[0004] Technical solution: The present invention provides a steering control system for a backfill compactor, comprising an oil tank, a hydraulic pump, an electro-proportional load-sensitive multi-way valve, a left steering cylinder, a right steering cylinder, a controller, and a handle; the oil tank is connected to the hydraulic pump, and the B port of the hydraulic pump is connected to the P port of the electro-proportional load-sensitive multi-way valve.

[0005] The A1 port of the electro-proportional load-sensitive multi-way valve is connected to the rodless chamber of the left steering cylinder and the rod chamber of the right steering cylinder, and its B1 port is connected to the rod chamber of the left steering cylinder and the rodless chamber of the right steering cylinder.

[0006] The input end of the controller is connected to the handle, and its output end is connected to the electromagnetic coils Ya1 and Yb1 of the proportional load sensitive multi-way valve.

[0007] A first sensor is installed between the left steering cylinder and the input terminal of the controller, and a second sensor is installed between the right steering cylinder and the input terminal of the controller.

[0008] Furthermore, the controller is used to output current to the electromagnetic coil Ya1 or electromagnetic coil Yb1 of the proportional load sensitive multi-way valve. After the electromagnetic coil Ya1 or electromagnetic coil Yb1 of the proportional load sensitive multi-way valve is energized, hydraulic oil is output from port A1 or port B1 of the proportional load sensitive multi-way valve to the left steering cylinder and the right steering cylinder to realize the steering action.

[0009] Furthermore, the controller adjusts the output current based on the signal monitored by the first or second sensor, thereby controlling different steering speeds.

[0010] Furthermore, the first sensor is installed inside the left steering cylinder or on the steering device of the backfill compactor, and the second sensor is installed inside the right steering cylinder or on the steering device of the backfill compactor.

[0011] Based on the same inventive concept, the present invention provides a steering control method for a backfill compactor, applied to the aforementioned steering control system for a backfill compactor, comprising the following steps:

[0012] The handle controls the steering action, and sends its steering signal and steering stroke value to the controller.

[0013] The controller determines the current to be applied to the solenoid coil Ya1 or solenoid coil Yb1 of the proportional load sensitive multi-way valve based on the steering signal. The controller calculates the applied current value based on the signal monitored by the first sensor or the second sensor and the steering stroke value of the handle.

[0014] When electromagnetic coil Ya1 or electromagnetic coil Yb1 is energized, the electro-proportional load sensitive multi-way valve is in the corresponding working position. The hydraulic oil from port B of the hydraulic pump enters port P of the electro-proportional load sensitive multi-way valve, and enters the left steering cylinder and right steering cylinder from port B1 or port A1 of the electro-proportional load sensitive multi-way valve, driving the steering mechanism to achieve steering action.

[0015] Furthermore, when the controller reads the left turn signal, it controls the current value I of the right turn control valve. yb1 When the actual value of the first sensor is greater than the set value, the controller outputs a leftward steering control valve current value based on the actual value of the first sensor, which is the current value corresponding to the steering stroke of the handle reduced to the minimum value I. min When the actual value of the first sensor is not greater than the set value, the controller calculates the current value I based on the handle steering stroke value. ya1 And output to the left turn control valve.

[0016] Furthermore, when the controller reads the right turn signal, it controls the current value I of the left turn control valve. ya1When the actual value of the second sensor is greater than the set value, the controller adjusts the current output of the right-turn control valve based on the actual value of the second sensor, reducing the current value from the handle's turn stroke value to the minimum value I. min When the actual value of the second sensor is not greater than the set value, the controller calculates the current value I based on the handle steering stroke value. yb1 And output to the right turn control valve.

[0017] Furthermore, when the electromagnetic coil Ya1 is energized, the electro-proportional load-sensitive multi-way valve is in the left position, and hydraulic oil enters the rodless chamber of the left steering cylinder and the rod chamber of the right steering cylinder from the A1 port of the electro-proportional load-sensitive multi-way valve, thereby driving the steering mechanism to achieve the right steering action.

[0018] Furthermore, when the electromagnetic coil Yb1 is energized, the electro-proportional load-sensitive multi-way valve is in the right position, and hydraulic oil enters the rod chamber of the left steering cylinder and the rodless chamber of the right steering cylinder from the B1 port of the electro-proportional load-sensitive multi-way valve, thereby driving the steering mechanism to achieve the left steering action.

[0019] Furthermore, the current value applied by the controller is positively correlated with the steering stroke value of the handle, and the steering speed of the steering mechanism is controlled by the current value output by the controller.

[0020] Beneficial effects: Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0021] (1) The controller adjusts the output current according to the signal monitored by the sensor to achieve control of different steering speeds and adapt to different operating conditions of the backfill compactor.

[0022] (2) By setting different currents through the controller, the steering speed can be controlled, especially the speed during the steering action to the limit position, avoiding the impact caused by the rapid collision of the steering limit device. This not only improves the driver's operating comfort, but also increases the life of the limit device.

[0023] (3) When the handle gives a steering signal, the controller outputs current to power the proportional load sensitive multi-way valve, and outputs oil to the steering cylinder to easily realize the steering action. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a steering control system for a backfill compactor disclosed in an embodiment of the present invention;

[0025] Figure 2 This is a flowchart of a steering control method for a backfill compactor disclosed in an embodiment of the present invention. Detailed Implementation

[0026] The technical solution of the present invention will now be described in detail with reference to specific embodiments and accompanying drawings.

[0027] Example 1

[0028] like Figure 1 As shown, the steering control system of the present invention, applicable to a backfill compactor, includes an oil tank 1, a filter 2, a hydraulic pump 3, an electro-proportional load-sensitive multi-way valve 4, a left steering cylinder 51, a right steering cylinder 52, a sensor 61, a sensor 62, a controller 7, and a handle 8. The oil tank 1 is connected to the hydraulic pump 3, and the B port of the hydraulic pump 3 is connected to the P port of the electro-proportional load-sensitive multi-way valve 4. In this embodiment, a filter 2 is installed between the oil tank 1 and the S port of the hydraulic pump 3; the filter 2 can be used to filter impurities in the hydraulic oil. The T port and L port of the electro-proportional load-sensitive multi-way valve 4 are connected to the oil tank 1. The A1 port of the electro-proportional load-sensitive multi-way valve 4 is connected to the rodless chamber of the left steering cylinder 51 and the rod chamber of the right steering cylinder 52, and the B1 port of the electro-proportional load-sensitive multi-way valve 4 is connected to the rod chamber of the left steering cylinder 51 and the rodless chamber of the right steering cylinder 52. The input end of the controller 7 is connected to the handle 8, and its output end is connected to the electromagnetic coils Ya1 and Yb1 of the electro-proportional load-sensitive multi-way valve 4. A first sensor 61 is installed between the left steering cylinder 51 and the input terminal of the controller 7, and a second sensor 62 is installed between the right steering cylinder 52 and the input terminal of the controller 7.

[0029] Hydraulic pump 3 draws oil from oil tank 1 through filter 2. The hydraulic oil coming out of port B of hydraulic pump 3 enters port P of electro-proportional load sensitive multi-way valve 4. When handle 8 gives a steering signal, controller 7 outputs current to solenoid coil Ya1 or solenoid coil Yb1 of electro-proportional load sensitive multi-way valve 4. After solenoid coil Ya1 or solenoid coil Yb1 of electro-proportional load sensitive multi-way valve 4 is energized, hydraulic oil is output from port A1 or port B1 of electro-proportional load sensitive multi-way valve 4 to left steering cylinder 51 and right steering cylinder 52 to realize steering action.

[0030] The first sensor 61 is installed inside the left steering cylinder 51, and the second sensor 62 is installed inside the right steering cylinder 52. In this case, the first sensor 61 and the second sensor 62 are used to monitor the stroke signal of the steering cylinder. Alternatively, the first sensor 61 and the second sensor 62 can be installed on the steering device of the backfill compactor. In this case, the first sensor 61 and the second sensor 62 are used to monitor the steering angle signal of the steering device. The controller 7 adjusts the output current based on the stroke signal or steering angle signal monitored by the first sensor 61 or the second sensor 62 to achieve control of different steering speeds.

[0031] The specific work process is as follows:

[0032] Non-steering motion control: When the handle 8 is in the neutral position, it sends a neutral position signal to the controller 7. The current values ​​of the electromagnetic coils Ya1 and Yb1 of the electro-proportional load sensitive multi-way valve 4 at the two PWM output ports of the controller 7 are both 0, and the electro-proportional load sensitive multi-way valve 4 is in the neutral position. The hydraulic pump 3 draws oil from the oil tank 1 through the filter 2. The hydraulic oil coming out from port B enters port P of the electro-proportional load sensitive multi-way valve 4 and flows back to the oil tank through port T of the electro-proportional load sensitive multi-way valve 4.

[0033] Left turn control: The handle 8 executes the left turn command, and the signal is input to the controller 7. The two PWM output ports of the controller 7 supply the electromagnetic coils Ya1 and Yb1 of the proportional load sensitive multi-way valve 4 with current values ​​of 0 and 1 respectively. yb1 When the electro-proportional load-sensitive multi-way valve 4 is in the right position, the oil pumped from port B enters port P of the load-sensitive multi-way valve 4, and the hydraulic oil coming out from port B1 of the electro-proportional load-sensitive multi-way valve 4 enters the rodless chamber of the right steering cylinder 52 and the rod chamber of the left steering cylinder 51, driving the steering mechanism to achieve the left steering action.

[0034] Right turn action control: The handle 8 executes the right turn command, and the signal is input to the controller 7. The two PWM output ports of the controller 7 supply the current values ​​of Ya1 and Yb1 of the proportional load sensitive multi-way valve 4, respectively, to I. ya1 With 0 and 0, the electro-proportional load-sensitive multi-way valve 4 is in the left position. The oil pumped from port B enters port P of the electro-proportional load-sensitive multi-way valve 4. The hydraulic oil coming out from port A1 of the electro-proportional load-sensitive multi-way valve 4 enters the rod chamber of the right steering cylinder 52 and the rodless chamber of the left steering cylinder 51, driving the steering mechanism to achieve the right steering action.

[0035] Left turn speed control: When the handle 8 executes the left turn command and the left turn travel value D (0~100%), the steering signal and the left turn travel value are input to the controller 7. The controller 7 calculates the corresponding output current value I based on the left turn travel value. yb1 When the left steering stroke of the proportional load sensitive multi-way valve 4 increases, the output current increases, the valve core opening increases, the oil flow increases, and the steering cylinder moves faster. At the same time, the controller 7 receives the stroke signal or angle signal from the first sensor 61 or the second sensor 62. Before approaching the stroke limit or angle limit, the output current value is reduced, the valve core opening decreases, the oil flow decreases, and the steering cylinder moves slower.

[0036] Right turn speed control: When the handle 8 executes the right turn command and the right turn travel value D (0~100%), the issued turn signal and the right turn travel value are sent to the controller 7. The controller 7 calculates the corresponding output current value I based on the handle's right turn travel value. ya1When the right steering stroke of the proportional load sensitive multi-way valve 4 increases, the current value increases, the valve core opening increases, the oil flow increases, and the steering cylinder moves faster. At the same time, the controller 7 receives the stroke signal or angle signal from the first sensor 61 or the second sensor 62. Before approaching the stroke limit or angle limit, the output current value is reduced, the valve core opening decreases, the oil flow decreases, and the steering cylinder moves slower.

[0037] Example 2

[0038] like Figure 2 As shown, the present invention also includes a steering control method suitable for a backfill compactor. This method is applied to the steering control system of the backfill compactor in Example 1 and includes the following steps:

[0039] S1. The operating handle 8 controls the steering action, and the handle 8 sends its steering signal and steering stroke value to the controller 7.

[0040] S2, the controller 7 determines the current to be applied to the electromagnetic coil Ya1 or electromagnetic coil Yb1 of the electro-proportional load sensitive multi-way valve 4 based on the steering signal, and the controller 7 calculates the applied current value based on the signal monitored by the first sensor 61 or the second sensor 62 and the steering stroke value of the handle 8.

[0041] In this step, the current value applied by the controller 7 is positively correlated with the steering stroke value of the handle 8, and the steering speed of the steering mechanism is controlled by the current value output by the controller 7.

[0042] Controller 7 calculates the applied current value I based on the handle steering stroke value. ya1 I yb1 The calculation formula is:

[0043] I=Imin+(Imax-Imin)*D(unit: mA)

[0044] In the formula, D represents the steering stroke of the handle, ranging from 0% to 100%; I min I max This indicates the minimum and maximum current values ​​provided by the manufacturer for the electroproportional load-sensitive multi-way valve.

[0045] S3. After the electromagnetic coil Ya1 or electromagnetic coil Yb1 is energized, the electro-proportional load sensitive multi-way valve 4 is in the corresponding working position. The hydraulic oil coming out of the B port of the hydraulic pump 3 enters the P port of the electro-proportional load sensitive multi-way valve 4, and enters the left steering cylinder 51 and the right steering cylinder 52 from the B1 port or A1 port of the electro-proportional load sensitive multi-way valve 4, driving the steering mechanism to realize the steering action.

[0046] In this step, when the electromagnetic coil Ya1 is energized, the electro-proportional load-sensitive multi-way valve 4 is in the left position, and the hydraulic oil enters the rodless chamber of the left steering cylinder 51 and the rod chamber of the right steering cylinder 52 from the A1 port of the electro-proportional load-sensitive multi-way valve 4, thereby driving the steering mechanism to achieve the right steering action.

[0047] In this step, when the electromagnetic coil Yb1 is energized, the electro-proportional load sensitive multi-way valve 4 is in the right position, and the hydraulic oil enters the rod chamber of the left steering cylinder 51 and the rodless chamber of the right steering cylinder 52 from the B1 port of the electro-proportional load sensitive multi-way valve 4, thereby driving the steering mechanism to achieve the left steering action.

[0048] In this step, during the steering mechanism's steering process, the controller 7 receives signals monitored by the first sensor 61 or the second sensor 62 in real time, and adjusts the action according to the monitored signals, as follows:

[0049] like Figure 2 As shown, controller 7 reads the position and steering stroke value of handle 8. When it reads the left turn signal, controller 7 controls the current value I of right turn control valve 9. yb1 When the actual value of the first sensor 61 is greater than the set value, the controller 7 turns left based on the actual value of the first sensor 61. The output current of the control valve 10 gradually decreases from the current value corresponding to the handle stroke to the minimum value I. min When the actual value of the first sensor 61 is not greater than the set value, the controller calculates the current value I based on the handle travel value. ya1 And output to the left turn control valve 10, I ya1 The larger the value, the greater the opening and the faster the left turn speed.

[0050] Controller 7 reads the position and steering stroke value of handle 8. When it reads the right turn signal, controller 7 controls the current value I of left turn control valve 10. ya1 When the actual value of the second sensor 62 is greater than the set value, the controller 7 turns right according to the actual value of the second sensor 62. The output current of the control valve 9 gradually decreases from the current value corresponding to the handle stroke to the minimum value I. min When the actual value of the second sensor 62 is not greater than the set value, the controller calculates the current value I based on the handle travel value. yb1 And output to the right turn control valve 9, I yb1 The larger the value, the greater the opening and the faster the right turn speed.

Claims

1. A steering control method suitable for backfill compactors, characterized in that, This method is applied to a steering control system suitable for a backfill compactor. The steering control system suitable for a backfill compactor includes an oil tank (1), a hydraulic pump (3), an electro-proportional load sensitive multi-way valve (4), a left steering cylinder (51), a right steering cylinder (52), a controller (7), and a handle (8). The oil tank (1) is connected to the hydraulic pump (3), and the B port of the hydraulic pump (3) is connected to the P port of the electro-proportional load sensitive multi-way valve (4). The A1 port of the electro-proportional load sensitive multi-way valve (4) is connected to the rodless chamber of the left steering cylinder (51) and the rod chamber of the right steering cylinder (52), and its B1 port is connected to the rod chamber of the left steering cylinder (51) and the rodless chamber of the right steering cylinder (52). The input end of the controller (7) is connected to the handle (8), and its output end is connected to the electromagnetic coils Ya1 and Yb1 of the proportional load sensitive multi-way valve (4). A first sensor (61) is provided between the left steering cylinder (51) and the input end of the controller (7), and a second sensor (62) is provided between the right steering cylinder (52) and the input end of the controller (7). The steering control method applicable to backfill compactors includes the following steps: The operating handle (8) controls the steering action, and the handle (8) sends its steering signal and steering stroke value to the controller (7); The controller (7) determines the current to be applied to the electromagnetic coil Ya1 or electromagnetic coil Yb1 of the proportional load sensitive multi-way valve (4) based on the steering signal. The controller (7) calculates the applied current value based on the signal monitored by the first sensor (61) or the second sensor (62) and the steering stroke value of the handle (8). When the electromagnetic coil Ya1 or the electromagnetic coil Yb1 is energized, the electro-proportional load sensitive multi-way valve (4) is in the corresponding working position. The hydraulic oil coming out from the B port of the hydraulic pump (3) enters the P port of the electro-proportional load sensitive multi-way valve (4), and enters the left steering cylinder (51) and the right steering cylinder (52) from the B1 port or A1 port of the electro-proportional load sensitive multi-way valve (4), thereby driving the steering mechanism to achieve the steering action. When the controller (7) reads the left turn signal, it controls the current value I of the right turn control valve (9). yb1 When the actual value of the first sensor (61) is greater than the set value, the controller (7) turns left and the output current value of the control valve (10) is reduced to the minimum value I corresponding to the steering stroke value of the handle (8) according to the actual value of the first sensor (61). min When the actual value of the first sensor (61) is not greater than the set value, the controller (7) calculates the current value I based on the steering stroke value of the handle (8). ya1 And output to the left turn control valve (10); When the controller (7) reads the right turn signal, it controls the current value I of the left turn control valve (10). ya1 When the actual value of the second sensor (62) is greater than the set value, the controller (7) turns the steering control valve (9) to the right according to the actual value of the second sensor (62), and the output current value is reduced from the current value corresponding to the steering stroke value of the handle (8) to the minimum value I. min When the actual value of the second sensor (62) is not greater than the set value, the controller (7) calculates the current value I based on the steering stroke value of the handle (8). yb1 And output to the right turn control valve (9).

2. The steering control method for backfill compactors according to claim 1, characterized in that: The controller (7) is used to output current to power the electromagnetic coil Ya1 or electromagnetic coil Yb1 of the proportional load sensitive multi-way valve (4). After the electromagnetic coil Ya1 or electromagnetic coil Yb1 of the proportional load sensitive multi-way valve (4) is energized, the hydraulic oil is output from port A1 or port B1 of the proportional load sensitive multi-way valve (4) to the left steering cylinder (51) and the right steering cylinder (52) to realize the steering action.

3. The steering control method for backfill compactors according to claim 1, characterized in that: The controller (7) adjusts the output current according to the signal monitored by the first sensor (61) or the second sensor (62) to control different steering speeds.

4. The steering control method for backfill compactors according to claim 1, characterized in that: The first sensor (61) is installed inside the left steering cylinder (51) or on the steering device of the backfill compactor, and the second sensor (62) is installed inside the right steering cylinder (52) or on the steering device of the backfill compactor.

5. The steering control method for backfill compactors according to claim 1, characterized in that: When the electromagnetic coil Ya1 is energized, the electro-proportional load sensitive multi-way valve (4) is in the left position, and the hydraulic oil enters the rodless chamber of the left steering cylinder (51) and the rod chamber of the right steering cylinder (52) from the A1 port of the electro-proportional load sensitive multi-way valve (4), thereby driving the steering mechanism to achieve the right steering action.

6. The steering control method for backfill compactors according to claim 1, characterized in that: When the electromagnetic coil Yb1 is energized, the electro-proportional load sensitive multi-way valve (4) is in the right position, and the hydraulic oil enters the rod chamber of the left steering cylinder (51) and the rodless chamber of the right steering cylinder (52) from the B1 port of the electro-proportional load sensitive multi-way valve (4), thereby driving the steering mechanism to achieve the left steering action.

7. The steering control method for backfill compactors according to claim 1, characterized in that: The current value applied by the controller (7) is positively correlated with the steering stroke value of the handle (8), and the steering speed of the steering mechanism is controlled by the current value output by the controller (7).

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