Mould synchronous control method and system of slip form paver in stepping process

Abstract

The invention discloses a mold synchronization control method and system for a slip-form paver in a stepping process, and the method comprises the steps: firstly obtaining the forward displacement of a vehicle body of the slip-form paver and the actual backward displacement of a mold in the stepping process in real time; double-closed-loop PID control is carried out based on the forward displacement of the sliding mode locomotive body and the actual backward displacement and the actual backward speed of the mold, a target adjustment value of the backward speed of the mold in each control period is obtained, and finally a target adjustment value of the input current of the mold driving motor is obtained through calculation based on the target adjustment value of the backward speed of the mold. And adjusting the input current of the mold driving motor based on the target adjustment value. By adopting the double-closed-loop PID control, accurate control over the speed and displacement of the mold in the stepping process is achieved, the synchronism of the displacement and speed of the mold and the sliding mode locomotive body in the stepping process can be guaranteed, and the beneficial effects of being high in response speed and high in stability and reliability are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of slipform paving machines, and in particular to a mold synchronization control method and system, electronic equipment, and a computer-readable storage medium in a stepping process of a slipform paving machine. Background Art

[0002] For a long time, in the field of curbstone or anti-collision guardrail construction of urban roads or high-grade highways in my country, one construction method is to prefabricate sand, stone and cement, and then manually install or pour them on site for paving. This method requires a series of complicated preparations before construction, which is labor-intensive, low in construction efficiency, and the quality of the laid curbstones is difficult to guarantee. The second construction method is to use mechanical slipform equipment for construction, which generally includes modules such as walking steering system, feeding system, positioning system, slipform system, etc. According to the different working modes and positioning methods of the slipform equipment, it is mainly divided into two types: continuous slipform paver and stepping slipform paver.

[0003] Among them, before the construction of the continuous slipform paver, it is necessary to measure and locate on the road surface to form a walking guide. During the construction process, the paver travels along the walking guide and performs steering and elevation movements in real time according to the deviation fed back by the sensor. At the same time, the slipform mold moves forward with the vehicle body, and the feeding system continuously feeds materials into the mold hopper to achieve continuous slipform construction. In this working mode, the slipform mold is fixedly connected to the vehicle body. When the paver moves forward, the vehicle body is affected by the flatness of the road surface. The structure formed by the mold is prone to a series of quality problems such as the top surface fluctuating and the line shape being tortuous.

[0004] In a step-type slipform paver, the mold is not fixedly connected to the body. It includes two slide rails, which are fixedly connected to the body. The mold can slide forward or backward along the slide rails relative to the body under the drive of a motor and a sprocket chain. Its operation mainly includes two processes: sliding and stepping. During the sliding process, the paver body does not move, and the mold slides from the rear end to the front end along the slide rail. During this process, the feeding system continuously delivers concrete to the mold, thereby forming a structure; during the stepping process, the feeding system suspends feeding, and the slipform machine body moves forward under RTK navigation. In order to avoid damage to the completed slipform structure, the mold needs to slide backward along the slide rail at the same speed, that is, keep the mold and the ground stationary. For example, the inventor of this application previously proposed a concrete slipform paver that can realize a dual-mode of step-type slide rail sliding and continuous walking sliding (patent publication number CN116084243A).

[0005] However, in the step-by-step process of the actual construction process, the mold and the slipform machine body are usually moved in the opposite direction by adjusting the forward speed of the slipform machine or the backward speed of the mold multiple times. The operation is cumbersome and the synchronous control effect is poor, resulting in the mold being unable to remain stationary relative to the ground. Summary of the invention

[0006] The present invention provides a method and system for synchronously controlling the mold of a slipform paving machine in a stepping process, an electronic device, and a computer-readable storage medium, which realizes precise control of the mold speed and displacement in the stepping process, can ensure the synchronization of the displacement and speed of the mold with the slipform machine body in the stepping process, and has the advantages of fast response speed, high stability and reliability.

[0007] According to one aspect of the present invention, a method for synchronously controlling a mold of a slipform paving machine in a stepping process is provided, comprising the following contents:

[0008] Real-time acquisition of the forward displacement of the sliding mold body and the actual backward displacement of the mold in the stepping process;

[0009] In each control cycle, double closed-loop PID control is performed based on the forward displacement of the sliding form locomotive body, the actual backward displacement of the mold and the actual backward speed to obtain the target adjustment value of the mold backward speed in each control cycle;

[0010] The target adjustment value of the input current of the mold driving motor is calculated based on the target adjustment value of the mold retreat speed, and the input current of the mold driving motor is adjusted based on the target adjustment value.

[0011] Furthermore, the process of performing double closed-loop PID control based on the forward displacement of the sliding form machine body, the actual backward displacement of the mold and the actual backward speed to obtain the target adjustment value of the mold backward speed in each control cycle includes the following:

[0012] Taking the displacement difference between the forward displacement of the sliding form locomotive body and the actual backward displacement of the mold as the control target, PID control is used to calculate the target adjustment value of the mold backward displacement in the current control cycle, and the target backward speed of the mold in the current control cycle is calculated based on the target adjustment value of the mold backward displacement;

[0013] The speed difference between the target retreat speed of the mold and the actual retreat speed is taken as the control target, and the target adjustment value of the mold retreat speed in the current control cycle is calculated using PID control.

[0014] Furthermore, the target adjustment value of the mold retreat displacement in the current control cycle is calculated based on the following formula:

[0015] ΔL=K p×(ΔL0-ΔL1)+K i ×ΔL0+K d ×(ΔL0-2×ΔL1+ΔL2)

[0016] Among them, ΔL represents the target adjustment value of the mold retreat displacement in the current control cycle, ΔL0 represents the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold in the current control cycle, ΔL1 represents the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold in the previous control cycle, ΔL2 represents the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold in the previous control cycle, and K p , K i and K d They represent the proportional coefficient, integral coefficient and differential coefficient respectively.

[0017] Furthermore, the target adjustment value of the mold retreat speed in the current control cycle is calculated based on the following formula:

[0018] ΔV=K p ×(ΔV0-ΔV1)+K i ×ΔV0+K d ×(ΔV0-2×ΔV1+ΔV2)

[0019] Wherein, ΔV represents the target adjustment value of the mold's retreat speed in the current control cycle, ΔV represents the speed difference between the target retreat speed and the actual retreat speed of the mold in the current control cycle, ΔV1 represents the speed difference between the target retreat speed and the actual retreat speed of the mold in the previous control cycle, ΔV2 represents the speed difference between the target retreat speed and the actual retreat speed of the mold in the previous control cycle, and K p , K i and K d They represent the proportional coefficient, integral coefficient and differential coefficient respectively.

[0020] Furthermore, the process of obtaining the forward displacement of the sliding form machine body in the stepping process in real time includes the following contents:

[0021] Calculate the positioning conversion parameters between the geographic coordinate system and the engineering coordinate system of the construction site;

[0022] In the stepping process, the plane coordinates of the sliding form locomotive body in the geographic coordinate system are measured in real time, and the plane coordinates of the sliding form locomotive body in the engineering coordinate system are calculated in combination with the positioning conversion parameters;

[0023] The forward displacement is calculated based on the plane coordinates of the sliding form locomotive body before and after the displacement.

[0024] Furthermore, the positioning conversion parameters include an X-direction translation coefficient, a Y-direction translation coefficient, a rotation parameter, and a scale parameter.

[0025] Furthermore, the plane coordinates of the sliding form locomotive body in the engineering coordinate system are calculated based on the following formula:

[0026]

[0027] Among them, (X, Y) represents the plane coordinates of the sliding form locomotive body in the engineering coordinate system, ▽X, ▽Y, K and θ represent the X-direction translation coefficient, Y-direction translation coefficient, scale parameter and rotation parameter respectively, X 高斯 and Y 高斯 They represent the projection coordinates of the longitude and latitude data of the control point measured by the RTK positioning antenna in the Gaussian plane coordinates. Gauss() represents the Gaussian projection function, and L and B represent the longitude and latitude data of the control point measured by the RTK positioning antenna, respectively.

[0028] In addition, the present invention also provides a mold synchronization control system for a slipform paving machine in a stepping process, comprising:

[0029] The displacement data acquisition module is used to obtain the forward displacement of the sliding mold machine body and the actual backward displacement of the mold in the stepping process in real time;

[0030] A double closed-loop PID control module is used to perform double closed-loop PID control in each control cycle based on the forward displacement of the sliding mode locomotive body, the actual backward displacement of the mold and the actual backward speed, so as to obtain a target adjustment value of the mold backward speed in each control cycle;

[0031] The mold drive motor control module is used to calculate a target adjustment value of the mold drive motor input current based on the target adjustment value of the mold retreat speed, and adjust the input current of the mold drive motor based on the target adjustment value.

[0032] In addition, the present invention also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0033] In addition, the present invention also provides a computer-readable storage medium for storing a computer program for synchronously controlling the mold in a stepping process of a slipform paving machine, wherein the computer program executes the steps of the method described above when running on a computer.

[0034] The present invention has the following beneficial effects:

[0035] The mold synchronization control method of the slipform paving machine in the stepping process of the present invention first obtains the forward displacement of the slipform locomotive body and the actual backward displacement of the mold in the stepping process in real time, and then performs double closed-loop PID control based on the forward displacement of the slipform locomotive body, the actual backward displacement of the mold and the actual backward speed in each control cycle to obtain the target adjustment value of the mold backward speed in each control cycle, and finally calculates the target adjustment value of the input current of the mold driving motor based on the target adjustment value of the mold backward speed, and adjusts the input current of the mold driving motor based on the target adjustment value. The present invention realizes the precise control of the mold speed and displacement in the stepping process by adopting the above-mentioned double closed-loop PID control, can ensure the synchronization of the displacement and speed of the mold with the slipform locomotive body in the stepping process, and has the advantages of fast response speed, high stability and reliability.

[0036] In addition, the mold synchronization control system of the slipform paving machine of the present invention in the stepping process also has the above advantages.

[0037] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0039] Figure 1 It is a structural schematic diagram of a slipform paver of a preferred embodiment of the present application;

[0040] Figure 2 It is a flow chart of a mold synchronization control method of a slipform paver in a stepping process according to a preferred embodiment of the present application;

[0041] Figure 3 yes Figure 2 Schematic diagram of the sub-process of step S1;

[0042] Figure 4 yes Figure 2 Schematic diagram of the sub-process of step S2;

[0043] Figure 5 It is a logic diagram of the double closed-loop PID control of the preferred embodiment of the present application;

[0044] Figure 6 It is a schematic diagram of the module structure of a mold synchronization control system of a slipform paver in a stepping process according to another embodiment of the present application.

[0045] Description of Reference Numerals

[0046] 1. Sliding formwork machine body; 2. Computer; 3. Outrigger; 4. Conveyor belt; 5. Slide rail; 6. Sprocket chain; 7. Track; 8. Mould; 9. Screw conveyor auger. DETAILED DESCRIPTION

[0047] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0048] like Figure 1As shown, the slipform paver involved in the present invention includes a slipform machine body 1, a walking system, a concrete conveying system, a mold horizontal pushing and sliding system, wherein the slipform machine body 1 includes a frame, and a dual-axis inclinometer is installed on the frame to measure the inclination angle of the body in the front and rear directions and the left and right directions; the walking system includes three legs 3, which are fixedly connected to the slipform machine body 1 and are used to adjust the height between the slipform machine body 1 and the ground. The legs 3 are distributed on the left, right and rear sides of the slipform machine body 1 and are driven by a hydraulic cylinder. The cylinder contains a stroke sensor for measuring the height of the legs 3. A crawler 7 is arranged under each leg 3 to control the walking and steering of the slipform machine body 1. The steering of the crawler 7 is driven by a hydraulic cylinder, and an angle sensor is arranged at the hinge of the cylinder to measure the steering angle of the crawler 7; the concrete conveying system mainly includes a spiral conveying auger 9 and a conveying Belt 4, when working, after the concrete enters the spiral conveying auger 9, the concrete is transported to the conveying belt 4 through the spiral conveying auger 9, and the conveying belt 4 rotates to transport the concrete to the feeding port of the mold 8; the mold horizontal pushing and sliding system includes a horizontal pushing mechanism, a mold mounting device and a sliding mechanism. The horizontal pushing mechanism is specifically two telescopic cylinders. The direction of the cylinder is perpendicular to the forward direction of the vehicle body and is arranged one after the other. The cylinder contains a stroke sensor to measure the stroke of the cylinder. The end of the cylinder is fixedly connected to the sliding mechanism. When the cylinder is extended or retracted, it drives the sliding mechanism to move along the left and right directions of the vehicle body. The sliding mechanism includes a slide rail 5 and a sprocket chain 6. The mold 8 is installed on the sliding mechanism through a mounting device. The sprocket chain 6 can drive the mold 8 to slide back and forth on the slide rail 5. The length of the slide rail 5 is 4m. An angle sensor is installed on the motor that drives the sprocket to rotate to measure the stroke of the mold 8 on the slide rail 5. In addition, the sliding form machine body 1 is also equipped with a positioning system module, which specifically includes an RTK vehicle terminal, an RTK base station, an RTK mobile station, a total station, a communication radio and a 360° prism. The RTK vehicle terminal includes a host and an RTK positioning antenna and an RTK directional antenna. The antenna and the host are installed on the sliding form machine body 1. The host communicates with the computer 2 through a serial port. During the construction process, the position and heading angle information of the sliding form machine are measured in real time and transmitted to the control system software of the computer 2. The RTK base station is set up at the control point of the construction site when working. The RTK mobile station is used in conjunction with the RTK base station to measure the geographic coordinates of the control point of the construction site. The 360° prism is installed on the vehicle body, and the total station is set up on the ground. It communicates with the computer 2 through a radio. When working, it continuously tracks the prism and transmits the prism coordinates to the computer 2. In the stepping process, the sliding form machine body 1 drives the slide rail 5 to move forward, and the mold 8 moves backward along the slide rail 5 driven by the motor.It can be understood that the mechanical structure of the slipform paver belongs to the prior art. For details, reference can be made to the patent CN116084243A previously applied for by the applicant. The improvement of the slipform paver of the present invention compared with the patent CN116084243A lies in: adding a total station, a communication radio station and a 360° prism, and changing the driving mode of the sprocket rotation from a motor to an electric motor.

[0049] Understandable, refer to Figure 2 The preferred embodiment of the present application provides a mold synchronization control method for a slipform paving machine in a stepping process, comprising the following contents:

[0050] Step S1: Real-time acquisition of the forward displacement of the sliding mold machine body and the actual backward displacement of the mold in the stepping process;

[0051] Step S2: In each control cycle, a double closed-loop PID control is performed based on the forward displacement of the sliding mode locomotive body, the actual backward displacement of the mold, and the actual backward speed, to obtain a target adjustment value of the mold backward speed in each control cycle;

[0052] Step S3: Calculate a target adjustment value of the input current of the mold drive motor based on the target adjustment value of the mold retreat speed, and adjust the input current of the mold drive motor based on the target adjustment value.

[0053] It can be understood that the mold synchronization control method of the slipform paving machine in the stepping process of this embodiment first obtains the forward displacement of the slipform locomotive body and the actual backward displacement of the mold in the stepping process in real time, and then performs double closed-loop PID control based on the forward displacement of the slipform locomotive body, the actual backward displacement of the mold and the actual backward speed in each control cycle to obtain the target adjustment value of the mold backward speed in each control cycle, and finally calculates the target adjustment value of the input current of the mold drive motor based on the target adjustment value of the mold backward speed, and adjusts the input current of the mold drive motor based on the target adjustment value. The present invention realizes the precise control of the mold speed and displacement in the stepping process by adopting the above-mentioned double closed-loop PID control, can ensure the synchronization of the displacement and speed of the mold with the slipform locomotive body in the stepping process, and has the advantages of fast response speed, high stability and reliability.

[0054] It is understandable that Figure 3 As shown, in the step S1, the process of obtaining the forward displacement of the sliding form machine body in the stepping process in real time includes the following contents:

[0055] Step S11: Calculate the positioning conversion parameters between the geographic coordinate system and the engineering coordinate system of the construction site;

[0056] Step S12: In the stepping process, the plane coordinates of the sliding form locomotive body in the geographic coordinate system are measured in real time, and the plane coordinates of the sliding form locomotive body in the engineering coordinate system are calculated in combination with the positioning conversion parameters;

[0057] Step S13: Calculate the forward displacement based on the plane coordinates of the sliding form machine body before and after the displacement.

[0058] Specifically, the real-time positioning of the sliding form machine body can be achieved through RTK, while the RTK vehicle-mounted terminal directly measures the accuracy, latitude and elevation data of the WGS84 geographic coordinate system, which cannot be used directly. Therefore, it is necessary to establish a conversion relationship between the geographic coordinate system and the engineering coordinate system of the construction site in order to realize the real-time positioning of the sliding form machine in the engineering coordinate system. Before construction, an RTK base station is set up in an open area of ​​the construction site. When the RTK mobile station reaches a fixed solution state, the RTK mobile station is set up on three known construction site control points to measure the longitude L, latitude B and elevation data H of the construction site control points. Among them, the engineering coordinate system coordinates of the construction site control points are known, and the B, L, H data of the construction site control points and the engineering system coordinates are respectively input into the automatic sliding form control system software, and the software can automatically calculate the positioning conversion parameters, including the X-axis translation coefficient ▽X, the Y-axis translation coefficient ▽Y, the scale parameter K and the rotation parameter θ. Among them, the specific calculation process of the positioning conversion parameters belongs to the prior art and will not be repeated here. In addition, the positioning conversion parameters can be accurately positioned in areas within a certain range, so this step only needs to be performed once before each construction.

[0059] Then, after the slipform paver is in place at the construction site, complete other preparations such as concrete, confirm that the RTK vehicle terminal is in a fixed state, and click the "Start Slipform" button in the slipform control system software. At this time, the slipform machine body is stationary, and the mold begins to slide from the tail end to the front end along the slide rail at the set speed. At the same time, the concrete delivery system begins to inject concrete into the mold. Under the action of the vibration system, a concrete structure of a predetermined shape is formed on the path after the mold slides, until the mold slides to the front end of the slide rail, and the slipform process ends. After the slipform process is completed, the mold moves to the front end of the slide rail. At this time, click the "Step Start" button in the slipform control system software, the slipform machine body moves forward along the planned route, and the mold begins to slide backward along the slide rail, starting the stepping process.

[0060] In the stepping process, the plane coordinates of the sliding form locomotive body in the geographic coordinate system are measured in real time by the RTK vehicle-mounted terminal, and the plane coordinates of the sliding form locomotive body in the engineering coordinate system can be calculated by combining the above positioning conversion parameters. Specifically, the plane coordinates of the sliding form locomotive body in the engineering coordinate system are calculated based on the following formula:

[0061]

[0062] Among them, (X, Y) represents the plane coordinates of the sliding form locomotive body in the engineering coordinate system, ▽X, ▽Y, K and θ represent the X-direction translation coefficient, Y-direction translation coefficient, scale parameter and rotation parameter respectively, X 高斯 and Y 高斯 They represent the projection coordinates of the longitude and latitude data of the control point measured by the RTK positioning antenna in the Gaussian plane coordinates. Gauss() represents the Gaussian projection function, and L and B represent the longitude and latitude data of the control point measured by the RTK positioning antenna, respectively.

[0063] Then, the forward displacement can be calculated based on the plane coordinates of the sliding form machine body before and after the displacement. For example, the plane coordinates of the sliding form machine body in the engineering coordinate system at a certain moment are P1(X 车1 , Y 车1 ), after a control cycle of forward movement, its plane coordinates in the engineering coordinate system are P2(X 车2 , Y 车2 ), then the forward displacement of the sliding mode locomotive body in one control cycle is:

[0064] It can be understood that the present invention adopts the RTK positioning method to calculate the forward displacement of the slipform machine body, making full use of the existing RTK vehicle-mounted terminal of the slipform paver. There is no need to set up a displacement sensor separately to collect the forward displacement of the slipform machine body, thus reducing costs.

[0065] In addition, the actual backward displacement of the mold in the stepping process can be indirectly measured by the angle sensor on the motor. Of course, in other embodiments of the present invention, a special displacement sensor can be installed to measure the forward displacement of the sliding mold body and the backward displacement of the mold in the stepping process respectively.

[0066] It is understandable that Figure 4 As shown, in the step S2, the process of performing double closed-loop PID control based on the forward displacement of the sliding mold body, the actual backward displacement of the mold and the actual backward speed to obtain the target adjustment value of the mold backward speed in each control cycle includes the following:

[0067] Step S21: taking the displacement difference between the forward displacement of the sliding form locomotive body and the actual backward displacement of the mold as the control target, using PID control to calculate the target adjustment value of the mold backward displacement in the current control cycle, and calculating the target backward speed of the mold in the current control cycle based on the target adjustment value of the mold backward displacement;

[0068] Step S22: Taking the speed difference between the target retreat speed and the actual retreat speed of the mold as the control target, PID control is used to calculate and obtain the target adjustment value of the mold retreat speed in the current control cycle.

[0069] Specifically, Figure 5 As shown, in the first closed-loop PID control structure, the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold is used as the control target, that is, the displacement difference is zero or close to zero, and the PID control is used to calculate the target adjustment value of the mold backward displacement in the current control cycle. Specifically, the target adjustment value of the mold backward displacement in the current control cycle is calculated based on the following formula:

[0070] ΔL=K p ×(ΔL0-ΔL1)+K i ×ΔL0+K d ×(ΔL0-2×ΔL1+ΔL2)

[0071] Among them, ΔL represents the target adjustment value of the mold retreat displacement in the current control cycle, ΔL0 represents the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold in the current control cycle, ΔL1 represents the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold in the previous control cycle, ΔL2 represents the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold in the previous control cycle, and K p , K i and K d Represent the proportional coefficient, integral coefficient and differential coefficient respectively. Among them, ΔL i =L 车i -L 模i ,i=0,1,2,L 车i and L 模i They represent the forward displacement of the sliding form body and the actual backward displacement of the mold in the i-th control cycle. Then, based on the target adjustment value of the mold backward displacement in the current control cycle and the actual backward displacement, the target backward displacement of the mold L can be calculated. 模，目标 , and then the target retreat speed V of the mold in the current control cycle can be calculated 模，目标 , which can be expressed as: Indicates the time length of a control cycle. It can be understood that in each control cycle, the sliding form machine body and the mold are considered to move at a uniform speed. In addition, the stepping process is evenly divided into several control cycles, and the time length of a single control cycle can be set according to actual needs.

[0072] In the second closed-loop PID control structure, the target retreat speed V of the mold is obtained based on the above steps. 模，目标 , then based on the actual retreat displacement of the mold, the actual retreat speed V of the mold in the current control cycle can be calculated 模，实际 , and then the target retreat speed V of the mold 模，目标 and the actual backward speed V 模，实际 The speed difference between the two is taken as the control target, that is, the speed difference is zero or close to zero, and the target adjustment value of the mold retreat speed in the current control cycle is calculated by PID control. Specifically, the target adjustment value of the mold retreat speed in the current control cycle is calculated based on the following formula:

[0073] ΔV=K p ×(ΔV0-ΔV1)+K i ×ΔV0+K d ×(ΔV0-2×ΔV1+ΔV2)

[0074] Wherein, ΔV represents the target adjustment value of the mold's retreat speed in the current control cycle, ΔV represents the speed difference between the target retreat speed and the actual retreat speed of the mold in the current control cycle, ΔV1 represents the speed difference between the target retreat speed and the actual retreat speed of the mold in the previous control cycle, ΔV2 represents the speed difference between the target retreat speed and the actual retreat speed of the mold in the previous control cycle, and K p , K i and K d They represent the proportional coefficient, integral coefficient and differential coefficient respectively. In addition, the PID parameters in the second-layer closed-loop PID control structure can be the same as or different from those in the first-layer closed-loop PID control structure.

[0075] It can be understood that the present invention constructs a double-layer closed-loop PID control structure. The first layer of the closed loop takes the difference between the forward displacement of the slipform machine body and the actual backward displacement of the mold as the target, and calculates the target displacement of the mold retreat within a control cycle through PID control, and then calculates the target backward speed of the mold within a control cycle. The second layer of the closed loop takes the output of the first layer of the closed loop as input, takes the difference between the target backward speed of the mold and the actual backward speed as the target, and calculates the target adjustment value of the mold backward speed through PID control. The movement speed of the mold is determined by the input current of the mold drive motor, and the input current adjustment value of the drive motor can be calculated based on the target adjustment value of the mold backward speed. Through the above-mentioned double closed-loop control system, precise control of the mold speed and displacement in the stepping process is achieved, ensuring the synchronization of the mold displacement and speed of the slipform paver during the stepping process, and has the advantages of fast response speed, high stability and reliability.

[0076] It can be understood that in step S3, after the target adjustment value of the mold retreat speed is calculated by the above-mentioned double closed-loop PID control, the target adjustment value of the drive motor input current can be calculated based on the calculation relationship between the drive motor input current and the motor output linear velocity ΔI=F(ΔV), ΔI represents the target adjustment value of the drive motor input current, ΔV represents the target adjustment value of the mold retreat speed, and F() represents the functional relationship between the two, which is known. Among them, the retreat speed of the mold is the motor output linear velocity. Then, the input current of the drive motor can be adjusted based on the target adjustment value of the drive motor input current. In addition, in the entire stepping process, the above-mentioned steps S1 to S3 are continuously executed, so that the displacement of the slipform paver body forward and the mold retreat at any time remains consistent, until the mold retreats to the end of the slide rail, the slipform machine stops moving forward, and the stepping process ends.

[0077] In addition, if Figure 6 As shown, another embodiment of the present invention further provides a mold synchronization control system for a slipform paving machine in a stepping process, preferably using the mold synchronization control method as described above, the system comprising:

[0078] The displacement data acquisition module is used to obtain the forward displacement of the sliding mold machine body and the actual backward displacement of the mold in the stepping process in real time;

[0079] A double closed-loop PID control module is used to perform double closed-loop PID control in each control cycle based on the forward displacement of the sliding mode locomotive body, the actual backward displacement of the mold and the actual backward speed, so as to obtain a target adjustment value of the mold backward speed in each control cycle;

[0080] The mold drive motor control module is used to calculate a target adjustment value of the mold drive motor input current based on the target adjustment value of the mold retreat speed, and adjust the input current of the mold drive motor based on the target adjustment value.

[0081] It can be understood that the mold synchronization control system of the slipform paving machine of this embodiment in the stepping process first obtains the forward displacement of the slipform locomotive body and the actual backward displacement of the mold in the stepping process in real time, and then performs double closed-loop PID control based on the forward displacement of the slipform locomotive body, the actual backward displacement of the mold and the actual backward speed in each control cycle to obtain the target adjustment value of the mold backward speed in each control cycle, and finally calculates the target adjustment value of the input current of the mold drive motor based on the target adjustment value of the mold backward speed, and adjusts the input current of the mold drive motor based on the target adjustment value. The present invention realizes the precise control of the mold speed and displacement in the stepping process by adopting the above-mentioned double closed-loop PID control, can ensure the synchronization of the displacement and speed of the mold with the slipform locomotive body in the stepping process, and has the advantages of fast response speed, high stability and reliability.

[0082] In addition, another embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0083] In addition, another embodiment of the present invention further provides a computer-readable storage medium for storing a computer program for synchronously controlling the molds of a slipform paving machine in a stepping process, wherein the computer program executes the steps of the method described above when running on a computer.

[0084] The general form of computer readable storage media includes: floppy disk, flexible disk, hard disk, magnetic tape, any other magnetic medium, CD-ROM, any other optical medium, punch cards, paper tape, any other physical medium with a pattern of holes, random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), flash erasable programmable read-only memory (FLASH-EPROM), any other memory chip or cartridge, or any other medium that can be read by a computer. The instructions can further be transmitted or received by a transmission medium. The term transmission medium can include any tangible or intangible medium that can be used to store, encode or carry instructions for execution by a machine, and includes digital or analog communication signals or other intangible media that facilitate the communication of the above instructions. Transmission media include coaxial cables, copper wires and optical fibers, which include the wires of a bus used to transmit a computer data signal.

[0085] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code. The scheme in the embodiments of the present application can be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0086] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0087] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0088] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0089] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0090] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0091] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for synchronously controlling molds of a slipform paving machine in a stepping process, characterized in that: Includes the following: Real-time acquisition of the forward displacement of the sliding mold body and the actual backward displacement of the mold in the stepping process; In each control cycle, double closed-loop PID control is performed based on the forward displacement of the sliding form locomotive body, the actual backward displacement of the mold and the actual backward speed to obtain the target adjustment value of the mold backward speed in each control cycle; The target adjustment value of the input current of the mold driving motor is calculated based on the target adjustment value of the mold retreat speed, and the input current of the mold driving motor is adjusted based on the target adjustment value.

2. The mold synchronization control method of the slipform paving machine in the stepping process according to claim 1 is characterized in that: The process of performing double closed-loop PID control based on the forward displacement of the sliding form machine body, the actual backward displacement of the mold and the actual backward speed to obtain the target adjustment value of the mold backward speed in each control cycle includes the following: Taking the displacement difference between the forward displacement of the sliding form locomotive body and the actual backward displacement of the mold as the control target, PID control is used to calculate the target adjustment value of the mold backward displacement in the current control cycle, and the target backward speed of the mold in the current control cycle is calculated based on the target adjustment value of the mold backward displacement; The speed difference between the target retreat speed of the mold and the actual retreat speed is taken as the control target, and the target adjustment value of the mold retreat speed in the current control cycle is calculated using PID control.

3. The mold synchronization control method of the slipform paving machine in the stepping process according to claim 2 is characterized in that: The target adjustment value of the mold retreat displacement in the current control cycle is calculated based on the following formula: ΔL=K p ×(ΔL0-ΔL1)+K i ×ΔL0+K d ×(ΔL0-2×ΔL1+ΔL2) Among them, ΔL represents the target adjustment value of the mold retreat displacement in the current control cycle, ΔL0 represents the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold in the current control cycle, ΔL1 represents the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold in the previous control cycle, ΔL2 represents the displacement difference between the forward displacement of the sliding model locomotive body and the actual backward displacement of the mold in the previous control cycle, and K p , K i and K d They represent the proportional coefficient, integral coefficient and differential coefficient respectively.

4. The mold synchronization control method of the slipform paving machine in the stepping process according to claim 2 is characterized in that: The target adjustment value of the mold retreat speed in the current control cycle is calculated based on the following formula: ΔV=K p ×(ΔV0-ΔV1)+K i ×ΔV0+K d ×(ΔV0-2×ΔV1+ΔV2) Wherein, ΔV represents the target adjustment value of the mold's retreat speed in the current control cycle, ΔV represents the speed difference between the target retreat speed and the actual retreat speed of the mold in the current control cycle, ΔV1 represents the speed difference between the target retreat speed and the actual retreat speed of the mold in the previous control cycle, ΔV2 represents the speed difference between the target retreat speed and the actual retreat speed of the mold in the previous control cycle, and K p , K i and K d They represent the proportional coefficient, integral coefficient and differential coefficient respectively.

5. The mold synchronization control method of the slipform paving machine in the stepping process according to claim 1, characterized in that: The process of obtaining the forward displacement of the sliding form machine body in the stepping process in real time includes the following contents: Calculate the positioning conversion parameters between the geographic coordinate system and the engineering coordinate system of the construction site; In the stepping process, the plane coordinates of the sliding form locomotive body in the geographic coordinate system are measured in real time, and the plane coordinates of the sliding form locomotive body in the engineering coordinate system are calculated in combination with the positioning conversion parameters; The forward displacement is calculated based on the plane coordinates of the sliding form locomotive body before and after the displacement.

6. The mold synchronization control method of the slipform paving machine in the stepping process according to claim 5 is characterized in that: The positioning transformation parameters include an X-direction translation coefficient, a Y-direction translation coefficient, a rotation parameter, and a scale parameter.

7. The mold synchronization control method of the slipform paving machine in the stepping process according to claim 6 is characterized in that: The plane coordinates of the sliding form locomotive body in the engineering coordinate system are calculated based on the following formula: Among them, (X, Y) represents the plane coordinates of the sliding form locomotive body in the engineering coordinate system, ▽X, ▽Y, K and θ represent the X-direction translation coefficient, Y-direction translation coefficient, scale parameter and rotation parameter respectively, X 高斯 and Y 高斯 They represent the projection coordinates of the longitude and latitude data of the control point measured by the RTK positioning antenna in the Gaussian plane coordinates. Gauss() represents the Gaussian projection function, and L and B represent the longitude and latitude data of the control point measured by the RTK positioning antenna, respectively.

8. A mold synchronization control system for a slipform paving machine in a stepping process, characterized in that: include: The displacement data acquisition module is used to obtain the forward displacement of the sliding mold machine body and the actual backward displacement of the mold in the stepping process in real time; A double closed-loop PID control module is used to perform double closed-loop PID control in each control cycle based on the forward displacement of the sliding mode locomotive body, the actual backward displacement of the mold and the actual backward speed, so as to obtain a target adjustment value of the mold backward speed in each control cycle; The mold drive motor control module is used to calculate a target adjustment value of the mold drive motor input current based on the target adjustment value of the mold retreat speed, and adjust the input current of the mold drive motor based on the target adjustment value.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the method according to any one of claims 1 to 7 by calling the computer program stored in the memory.

10. A computer-readable storage medium for storing a computer program for synchronously controlling molds in a stepping process of a slipform paving machine, characterized in that: When the computer program is run on a computer, the steps of the method according to any one of claims 1 to 7 are executed.

Images