Fixed value leveling method

Abstract

The invention relates to a constant value leveling method, and belongs to the field of leveling control. And when the leveling control quantity is specifically calculated, the leveling control quantity is calculated according to the storage value of the current action zero point variable of the corresponding action condition in a serial mode, and the leveling control quantity is calculated according to the storage value of the current global action zero point variable in a parallel mode. And after leveling is completed, the process of storing the parameters is started under the condition that the parameters are modified, the modified action zero point parameters are stored at regular time, and all the landing leg actions are stopped. In the parameter storage completion processing flow, the return state of the stored parameter is inquired when the parameter storage is completed, the corresponding indicator light is turned on when the parameter storage is successful, the indicator light is turned off after being delayed for a period of time, an operator is prompted that the parameter storage is successful, otherwise, the indicator light is turned off, the operator is prompted that the parameter storage is not successful, and the reason can be further searched.

Description

Technical Field

[0001] The invention belongs to the field of leveling control and relates to a fixed value leveling method. Background Art

[0002] Leveling control technology is widely used in industrial and agricultural production activities and plays a huge role. There are many kinds of leveling implementation methods, each with its own characteristics. Among them, a fixed-value leveling method invented by the author is more flexible and faster than these methods. However, in practice, it is also found that the process of adjusting the action zero point is too cumbersome. This process is specifically described in the author's "A method of using the combination keys of the original switches on the control panel to modify the control program running parameters". The advantage of fixed-value control lies precisely in adjusting the action zero point parameters, and this cumbersomeness makes it inconvenient to use. Summary of the invention

[0003] The technical problems to be solved by the present invention are:

[0004] In order to avoid the shortcomings of the prior art, the present invention provides a fixed value leveling method, which can achieve simple and fast fixed value leveling.

[0005] The author's aforementioned fixed-value leveling method is divided into two methods: serial leveling and parallel leveling.

[0006] If the former is adopted, due to the uneven distribution of vehicle weight, the action zero points of different action situations will be different. For example, there are differences in the action zero points of the front two, rear two, left two, and right two legs in four-point leveling. In the extreme case, leveling a certain axis requires a single leg instead of the conventional two-leg action, such as the left front, right front, left rear, and right rear single leg. There are also differences in the action zero points. Therefore, the current action zero point variables of these different motion situations are set in the program to save the current action zero point. At the same time, the action zero point temperature segment table of all temperature segments of these different action situations is set in the parameter table. The program reads the action zero point parameters of the corresponding temperature segment of the corresponding motion situation according to the current temperature and assigns the current action zero point variable of the corresponding action situation.

[0007] If the latter is adopted, the current action zero-point variables of different action conditions will all be unified as the current global action zero-point variable. At the same time, the average value of all action zero points in the same temperature segment or the average value biased towards the maximum value (bias value ≤ the difference between the maximum value and the average value) is taken to establish a global action zero-point temperature segment table. The program reads the action zero-point parameters of the corresponding global temperature segment according to the current temperature and assigns them to the current global action zero-point variable.

[0008] When specifically calculating the leveling control amount, the leveling control amount is calculated in serial mode by the stored value of the current action zero point variable corresponding to the action situation, and in parallel mode by the stored value of the current global action zero point variable.

[0009] In each leveling action branch, before calculating the corresponding outrigger control amount, add a detection of the rotation of the retract / erect knob. When the operator determines that the leveling action is overshoot or undershoot, he can rotate the retract / erect knob at the same time to notify the leveling sub-process to adjust the action zero point in time. If the rotation action is detected to occur at the same time during the leveling action, the current (global) action zero point variable is reduced / increased. If it is reduced, in the serial leveling mode, the action zero point of the opposite outrigger (not the current outrigger) of the current outrigger is reduced, while the parallel mode undoubtedly reduces the global action zero point. Since the running cycle of the leveling sub-process is in the order of tens of milliseconds, the unit reduction / increase amount should be appropriately set. At the same time, the operator can control the total amount of reduction / increase for the current (global) action zero point by controlling the duration of rotation to retract / erect. The total amount is different for different durations (human reaction speed is a few tenths of a second). The leveling control amount calculated based on this also decreases / increases synchronously, realizing timely adjustment for the overshoot / lack of force caused by the excessively high / low motion zero point, and at the same time updating the corresponding temperature segment (global) action zero point parameter unit with the changed value according to the current temperature and the leveling serial and parallel mode. When no rotation occurs, the current (global) action zero point remains unchanged, and the leveling control amount calculated based on this also remains unchanged, and the leveling process does not have the phenomenon of overshoot / lack of force and proceeds normally.

[0010] When the leveling is completed, the parameter saving process is started under the condition of the modified parameters, the modified action zero point parameters are saved at a certain time, and all outrigger actions are stopped.

[0011] The parameter saving completion process queries the return status of the saved parameters when the parameter saving is completed. If successful, the corresponding indicator light will be turned on and off after a delay, prompting the operator that the parameter saving is successful. Otherwise, the indicator light will be off, prompting the operator that the parameter saving is unsuccessful, which is convenient for further finding the cause.

[0012] The simple and fast fixed value leveling process and the parameter saving completion process run in parallel in the main loop. The two processes are shown in the attached Figure 1 , 2 shown.

[0013] The concise and fast fixed value leveling process method and steps are detailed as follows:

[0014] 1) Retrieve all (including global) action zero point temperature parameter tables according to the current temperature, and set the (global) action zero point variables of all outrigger actions;

[0015] 2) If the rough leveling is not completed, perform the rough leveling and then go to 9);

[0016] Otherwise, if the rough leveling is completed, stop the rough leveling action first, and then go to 3); if the rough leveling action has been stopped, go directly to 3);

[0017] 3) If leveling is not completed, in each leveling action judgment branch, before calculating the corresponding leg control amount:

[0018] If the two legs are rotated and withdrawn at the same time, the action zero point variable of the opposite leg (global) of the current leg is reduced by a certain amount, and go to 4);

[0019] Otherwise, if the setup is rotated at the same time, increase the current (global) action zero point variable by a certain amount and go to 4); otherwise go to 5);

[0020] Otherwise, go to 7);

[0021] 4) Update the corresponding unit of the temperature parameter table (global) with the modified (global) action zero point according to the current temperature and the leveling serial and parallel mode, and set the modified parameter flag;

[0022] 5) According to the serial and parallel mode of leveling, the control amount = the value of the current (global) action zero point variable + the fixed value control amount;

[0023] 6) The control quantity is output to the corresponding outrigger, go to 9);

[0024] 7) If the modified parameter flag is true, clear the flag, start the parameter saving process, set the parameter saving start flag, and start the parameter saving timer for a certain number of seconds;

[0025] 8) Stop all outrigger movements;

[0026] 9) Return.

[0027] The steps for saving parameters and completing the processing flow are detailed as follows:

[0028] 1) If the parameter saving is started, if the parameter saving timer is reached, if the parameter saving is successful, if the corresponding indicator light is not on, then the corresponding indicator light is turned on to indicate that the parameter saving is successful, and the corresponding indicator light delay timer is started, and the delay timer is set to a certain period of time, and then go to 3); otherwise, if the corresponding indicator light delay timer is reached, then the corresponding indicator light is turned off, and the corresponding indicator light delay timer is stopped (clearing the parameter saving success flag);

[0029] 2) Clear the flag to start saving parameters, stop the timer to save parameters, and go to 3);

[0030] Otherwise, go to 3);

[0031] Otherwise, go to 2);

[0032] Otherwise, go to 3);

[0033] otherwise,

[0034] 3) Return.

[0035] The beneficial effects of the present invention are:

[0036] The fixed value leveling method provided by the present invention has the following advantages:

[0037] 1. The method is concise and clear;

[0038] 2. Move quickly. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0040] Figure 1 Simple and fast fixed value leveling flow chart.

[0041] Figure 2 Save the parameters to complete the processing flow chart.

[0042] Figure 3 Simple and fast fixed value leveling process implementation diagram.

[0043] Figure 4 Save the parameters to complete the processing flow implementation diagram. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0045] Now, in combination with the embodiments and the attached Figure 3 , 4 The present invention is further described:

[0046] Example:

[0047] The schematic diagram of the embodiment of the present invention is attached Figure 3 , 4 .

[0048] The author's aforementioned constant value hydraulic leveling method is divided into two methods: serial leveling and parallel leveling.

[0049] If the former is adopted, due to the uneven distribution of vehicle weight, the action zero points of different action situations will be different. For example, there are differences in the action zero points of the front two, rear two, left two, and right two legs in four-point leveling. In the extreme case, leveling a certain axis requires a single leg instead of the conventional two-leg action, such as the left front, right front, left rear, and right rear single leg. There are also differences in the action zero points. Therefore, the current action zero point variables of these different motion situations are set in the program to save the current action zero point. At the same time, the action zero point temperature segment table of all temperature segments of these different action situations is set in the parameter table. The program reads the action zero point parameters of the corresponding temperature segment of the corresponding motion situation according to the current temperature and assigns the current action zero point variables of the corresponding action situation.

[0050] If the latter is adopted, the current action zero-point variables of different action conditions will all be unified as the current global action zero-point variable. At the same time, the average value of all action zero points in the same temperature segment or the average value biased towards the maximum value (bias value ≤ the difference between the maximum value and the average value) is taken to establish a global action zero-point temperature segment table. The program reads the action zero-point parameters of the corresponding global temperature segment according to the current temperature and assigns them to the current global action zero-point variable.

[0051] When specifically calculating the leveling control amount, the leveling control amount is calculated in serial mode by the stored value of the current action zero point variable corresponding to the action situation, and in parallel mode by the stored value of the current global action zero point variable.

[0052] In each leveling action branch, before calculating the corresponding outrigger control amount, add a detection of the rotation of the retract / erect knob. When the operator determines that the leveling action is overshoot or undershoot, he can rotate the retract / erect knob at the same time to notify the leveling sub-process to adjust the action zero point in time. If the rotation action is detected to occur at the same time during the leveling action, the current (global) action zero point variable is reduced / increased. If it is reduced, in the serial leveling mode, the action zero point of the opposite outrigger (not the current outrigger) of the current outrigger is reduced, while the parallel mode undoubtedly reduces the global action zero point. Since the running cycle of the leveling sub-process is in the order of tens of milliseconds, the unit reduction / increase amount should be appropriately set. At the same time, the operator can control the total amount of reduction / increase for the current (global) action zero point by controlling the duration from rotation to retract / erect. The total amount is different for different durations (the operator can freely choose between a fraction of a second and 1 second according to the specific situation). The leveling control amount calculated based on this also decreases / increases synchronously, realizing timely adjustment for the overshoot / lack of force caused by the excessively high / low motion zero point, and at the same time updating the corresponding temperature segment (global) action zero point parameter unit with the changed value according to the current temperature and the leveling serial and parallel mode. When no rotation occurs, the current (global) action zero point remains unchanged, and the leveling control amount calculated based on this also remains unchanged, and the leveling process does not have overshoot / lack of force and proceeds normally.

[0053] In actual execution, the operator can only find out the overshoot of the leveling action after at least a certain action and when the opposite outrigger is moving. At this time, the operator can turn the retraction knob and keep it for a short time to reduce the action zero point of the original (global) outrigger, thereby eliminating the overshoot; the operator can find out the lack of leveling force at the time. At this time, the operator can turn the erection knob and keep it for a short time to increase the action zero point of the current (global) outrigger and eliminate the lack of force. In this way, the overshoot and lack of force can be eliminated in the shortest time.

[0054] When the leveling is completed, the parameter saving process is started under the condition of the modified parameters. The modified action zero point parameters are saved after a time of 60 seconds, and all outrigger actions are stopped.

[0055] The parameter saving completion process queries the return status of the saved parameters when the parameter saving is completed. If successful, the corresponding indicator light will be turned on and off after a delay of 2S, prompting the operator that the parameter saving is successful. Otherwise, the indicator light will be off, prompting the operator that the parameter saving is unsuccessful, which is convenient for further finding the cause.

[0056] The simple and fast fixed value leveling process and the parameter saving completion process run in parallel in the main loop. The two processes are shown in the attached Figure 3 , 4 shown.

[0057] The concise and fast fixed value leveling process method and steps are detailed as follows:

[0058] 1) Retrieve all (including global) action zero point temperature parameter tables according to the current temperature, and set the (global) action zero point variables of all outrigger actions;

[0059] 2) If the rough leveling is not completed, perform the rough leveling and then go to 9);

[0060] Otherwise, if the rough leveling is completed, stop the rough leveling action first, and then go to 3); if the rough leveling action has been stopped, go directly to 3);

[0061] 3) If leveling is not completed, in each leveling action judgment branch, before calculating the corresponding leg control amount:

[0062] If the two legs are rotated and withdrawn at the same time, the action zero point variable of the opposite leg (global) of the current leg is reduced by a certain amount, and go to 4);

[0063] Otherwise, if the setup is rotated at the same time, increase the current (global) action zero point variable by a certain amount and go to 4); otherwise go to 5);

[0064] Otherwise, go to 7);

[0065] 4) Update the corresponding unit of the temperature parameter table (global) with the modified (global) action zero point according to the current temperature and the leveling serial and parallel mode, and set the modified parameter flag;

[0066] 5) According to the serial and parallel mode of leveling, the control amount = the value of the current (global) action zero point variable + the fixed value control amount;

[0067] 6) The control quantity is output to the corresponding outrigger, go to 9);

[0068] 7) If the modified parameter flag is true, clear the flag, start the parameter saving process, set the parameter saving start flag, and start the parameter saving timer for 60 seconds;

[0069] 8) Stop all outrigger movements;

[0070] 9) Return.

[0071] The steps for saving parameters and completing the processing flow are detailed as follows:

[0072] 1) If the parameter saving is started, if the parameter saving timer is set to 60S, if the parameter saving is successful, if the coarse leveling light is not on, then light up the coarse leveling light to indicate that the parameter saving is successful, and start the coarse leveling light delay timer, delay 2S, and go to 3); otherwise, if the coarse leveling light delay timer is set to 2S, turn off the coarse leveling light and stop the coarse leveling light delay timer (clear the parameter saving success flag);

[0073] 2) Clear the flag to start saving parameters, stop the timer to save parameters, and go to 3);

[0074] Otherwise, go to 3);

[0075] Otherwise, go to 2);

[0076] Otherwise, go to 3);

[0077] otherwise,

[0078] 3) Return.

[0079] Through the above method and steps, the leveling can be completed quickly and the algorithm is simple.

[0080] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A fixed value leveling method, characterized in that: include: 1) Retrieve all (including global) action zero point temperature parameter tables according to the current temperature, and set the (global) action zero point variables of all outrigger actions; 2) If the rough leveling is not completed, perform the rough leveling and then go to 9); Otherwise, if the rough leveling is completed, stop the rough leveling action first, and then go to 3); if the rough leveling action has been stopped, go directly to 3); 3) If leveling is not completed, in each leveling action judgment branch, before calculating the corresponding leg control amount: If the two legs are rotated and withdrawn at the same time, the action zero point variable of the opposite leg (global) of the current leg is reduced by a certain amount, and go to 4); Otherwise, if the setup is rotated at the same time, increase the current (global) action zero point variable by a certain amount and go to 4); otherwise go to 5); Otherwise, go to 7); 4) Update the corresponding unit of the temperature parameter table (global) with the modified (global) action zero point according to the current temperature and the leveling serial and parallel mode, and set the modified parameter flag; 5) According to the serial and parallel mode of leveling, the control amount = the value of the current (global) action zero point variable + the fixed value control amount; 6) The control quantity is output to the corresponding outrigger, go to 9); 7) If the modified parameter flag is true, clear the flag, start the parameter saving process, set the parameter saving start flag, and start the parameter saving timer for a certain number of seconds; 8) Stop all outrigger movements; 9) Return.

2. A fixed value leveling method according to claim 1, characterized in that: The parameter saving process is as follows: 1) If the parameter saving is started, if the parameter saving timer is reached, if the parameter saving is successful, if the corresponding indicator light is not on, then the corresponding indicator light is turned on to indicate that the parameter saving is successful, and the corresponding indicator light delay timer is started, and the delay timer is set to a certain period of time, and then go to 3); otherwise, if the corresponding indicator light delay timer is reached, then the corresponding indicator light is turned off, and the corresponding indicator light delay timer is stopped (clearing the parameter saving success flag); 2) Clear the flag to start saving parameters, stop the timer to save parameters, and go to 3); Otherwise, go to 3); Otherwise, go to 2); Otherwise, go to 3); otherwise, 3) Return.

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