A milling control method and system for an electric milling machine

Abstract

The application discloses a kind of electric milling machine milling control method and system, belong to road maintenance machinery technical field;The application can determine milling mode according to target milling task accuracy, and based on the power source load and milling motor speed under the milling mode that has been determined, determine the milling machine walking speed adjustment strategy that makes the milling machine keep optimal power consumption, finally according to the milling machine walking speed adjustment strategy, control milling machine executes target task, makes the whole machine output power more reasonable, avoids that milling machine is in high power output state for a long time, solves the problem that traditional milling machine can only be passively output whole machine power according to external milling load power during operation, and construction energy consumption is high.

Description

Technical Field

[0001] This invention relates to a milling control method and system for an electric milling machine, belonging to the field of road maintenance machinery technology. Background Technology

[0002] Electric milling machines are important equipment in the field of road maintenance and construction. They are mainly used to remove old road surface materials (such as asphalt and concrete) for repair or repaving. Electric milling machines introduce electric motors as drive devices, which significantly widens the range of speed adjustment. The typical high-efficiency range is 50%-90% of the rated speed, and it can also output high torque at low speeds.

[0003] Currently, fine milling technology has been developed based on standard milling processes. The fine texture produced by fine milling can improve road surface smoothness and anti-skid performance, extending the service life of roads. In addition, the texture after fine milling increases the contact area, improving the adhesion between the newly laid asphalt layer and the old concrete or asphalt layer by 30%-50%. Therefore, ensuring the quality of the milling pattern has become the key to fine milling technology. Traditional milling machines can only passively output the power of the whole machine according to the external milling load during milling operations. They cannot adjust the travel speed and milling drum speed according to the progress of the task. The whole machine maintains a single output power, or even operates in the high power range all the time, resulting in high construction energy consumption. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a milling control method and system for an electric milling machine. This method can adjust the traveling speed of the milling machine according to different milling tasks, making the overall output power of the machine more reasonable and avoiding the milling machine from being in a high-power output state for a long time. This solves the problem that traditional milling machines can only passively output the overall power of the machine according to the power of external milling loads during operation, resulting in high construction energy consumption.

[0005] To solve the above-mentioned technical problems, the present invention is implemented using the following technical solution:

[0006] This invention provides a milling control method for an electric milling machine, comprising:

[0007] A milling control method for an electric milling machine includes:

[0008] Determine the milling mode based on the target milling accuracy.

[0009] Obtain the milling motor speed and power source load of the milling machine in a determined milling mode;

[0010] Based on the power source load and the milling motor speed, a milling machine travel speed adjustment strategy is determined to maintain the optimal power consumption of the milling machine.

[0011] The strategy is adjusted based on the milling machine's travel speed to control the milling machine to perform the target task.

[0012] Furthermore, determining the milling mode based on the target milling task accuracy includes:

[0013] If the target milling task includes fine milling patterns, the milling mode is a pattern mode that maintains the consistency of the milling texture; otherwise, the milling mode is an energy-saving mode.

[0014] Furthermore, obtaining the milling motor speed of the milling machine in the determined milling mode includes:

[0015] Obtain the travel speed and material throwing speed requirements of the milling machine in the current milling mode, and calculate the speed of the first milling motor;

[0016] If the milling machine's travel speed is 0, the speed of the first milling motor is calculated using the following formula:

[0017] ;

[0018] If the milling machine's travel speed is not 0, the speed of the first milling motor is calculated using the following formula:

[0019] ;

[0020] Indicates the speed of the first milling motor. This indicates the minimum milling drum speed under non-throwing conditions. This indicates the milling drum speed under throwing conditions. This indicates the transmission ratio of the milling drum.

[0021] Furthermore, the strategy for adjusting the milling machine travel speed to maintain optimal power consumption, based on the power source load and the milling motor speed, includes:

[0022] The power source load is the milling drum load;

[0023] If the power source load is not in the preset high-efficiency range at the current milling motor speed, the milling machine travel speed can be adjusted using the following formula:

[0024] ;

[0025] ;

[0026] ;

[0027] The indicated travel speed of the milling machine. This represents the minimum travel speed of the milling machine. This indicates the maximum walking speed;

[0028] This indicates the milling motor torque corresponding to the lower limit of the preset high-efficiency performance zone. This indicates the milling motor torque corresponding to the upper limit of the preset high-efficiency zone;

[0029] Indicates the speed of the first milling motor. Indicates the milling power coefficient. This indicates the cross-sectional area of ​​the milled surface.

[0030] Furthermore, the step of controlling the milling machine to perform the target task based on the milling machine travel speed adjustment strategy includes:

[0031] If the power source load exceeds the upper limit of the preset high-efficiency performance zone, the milling machine travel speed will be reduced to [the specified value]. ;

[0032] If the power source load is less than the preset lower limit of the high-efficiency performance zone, then the milling machine travel speed will be increased to [the desired speed]. .

[0033] Furthermore, obtaining the milling motor speed of the milling machine in the determined milling mode also includes:

[0034] Obtain the cutter head arrangement and the milling machine's travel speed in the current milling mode, which correspond to the precision milling pattern.

[0035] The speed of the second milling motor is calculated based on the cutter head arrangement corresponding to the fine milling pattern and the travel speed in the current milling mode.

[0036] Furthermore, the step of calculating the second milling motor speed based on the cutter head arrangement corresponding to the fine milling pattern and the travel speed in the current milling mode includes:

[0037] A model is established to maintain the consistency of the milling texture by relating the rotational speed of the second milling motor to the travel speed, as follows:

[0038] ;

[0039] This indicates the speed of the second milling motor. Indicates the milling-to-travel ratio. Indicates the travel speed of the milling machine. This indicates the parameter to be corrected.

[0040] Furthermore, the milling machine travel speed adjustment strategy, which determines the optimal power consumption of the milling machine based on the power source load and the milling motor speed, also includes:

[0041] The power source load is the total load of the vehicle.

[0042] If the power source load does not meet the preset threshold range, adjust the milling machine travel speed and the second milling motor speed.

[0043] Furthermore, the step of adjusting the milling machine travel speed and the second milling motor speed if the power source load does not meet the preset threshold range includes:

[0044] If the load of the power source is greater than the upper limit of the preset threshold range, the milling machine travel speed is reduced at a rate of 3m / min and the speed of the second milling motor is adjusted according to the relationship model between the speed of the second milling motor and the travel speed.

[0045] If the load of the power source is less than the lower limit of the preset threshold range, the milling machine travel speed is increased at a rate of 1m / min and the speed of the second milling motor is adjusted according to the relationship model between the speed of the second milling motor and the travel speed.

[0046] In another aspect, the present invention provides a milling control system for a milling machine, comprising:

[0047] The selection module is used to determine the milling mode based on the target milling task accuracy.

[0048] The acquisition module is used to acquire the milling motor speed and power source load of the milling machine in a determined milling mode;

[0049] The processing module is used to determine the milling machine travel speed adjustment strategy to maintain the optimal power consumption of the milling machine based on the power source load and the milling motor speed.

[0050] The control module is used to adjust the strategy according to the milling machine's travel speed and control the milling machine to perform the target task.

[0051] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0052] 1. This invention can determine the milling mode based on the target milling task accuracy and, based on the power source load and milling motor speed under the determined milling mode, determine the milling machine travel speed adjustment strategy to maintain the optimal power consumption of the milling machine. Finally, based on the milling machine travel speed adjustment strategy, the milling machine is controlled to perform the target task, making the overall machine output power more reasonable and avoiding the milling machine from being in a high power output state for a long time. This solves the problem that traditional milling machines can only passively output the overall machine power based on the power of external milling loads during operation, resulting in high construction energy consumption.

[0053] 2. In the energy-saving mode, the present invention adjusts the milling machine travel speed based on the speed of the first milling motor and the load of the milling drum, so that the power source load changes dynamically and is maintained in the preset high-efficiency range.

[0054] 3. In the pattern mode, the present invention adjusts the speed of the second milling motor based on the milling machine's travel speed and the preset threshold range of the total load of the vehicle, thereby advancing the completion time while maintaining the quality of the milling pattern and avoiding additional energy consumption. Attached Figure Description

[0055] Figure 1 This is a flowchart of a milling control method for an electric milling machine provided in an embodiment of the present invention;

[0056] Figure 2 This is a milling motor efficiency map provided in an embodiment of the present invention;

[0057] Figure 3 This is a flowchart of obtaining the speed of the second milling motor of a milling machine provided in an embodiment of the present invention;

[0058] Figure 4 This is a flowchart of adjusting the milling machine travel speed in pattern mode provided by an embodiment of the present invention. Detailed Implementation

[0059] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0060] Example 1

[0061] like Figure 1 As shown, a milling control method for an electric milling machine includes:

[0062] The milling mode is determined based on the target milling task accuracy. If the target milling task includes fine milling patterns, the milling mode is a pattern mode that maintains the consistency of the milling texture; otherwise, the milling mode is an energy-saving mode.

[0063] In energy-saving mode, the milling motor speed and power source load of the milling machine are obtained; specifically, the milling motor speed is obtained as follows:

[0064] Obtain the travel speed and material throwing speed requirements of the milling machine in the current milling mode, and calculate the speed of the first milling motor;

[0065] If the milling machine's travel speed is 0, the speed of the first milling motor is calculated using the following formula:

[0066] ;

[0067] If the milling machine's travel speed is not 0, the speed of the first milling motor is calculated using the following formula:

[0068] ;

[0069] Indicates the speed of the first milling motor. This indicates the minimum milling drum speed under non-throwing conditions. This indicates the milling drum speed under throwing conditions. This indicates the transmission ratio of the milling drum.

[0070] like Figure 2 As shown, based on the power source load and the milling motor speed, a milling machine travel speed adjustment strategy is determined to maintain optimal power consumption. Specifically:

[0071] The power source load is the milling drum load;

[0072] If the power source load is not in the preset high-efficiency range at the current first milling motor speed, the milling machine travel speed can be adjusted using the following formula:

[0073] ;

[0074] ;

[0075] ;

[0076] The indicated travel speed of the milling machine. This represents the minimum travel speed of the milling machine. This indicates the maximum walking speed;

[0077] This indicates the milling motor torque corresponding to the lower limit of the preset high-efficiency performance zone. This indicates the milling motor torque corresponding to the upper limit of the preset high-efficiency zone;

[0078] Indicates the speed of the first milling motor. Indicates the milling power coefficient. Indicates the cross-sectional area of ​​the milled surface;

[0079] In this embodiment, the milling power coefficient The value is 200, the milling drum speed is 95 RPM in the throwing state, and the transmission ratio is... The value is 16, therefore the speed of the first milling motor is... When the milling width and depth are 2m and 200mm respectively, the cross-sectional area of ​​the milled surface is... ,Will Figure 2 The region where the efficiency of the milling motor is greater than or equal to 95% is selected as the preset high-efficiency zone. From this, the milling motor torque corresponding to the upper limit of the preset high-efficiency zone can be obtained. The milling motor torque corresponding to the lower limit of the preset high-efficiency zone. ,so The value is 1.45. m / min , The value is 3.88 m / min ;

[0080] If the power source load exceeds the upper limit of the preset high-efficiency zone, the milling machine's travel speed will be reduced to [a certain value]. If the power source load is less than the preset lower limit of the high-efficiency performance zone, then the milling machine travel speed will be increased to [the desired speed]. This allows the power source load to change dynamically and remain within a preset high-performance range; when necessary, a travel control signal can also be sent through the vehicle-mounted travel control handle and / or touch screen interactive device to change the travel speed of the milling machine.

[0081] Pattern mode can be applied alone or on the road surface after milling in energy-saving mode; during road construction, energy-saving mode can be used first to complete the initial milling of the road surface, and then pattern mode can be used to perform fine milling of the road surface.

[0082] like Figure 3 As shown, in pattern mode, the milling motor speed and total power source load of the milling machine are obtained. Specifically, the milling motor speed is obtained as follows:

[0083] Obtain the cutter head arrangement and the milling machine's travel speed in the current milling mode, which correspond to the precision milling pattern.

[0084] Based on the cutter head arrangement corresponding to the precision milling pattern and the travel speed in the current milling mode, the rotational speed of the second milling motor is calculated, including:

[0085] A model is established to maintain the consistency of the milling texture by relating the rotational speed of the second milling motor to the travel speed, as follows:

[0086] ;

[0087] This indicates the speed of the second milling motor. Indicates the travel-milling ratio. Indicates the travel speed of the milling machine. This indicates the parameter to be corrected.

[0088] like Figure 4 As shown, based on the power source load and the milling motor speed, a milling machine travel speed adjustment strategy is determined to maintain optimal power consumption. Specifically:

[0089] The power source load is the total load of the vehicle.

[0090] If the power source load exceeds the upper limit of the preset threshold range, the milling machine travel speed is reduced at a rate of 3 m / min, and the speed of the second milling motor is adjusted according to the relationship model between the speed of the second milling motor and the travel speed. If the power source load is less than the lower limit of the preset threshold range, the milling machine travel speed is increased at a rate of 1 m / min, and the speed of the second milling motor is adjusted according to the relationship model between the speed of the second milling motor and the travel speed. Under the premise of maintaining the quality of the milled pattern, the completion time is advanced, and additional energy consumption is avoided.

[0091] Example 2

[0092] A milling control system for a milling machine, comprising:

[0093] The selection module is used to determine the milling mode based on the target milling task accuracy.

[0094] The acquisition module is used to acquire the milling motor speed and power source load of the milling machine in a determined milling mode;

[0095] The processing module is used to determine the milling machine travel speed adjustment strategy to maintain the optimal power consumption of the milling machine based on the power source load and the milling motor speed.

[0096] The control module is used to adjust the strategy according to the milling machine's travel speed and control the milling machine to perform the target task.

[0097] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature.

[0098] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage CD-ROMs, optical storage, etc.) containing computer-usable program code.

[0099] This application is described with reference to flowchart illustrations of methods, apparatus (systems), and computer program products according to embodiments of this application. It should be understood that each step in the flowchart can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the processes. Figure 1 One or more processes or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0100] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 The function specified in one or more processes.

[0101] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 Steps of a specified function in one or more processes.

[0102] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A milling control method for an electric motorized milling machine, characterized in that, The method comprises the following steps: determining a milling mode according to the accuracy of the target milling task, comprising: if the target milling task includes fine milling patterns, the milling mode is a pattern mode for maintaining consistency of the milling texture; otherwise, the milling mode is an energy-saving mode; obtaining the milling motor speed and the power source load of the milling machine under the determined milling mode; determining a milling machine walking speed adjustment strategy for maintaining optimal power consumption of the milling machine based on the power source load and the milling motor speed, comprising: wherein the power source load is the milling drum load; if the power source load is not in the preset performance efficient zone at the current milling motor speed, adjusting the milling machine walking speed by the following formula: ； ； ； a milling machine travel speed, a milling machine travel speed minimum value, a travel speed maximum value; represents the milling motor torque corresponding to the lower limit of the preset performance efficient region, represents the milling motor torque corresponding to the upper limit of the preset performance efficient region; represents the first milling motor speed, represents the milling power coefficient, represents the milling area of the milling face; controlling the milling machine to perform the target task according to the milling machine walking speed adjustment strategy.

2. The electric milling control method of claim 1, characterized in that, The method further comprises the following steps: obtaining the milling motor speed of the milling machine under the determined milling mode, comprising: obtaining the walking speed and the material throwing speed requirement of the milling machine under the current milling mode, calculating the first milling motor speed; ； if the milling machine walking speed is 0, calculating the first milling motor speed by the following formula: ； represents the first milling motor speed, represents the minimum milling drum speed in non-throwing mode, represents the milling drum speed in throwing mode, represents the milling drum transmission ratio.

3. The electric milling control method of claim 1, characterized in that, if the milling machine walking speed is not 0, calculating the first milling motor speed by the following formula: If the power source load is greater than the upper limit of the preset performance efficient region, the milling and plowing machine walking speed is reduced to ; If the power source load is less than the preset performance efficient region lower limit, the milling and planing machine walking speed is increased to .

4. The electric milling control method of claim 1, characterized in that, controlling the milling machine to perform the target task according to the milling machine walking speed adjustment strategy, comprising: The method further comprises the following steps: obtaining the milling motor speed of the milling machine under the determined milling mode, further comprising:

5. The electric milling control method of claim 4, characterized in that, obtaining the tool head arrangement mode corresponding to the fine milling pattern and the walking speed of the milling machine under the current milling mode; calculating the second milling motor speed according to the tool head arrangement mode corresponding to the fine milling pattern and the walking speed under the current milling mode. ； represents the second milling motor speed, represents the milling-travel ratio, represents the milling machine travel speed, represents the correction parameter.

6. The electric milling control method of claim 5, characterized in that, The method further comprises the following steps: establishing a relationship model between the second milling motor speed and the walking speed for maintaining consistency of the milling texture, expressed as: The method further comprises the following steps:

7. The electric milling control method of the electric milling machine according to claim 6, characterized in that, wherein the power source load is the total load of the whole vehicle; if the power source load does not meet the preset threshold range, adjusting the milling machine walking speed and the second milling motor speed. The method further comprises the following steps:

8. A milling control system for an electric motorized milling machine, characterized in that, if the power source load is greater than the upper limit of the preset threshold range, reducing the milling machine walking speed at a rate of 3 m / min and adjusting the second milling motor speed according to the relationship model between the second milling motor speed and the walking speed; if the power source load is less than the lower limit of the preset threshold range, increasing the milling machine walking speed at a rate of 1 m / min and adjusting the second milling motor speed according to the relationship model between the second milling motor speed and the walking speed. The method comprises the following steps: a selection module is configured to determine a milling mode according to the accuracy of the target milling task, comprising: if the target milling task includes fine milling patterns, the milling mode is a pattern mode for maintaining consistency of the milling texture; otherwise, the milling mode is an energy-saving mode; an obtaining module is configured to obtain the milling motor speed and the power source load of the milling machine under the determined milling mode; The processing module is configured to determine, based on the power source load and the milling motor speed, a milling machine traveling speed adjustment strategy for keeping the milling machine at optimal power consumption, including: The power source load is a milling drum load. If the power source load is not in the preset performance efficient region at the current milling motor speed, the milling machine traveling speed is adjusted by the following formula: ； ； ； indicates a milling machine travel speed, indicates a milling machine travel speed minimum, indicates a travel speed maximum; represents the milling motor torque corresponding to the lower limit of the preset performance efficient region, represents the milling motor torque corresponding to the upper limit of the preset performance efficient region; represents the first milling motor speed, represents the milling power coefficient, represents the milling construction plane cross-sectional area; The control module is configured to control the milling machine to perform a target task according to the milling machine traveling speed adjustment strategy.

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