Self-adaptive vibration rotating speed control method, system and device for paver and storage medium

Abstract

The invention discloses a self-adaptive vibration rotating speed control method, system and device for a paver and a storage medium, and belongs to the technical field of paver vibration control. The method comprises the following steps: judging whether vibration of the paver is in a starting stage; if in the starting stage, judging whether the target current of open-loop control in the starting stage is calibrated or not, and if so, calculating the control current based on the calibration current to control the vibration rotating speed; if not, taking the preset rotating speed as a target rotating speed, and outputting a control current by adopting an open-loop control method; if the starting stage is finished, a starting result of speed following is obtained, if speed following is started, a target rotating speed is determined according to the paving walking speed, and if speed following is not started, the preset rotating speed serves as the target rotating speed; if the closed-loop control switch is turned on and the speed sensor has no fault, a closed-loop PID control method is adopted to output control current; and otherwise, outputting the control current by adopting an open-loop control method. According to the invention, the vibration rotating speed can be adjusted.

Description

Technical Field

[0001] This invention belongs to the field of paver vibration control technology, specifically relating to an adaptive vibration speed control method, system, device, and storage medium for pavers. Background Technology

[0002] With the continuous development of science and technology and the construction of highway networks, higher requirements are being placed on the smoothness and density of road surfaces and subgrades. The paver is a key piece of equipment in road construction, and paving quality is a major factor affecting the quality of asphalt pavement. Paving quality, in turn, depends primarily on the reasonable matching and adjustment of the asphalt paver's operating parameters. Since the screed is in direct contact with the mixture, its properties directly reflect the paved road surface. In recent years, advanced compaction technologies such as double-vibration compaction, high-intensity pulse vibration compaction, and eccentric vibration compaction have been adopted for screeds.

[0003] However, existing methods for controlling the vibration speed generally suffer from the following problems:

[0004] (1) The vibration closed-loop speed cannot be effectively controlled when the paver starts. During the first two seconds of the starting stage, the vibration speed is switched to open-loop control. However, there is a speed difference between the vibration speed before the paver stops (closed-loop control) and the vibration speed during the starting stage (open-loop control), which causes the vibration frequency to be different between the starting paving area and other areas, resulting in under-compaction or over-compaction stripes; (2) At low speed, the vibration speed stability is poor, resulting in poor uniformity of the paving layer density. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide an adaptive vibration speed control method, system, device and storage medium for pavers, so as to ensure that the vibration frequency is consistent during the starting stage and other normal paving sections, thereby improving the construction quality of the road surface.

[0006] This invention provides the following technical solution:

[0007] In a first aspect, an adaptive vibration speed control method for a paver is provided, including: determining whether the paver vibration is in the initial stage;

[0008] If it is in the initial stage, it is determined whether the target current of the open-loop control in the initial stage has been calibrated. If it has been calibrated, the control current is calculated based on the calibrated current to control the vibration speed to reach the target speed. If it has not been calibrated, the preset speed is used as the target speed, and the open-loop control method is used to output the control current to control the vibration speed to reach the target speed.

[0009] If the initial phase has ended, obtain the starting result of speed following. If speed following is started, determine the target rotation speed based on the preset paving travel speed. If speed following is not started, use the preset rotation speed as the target rotation speed.

[0010] The system acquires the status information of the closed-loop control switch and the speed sensor. If the closed-loop control switch is open and the speed sensor is fault-free, the closed-loop PID control method is used to output control current to control the vibration speed to reach the target speed; otherwise, the open-loop control method is used to output control current to control the vibration speed to reach the target speed.

[0011] As an optional technical solution of the present invention, the calibration of the target current of the open-loop control in the start-up phase includes:

[0012] Set the vibration speed to the preset target speed and record the actual current value of the vibration solenoid valve every set time.

[0013] Calculate the average value of the actual current within the preset calibration period, and use the average value as the target current;

[0014] The target current is recalculated within each preset calibration cycle;

[0015] If the vibration speed changes, the target current should be recalibrated.

[0016] As an optional technical solution of the present invention, the step of calculating the control current based on the calibration current to control the vibration speed includes:

[0017] The control current is calculated based on the calibration current and expressed as:

[0018] ;

[0019] in, Indicates the first Control current per control cycle Indicates the starting current. Indicates the target current. Indicates the duration of the control cycle.

[0020] As an optional technical solution of the present invention, the step of using an open-loop control method to output a control current to control the vibration speed to achieve the target speed includes:

[0021] Using a fixed-ratio mapping method, the target speed is converted into the corresponding control current, expressed as:

[0022] ;

[0023] in, Indicates the first Control current per control cycle This represents the proportionality coefficient. Indicates the target rotational speed. This indicates the bias term.

[0024] As an optional technical solution of the present invention, if the starting speed follows, then determining the target rotation speed according to the preset paving walking speed includes:

[0025] There is a correspondence between the vibration following speed and the paving travel speed. The corresponding vibration following speed is determined based on the current paving travel speed, and the vibration following speed is used as the target speed.

[0026] As an optional technical solution of the present invention, in the process of outputting control current to control the vibration speed to reach the target speed, a sliding window filtering algorithm is used to process current fluctuations.

[0027] Secondly, an adaptive vibration speed control system for a paver is provided, comprising:

[0028] The initial phase judgment module is used to determine whether the paver's vibration is in the initial phase.

[0029] The calibration judgment module is used to determine whether the target current of the open-loop control in the initial stage has been calibrated if it is in the initial stage. If it has been calibrated, the control current is calculated based on the calibrated current to control the vibration speed to reach the target speed. If it has not been calibrated, the preset speed is used as the target speed, and the open-loop control method is used to output the control current to control the vibration speed to reach the target speed.

[0030] The speed following judgment module is used to obtain the start result of speed following if the starting phase has ended. If speed following is started, the target rotation speed is determined according to the preset paving walking speed. If speed following is not started, the preset rotation speed is used as the target rotation speed.

[0031] The control module is used to acquire the status information of the closed-loop control switch and the speed sensor. If the closed-loop control switch is open and the speed sensor is fault-free, the closed-loop PID control method is used to output control current to control the vibration speed to reach the target speed; otherwise, the open-loop control method is used to output control current to control the vibration speed to reach the target speed.

[0032] Thirdly, an apparatus is provided, comprising: a memory, a processor, and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the adaptive vibration speed control method for a paver as described in the first aspect.

[0033] Fourthly, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the adaptive vibration speed control method for a paver described in the first aspect.

[0034] Compared with the prior art, the beneficial effects of the present invention are:

[0035] The present invention provides an adaptive vibration speed control method for pavers. By calibrating the target current in the initial stage, the vibration speed in the initial stage can be rapidly and steadily increased, avoiding speed overshoot or undershoot, ensuring that the vibration frequency is consistent with other normal paving sections in the initial stage, and improving the construction quality of the road surface. Attached Figure Description

[0036] Figure 1 This is a flowchart illustrating the adaptive vibration speed control method for pavers in an embodiment of the present invention.

[0037] Figure 2 This is a schematic diagram of the speed control method of the ordinary vibration speed control method in the embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the speed control method in this embodiment of the invention. Detailed Implementation

[0039] 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.

[0040] Example 1

[0041] This embodiment provides an adaptive vibration speed control method for pavers. For example... Figure 1 As shown, it includes:

[0042] Step 1: Determine if the paver is in the initial stage of vibration compaction.

[0043] Step 2: If it is in the initial stage, determine whether the target current of the open-loop control in the initial stage has been calibrated. If it has been calibrated, calculate the control current based on the calibrated current to control the vibration speed to reach the target speed. If it has not been calibrated, use the preset speed as the target speed and use the open-loop control method to output the control current to control the vibration speed to reach the target speed.

[0044] The calibration of the target current for open-loop control during the initial phase includes:

[0045] The vibration speed is set to the preset target speed, and the actual current value of the vibration solenoid valve is recorded every set time. In this embodiment, the actual current value of the vibration solenoid valve is recorded once every 15 seconds.

[0046] The average value of the actual current within the preset calibration period is calculated and used as the target current. In this embodiment, the current is recorded 5 times and the average value is taken.

[0047] The target current is recalculated within each preset calibration cycle;

[0048] If the vibration speed changes, the target current should be recalibrated.

[0049] The method of calculating the control current based on the calibration current to control the vibration speed includes:

[0050] The control current is calculated based on the calibration current and expressed as:

[0051] ;

[0052] in, Indicates the first Control current per control cycle Indicates the starting current. Indicates the target current. Indicates the duration of the control cycle.

[0053] Step 3: If the initial stage has ended, obtain the starting result of speed following. If speed following is started, determine the target rotation speed based on the preset paving travel speed. If speed following is not started, use the preset rotation speed as the target rotation speed.

[0054] The target rotation speed is determined based on the preset paving travel speed. The vibration following speed corresponds to the paving travel speed. The corresponding vibration following speed is determined based on the current paving travel speed and is used as the target speed.

[0055] Step 4: Obtain the status information of the closed-loop control switch and the speed sensor. If the closed-loop control switch is open and the speed sensor is fault-free, the closed-loop PID control method is used to output control current to control the vibration speed to reach the target speed; otherwise, the open-loop control method is used to output control current to control the vibration speed to reach the target speed.

[0056] In this embodiment, an open-loop control method is used to output a control current to control the vibration speed to reach the target speed, including:

[0057] Using a fixed-ratio mapping method, the target speed is converted into the corresponding control current, expressed as:

[0058] ;

[0059] in, Indicates the first Control current per control cycle This represents the proportionality coefficient. Indicates the target rotational speed. This indicates the bias term.

[0060] In open-loop control, the control current and vibration speed have a linear relationship; for example, a Rexroth solenoid valve with a current of 200-600mA corresponds to 300-1800rpm. In closed-loop control, the vibration speed is automatically adjusted according to the load.

[0061] In this embodiment, during the process of outputting the control current to control the vibration speed to reach the target speed, a sliding window filtering algorithm is used to handle current fluctuations. Factors affecting closed-loop start-up, causing current fluctuations, unstable speed, or long time to reach the target speed, can be effectively filtered out by the sliding window filter.

[0062] like Figure 2 and Figure 3 As shown, both the conventional method and this method perform speed control under the conditions of a preset speed of 1000 rpm and an open-loop control time of 8 seconds. This method significantly reduces the time to reach the preset speed from approximately 85 seconds to less than 15 seconds.

[0063] Example 2

[0064] This embodiment provides an adaptive vibration speed control system for a paver, including:

[0065] The initial phase judgment module is used to determine whether the paver's vibration is in the initial phase.

[0066] The calibration judgment module is used to determine whether the target current of the open-loop control in the initial stage has been calibrated if it is in the initial stage. If it has been calibrated, the control current is calculated based on the calibrated current to control the vibration speed to reach the target speed. If it has not been calibrated, the preset speed is used as the target speed, and the open-loop control method is used to output the control current to control the vibration speed to reach the target speed.

[0067] The speed following judgment module is used to obtain the start result of speed following if the starting phase has ended. If speed following is started, the target rotation speed is determined according to the preset paving walking speed. If speed following is not started, the preset rotation speed is used as the target rotation speed.

[0068] The control module is used to acquire the status information of the closed-loop control switch and the speed sensor. If the closed-loop control switch is open and the speed sensor is fault-free, the closed-loop PID control method is used to output control current to control the vibration speed to reach the target speed; otherwise, the open-loop control method is used to output control current to control the vibration speed to reach the target speed.

[0069] Example 3

[0070] This embodiment provides an apparatus, including: a memory, a processor, and a computer program;

[0071] The computer program is stored in the memory and configured to be executed by the processor to implement the adaptive vibration speed control method for pavers as described in Embodiment 1.

[0072] Example 4

[0073] This embodiment provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the adaptive vibration speed control method for pavers described in Embodiment 1.

[0074] 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 embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0075] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, 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 flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0076] 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 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0077] 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 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0078] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for adaptive tamping rotation speed control for a paving machine, characterized in that, The method comprises the following steps: determining whether the paver vibrator is in a starting stage; if the paver vibrator is in the starting stage, determining whether the target current of the starting stage open-loop control is calibrated, if the target current is calibrated, calculating the control current based on the calibrated current to control the vibrator speed to reach the target speed; if the target current is not calibrated, taking the preset speed as the target speed, and outputting the control current by using the open-loop control method to control the vibrator speed to reach the target speed; if the starting stage has ended, obtaining the starting result of the speed following, if the speed following is started, determining the target speed according to the preset paving walking speed, if the speed following is not started, taking the preset speed as the target speed; obtaining the closed-loop control switch state information and the speed sensor state information, if the closed-loop control switch is opened and the speed sensor is not faulty, outputting the control current by using the closed-loop PID control method to control the vibrator speed to reach the target speed; otherwise, outputting the control current by using the open-loop control method to control the vibrator speed to reach the target speed.

2. The method of claim 1, wherein, The calibration of the target current of the starting stage open-loop control comprises the following steps: setting the vibrator speed to the preset target speed, and recording the actual current value of the vibrator electromagnetic valve once every set time; calculating the average value of the actual current value in the preset calibration period, and taking the average value as the target current; re-calculating the target current in each preset calibration period; if the vibrator speed changes, re-calibrating the target current.

3. The method of claim 1, wherein, The calculation of the control current based on the calibrated current to control the vibrator speed comprises the following steps: calculating the control current based on the calibrated current, which is represented as: ； wherein, the control current for the control period, the start-up current, the target current, the control period length.

4. The method of claim 1, wherein, The output of the control current by using the open-loop control method to control the vibrator speed to reach the target speed comprises the following steps: converting the target speed into the corresponding control current by using the fixed proportional mapping method, which is represented as: ； wherein, denotes the control current of the control period, denotes a proportional factor, denotes a target rotational speed, denotes a bias term.

5. The method of claim 1, wherein, If the speed following is started, determining the target speed according to the preset paving walking speed, which comprises the following steps: corresponding between the vibrator following speed and the paving walking speed, determining the corresponding vibrator following speed according to the current paving walking speed, and taking the vibrator following speed as the target speed.

6. The method of claim 1, wherein, In the process of outputting the control current to control the vibrator speed to reach the target speed, a sliding window filtering algorithm is used to process the current fluctuation.

7. An adaptive tamping rotational speed control system for a paving machine, characterized by, The method comprises the following steps: a starting stage determination module for determining whether the paver vibrator is in a starting stage; a calibration determination module for determining whether the target current of the starting stage open-loop control is calibrated if the paver vibrator is in the starting stage, and calculating the control current based on the calibrated current to control the vibrator speed to reach the target speed if the target current is calibrated; if the target current is not calibrated, taking the preset speed as the target speed, and outputting the control current by using the open-loop control method to control the vibrator speed to reach the target speed; a speed following determination module for obtaining the starting result of the speed following if the starting stage has ended, determining the target speed according to the preset paving walking speed if the speed following is started, and taking the preset speed as the target speed if the speed following is not started; a control module for obtaining the closed-loop control switch state information and the speed sensor state information, outputting the control current by using the closed-loop PID control method to control the vibrator speed to reach the target speed if the closed-loop control switch is opened and the speed sensor is not faulty, and outputting the control current by using the open-loop control method to control the vibrator speed to reach the target speed otherwise. Otherwise, an open-loop control method is adopted to output a control current to control the vibration rotating speed to reach the target rotating speed.

8. An apparatus, comprising: Comprise: a memory, a processor, and a computer program; wherein the computer program is stored in the memory and configured to be executed by the processor to implement the adaptive vibration rotating speed control method for a paver as claimed in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, A computer program product, comprising a computer readable medium storing a computer program, wherein the computer program is configured to implement the adaptive vibration rotating speed control method for a paver as claimed in any one of claims 1-6 when executed by a processor.

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