Automatic calibration method for voltage type pedal of mining dump truck

Abstract

The invention discloses a mining dump truck voltage type pedal automatic calibration method which comprises the following steps: a control system enters a calibration mode, and a position sensor signal value of a pedal at an initial position is recorded; according to the change of the collected sensor signal value, the characteristic that the position sensor signal increases / decreases along with the increase of the pedal angle is identified, and the boundary value of the position sensor signal is updated and temporarily stored; the obtained pedal position boundary value is judged, and an effective boundary value is stored in a nonvolatile memory; a conversion calculation model is established by utilizing the effective pedal position boundary value, a corresponding percentage is calculated by utilizing the conversion calculation model, and a control system calibrates or calibrates the opening and closing angle of the pedal according to the percentage. According to the method, automatic calibration and calculation tasks of different types of voltage type accelerators and brake pedals in various scenes can be met.

Description

Technical Field

[0001] This invention belongs to the field of off-highway dump truck control technology, specifically relating to an automatic calibration method for voltage-type pedals of mining dump trucks. Background Technology

[0002] Currently, voltage-type accelerator and brake pedals are widely used in various vehicles. Voltage-type pedals refer to pedals equipped with voltage-type position sensors. The pedal position sensor feeds back a corresponding voltage signal to indicate the pedal's opening and closing angle. Common types include single-potential meter pedals, dual-potential meter pedals, and Hall effect pedals. The opening and closing angle of widely used voltage-type pedals in vehicles typically exhibits a linear increasing or decreasing relationship with the voltage value fed back by the position sensor. Therefore, if the feedback voltage value in the initial state of the pedal and the feedback voltage value at the maximum pedal angle are known, the control system can read the voltage value at any opening and closing angle of the pedal and then use linear interpolation to calculate the current pedal opening percentage.

[0003] A graph can be plotted between the pedal opening angle and the feedback voltage value from the position sensor. However, due to errors in the factory calibration of each pedal, this graph is often inaccurate. To ensure driving safety, engineers typically need to recalibrate the accelerator and brake pedals for each vehicle. Furthermore, off-highway mining dump trucks often operate under extremely harsh conditions, and their pedals are used very frequently, making them prone to fatigue or damage. Therefore, maintenance personnel frequently need to manually calibrate or recalibrate the pedals, and pedal calibration is also unavoidable when replacing new pedals.

[0004] Improving the calibration or standardization efficiency of the accelerator and brake pedals is a technical challenge that needs to be addressed. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic calibration method for voltage-type pedals in mining dump trucks, which can meet the automatic calibration and calculation tasks of different models of voltage-type accelerator and brake pedals in various scenarios.

[0006] To achieve the above objectives, the technical solution used in this invention is: The automatic calibration method for voltage-type pedals on mining dump trucks includes: After receiving the calibration start signal, the control system enters the calibration mode, records the position sensor signal value of the pedal at the initial position, and begins to continuously acquire position sensor signals. Based on the changes in the collected sensor signal values, the system identifies the increasing / decreasing characteristics of the position sensor signal as the pedal angle increases; simultaneously, as the pedal angle changes continuously, the system updates and temporarily stores the boundary values ​​of the position sensor signal. The obtained pedal position boundary values ​​are judged. If the difference between the boundary values ​​is greater than the set threshold, the new boundary value is considered valid and stored in non-volatile memory; otherwise, the calibration parameters are considered invalid and the original boundary values ​​are used. A conversion calculation model is established using effective pedal position boundary values. Based on the real-time acquired position sensor signal values, the corresponding percentage is calculated using the conversion calculation model. The control system calibrates or sets the pedal opening and closing angle according to the percentage.

[0007] Furthermore, if the system detects that the pedal has returned to its initial position within the set time, or if the system does not detect that the pedal has returned to its initial position after the set time has expired, the calibration is considered complete and the calibration mode is exited.

[0008] Furthermore, the control system presets a time limit T, which starts timing after the system enters calibration mode. The time limit T is set to 10 seconds. If the system detects [a problem] within 10 seconds... If m≠0, the system determines that the pedal has returned to its initial position; if the pedal has returned to its initial position or no detection occurs after 10 seconds... If m≠0, then the calibration is considered complete and the calibration mode is exited.

[0009] Furthermore, if the position boundary value obtained from this calibration is valid, the control system will store the valid boundary value and the characteristic parameter of the pedal feedback voltage increasing with the angle into a non-volatile memory; if the boundary value obtained from this calibration is deemed invalid, the boundary value and the increasing characteristic parameter will be discarded.

[0010] Furthermore, the conversion calculation model includes: ; ; ; ; ; in, It is the input reference voltage of the pedal position sensor. It is the actual percentage corresponding to the minimum boundary value of the pedal. It is the actual percentage corresponding to the maximum boundary value of the pedal. This is the percentage range adjustment parameter, and k is the scaling factor of the simulated percentage relative to the true percentage. It is the current position signal sample value. It is the actual percentage corresponding to the current position signal sample value. It is the analog percentage corresponding to the current position signal sample value.

[0011] Furthermore, after the automatic calibration task is completed or the vehicle is powered on, the control system reads the pedal calibration parameters from the non-volatile memory. Then, in normal mode, when the driver presses the accelerator pedal, the system calculates the accelerator pedal percentage in real time using this conversion calculation model. .

[0012] Furthermore, the pedal position is set to the initial position. When the pedal angle is 0°, the position sensor signal value is... The system then records this data: , , .

[0013] Furthermore, including: The control system presets the initial position variable of the pedal. Maximum boundary variable of pedal position Minimum boundary variable of pedal position When the system receives the calibration start signal, it enters automatic calibration mode; Assuming N=8, as the user gradually increases the angle of pressing the pedal, the control system checks the relationship between the first 8 voltage values ​​of the potentiometer to identify the increasing / decreasing characteristic of the voltage signal as the pedal angle increases. For the nth voltage sample value of the potentiometer, when the voltage value of the pedal meets the condition: n=1, 2, 3... and The pedal feedback voltage increases with the increase of the pedal angle; the method for the control system to update the boundary values ​​of the position sensor signal is as follows: Let m be the position sensor signal sample value corresponding to a certain angle, and m = 0, 1, 2, 3..., if but ;like but ; The control system presets the boundary difference threshold. The obtained pedal position boundary values ​​are judged. The pedal output reference voltage is 5V, and the effective pedal travel is at least one-third of the total travel. The difference between the maximum and minimum boundary values ​​of the pedal position is The maximum boundary value of the new pedal position is considered. and minimum boundary value It is a valid value.

[0014] further, , Set to 1.0%. , , , , , .

[0015] Furthermore, the minimum boundary of the plate position remains unchanged. The maximum limit of the pedal position is continuously updated, and the feedback voltage value is when the pedal angle reaches its maximum. It is the largest. .

[0016] The technical effects of this invention include: The method described in this invention is simple, efficient, easy to operate, and highly adaptable, capable of automatically calibrating and calculating voltage-type accelerator and brake pedals of various models in multiple scenarios. This invention is simple to operate and can effectively achieve automatic pedal calibration, greatly reducing manual workload and improving work efficiency. Simultaneously, it ensures the accuracy and consistency of calibration results, thereby enhancing the user's driving experience.

[0017] This invention can also automatically identify the characteristics of position sensor signals increasing or decreasing as the pedal angle increases. Calibration personnel do not need to test in advance or worry about incorrect wiring, which further simplifies the calibration task and improves the adaptability of this invention. Attached Figure Description

[0018] Figure 1 This is a flowchart of the automatic calibration method for voltage-type pedals of mining dump trucks in this invention; Figure 2 The pedal electrical output characteristic curve in the embodiment of the present invention; Figure 3 This is a percentage curve diagram simulated by the pedal conversion calculation model in this embodiment of the invention. Detailed Implementation

[0019] The following description fully illustrates specific embodiments of the present invention to enable those skilled in the art to practice and reproduce it. To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0020] like Figure 1The diagram shown is a flowchart of the automatic calibration method for voltage-type pedals of mining dump trucks in this invention.

[0021] The automatic calibration method for voltage-type pedals on mining dump trucks includes the following steps: S1: After receiving the calibration start signal, the control system enters the calibration mode, records the position sensor signal value of the pedal at the initial position, and begins to continuously acquire the position sensor signal. S2: Based on the changes in the collected position sensor signal values, the system identifies the increasing / decreasing characteristics of the position sensor signal as the pedal angle increases; simultaneously, as the pedal angle changes continuously, the system continuously updates and temporarily stores the boundary values ​​of the position sensor signal. S3: If the system detects the pedal returning to its initial position within the set time, or if the system does not detect the pedal returning to its initial position after the set time has expired, the calibration is considered complete and the calibration mode is exited. S4: Determine the obtained pedal position boundary values. If the difference between the boundary values ​​is greater than the set threshold, the new boundary value is considered valid and stored in non-volatile memory; otherwise, the calibration parameters are considered invalid and the original boundary values ​​are used. S5: Establish a conversion calculation model using effective pedal position boundary values. Calculate the corresponding percentage based on the real-time acquired position sensor signal values ​​using the conversion calculation model. The control system calibrates or sets the pedal opening / closing angle according to the percentage.

[0022] The implementation method of the present invention will now be described in detail using the accelerator pedal of a certain Williams brand potentiometer commonly used on mining dump trucks as an example.

[0023] In step S1, the control system presets the initial position variable of the pedal. Maximum boundary variable of pedal position Minimum boundary variable of pedal position When the system receives the calibration start signal, it enters automatic calibration mode. At this time, the pedal position is set to the initial position. Actual measurement shows that when the pedal angle is 0°, the position sensor signal value, i.e., the potentiometer voltage value, is... The system then records this data: , , .

[0024] In step S2, the control system presets the number of signal value samples to be N, and the value of N should be set appropriately according to the sampling frequency. In this embodiment, N=8. As the angle of the user pressing the pedal gradually increases, the system checks the relationship between the first 8 voltage values ​​of the potentiometer to identify the increasing / decreasing characteristics of the voltage signal as the pedal angle increases. The specific method is: set The voltage sample value of the potentiometer is the nth voltage value. Actual measurement revealed that the voltage value of the pedal meets the following condition: n=1,2,3……and Therefore, the pedal feedback voltage increases as the pedal angle increases.

[0025] Simultaneously, as the angle at which the user presses the pedal changes, the system must continuously update the boundary values ​​of the position sensor signal. The specific method is: [Settings to be inserted here]. Let m be the position sensor signal sample value corresponding to a certain angle, and m = 0, 1, 2, 3.... but ;like but .

[0026] In this embodiment, since the feedback voltage is increasing, the minimum boundary of the pedal position remains unchanged. The maximum boundary of the pedal position is constantly updated. Actual measurements show that the voltage value fed back when the pedal angle reaches its maximum is... It is also the largest. Therefore .

[0027] In step S3, the control system presets a time limit T, starting the timer after the system enters calibration mode. In this embodiment, the time limit T is set to 10 seconds. If the system detects a problem within 10 seconds... If m≠0, the system determines that the pedal has returned to its initial position; if the pedal has returned to its initial position or no detection occurs after 10 seconds... If m≠0, then the calibration is considered complete and the calibration mode is exited.

[0028] In step S4, the control system presets a boundary difference threshold. The obtained pedal position boundary values ​​are then determined. In this embodiment, the pedal output reference voltage is 5V, and the effective pedal travel generally needs to account for at least one-third of the total travel. Therefore, it is set... The difference between the maximum and minimum boundary values ​​of the pedal position is Therefore, the maximum boundary value of the new pedal position is considered to be... and minimum boundary value It is a valid value.

[0029] If the position boundary value obtained from this calibration is valid, the control system stores the valid boundary value and the parameter that can represent the characteristic of the pedal feedback voltage increasing with the angle in step S2 into the non-volatile memory; if the boundary value obtained from this calibration is deemed invalid, the boundary value and the increasing characteristic parameter are discarded and not stored, while the memory still stores the parameter data that was valid in the last calibration.

[0030] When a non-volatile memory is powered on, data can be stored in it and data can be read from it. When a non-volatile memory is powered off, the saved data will not be lost.

[0031] like Figure 2 As shown, this is a graph illustrating the electrical output characteristics of the pedal in an embodiment of the present invention.

[0032] After calibration, the electrical output characteristic curve of the pedal in this embodiment can be obtained.

[0033] In step S5, the control system establishes a conversion calculation model using effective pedal position boundary values, specifically as follows: Formulas (1) to (5): (1) (2) (3) (4) (5) in, It is the input reference voltage of the pedal position sensor. It is the actual percentage corresponding to the minimum boundary value of the pedal. It is the actual percentage corresponding to the maximum boundary value of the pedal. This is the percentage range adjustment parameter, and k is the scaling factor of the simulated percentage relative to the true percentage. It is the current position signal sample value. It is the actual percentage corresponding to the current position signal sample value. It is the analog percentage corresponding to the current position signal sample value. It is the final result that the system needs to calculate.

[0034] Each time an automatic calibration task ends or the vehicle is powered on, the control system first reads the pedal calibration parameters from the non-volatile memory. Then, in normal mode, when the driver presses the accelerator pedal, the system can calculate the accelerator pedal percentage in real time using this conversion calculation model. .

[0035] Each time an automatic calibration task ends or the vehicle is powered on, the control system first reads the pedal calibration parameters from the non-volatile memory. Then, in normal mode, when the driver presses the accelerator pedal, the system can calculate the accelerator pedal percentage in real time using this conversion calculation model. .

[0036] like Figure 3 The figure shown is a percentage curve of the pedal conversion calculation model in an embodiment of the present invention.

[0037] In this embodiment, , It can be set to 1.0%, then based on the known parameters, we can obtain: (1) (2) (3) Assuming that at any moment during vehicle operation, the control system detects that the accelerator pedal feedback voltage is... Therefore, based on the known parameters, we can obtain: (4) (5) The output of the conversion calculation model This refers to the percentage of pedal position that each system wants to know.

[0038] The terminology used in this invention is descriptive and exemplary, not restrictive. Since this invention can be embodied in many forms without departing from the spirit or essence of the technical solution, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. An automatic calibration method for voltage-type pedals on mining dump trucks, characterized in that, include: After receiving the calibration start signal, the control system enters the calibration mode, records the position sensor signal value of the pedal at the initial position, and begins to continuously acquire position sensor signals. Based on the changes in the first N position sensor signal values, the increasing / decreasing characteristics of the position sensor signal as the pedal angle increases are identified; at the same time, as the pedal angle changes continuously, the control system updates and temporarily stores the boundary values ​​of the position sensor signal. The obtained pedal position boundary values ​​are judged. If the difference between the boundary values ​​is greater than the set threshold, the new boundary value is considered valid and the valid boundary value is stored in non-volatile memory. Otherwise, the calibration parameters are considered invalid, and the original boundary values ​​are continued to be used; A conversion calculation model is established using effective pedal position boundary values. Based on the real-time acquired position sensor signal values, the corresponding percentage is calculated using the conversion calculation model. The control system calibrates or sets the pedal opening and closing angle according to the percentage.

2. The automatic calibration method for voltage-type pedals of mining dump trucks as described in claim 1, characterized in that, If the system detects that the pedal has returned to its initial position within the set time, or if the system does not detect that the pedal has returned to its initial position after the set time has expired, the calibration is considered complete and the calibration mode is exited.

3. The automatic calibration method for voltage-type pedals of mining dump trucks as described in claim 2, characterized in that, The control system has a preset time limit T, which starts timing after the system enters calibration mode. The time limit is set to T = 10 seconds. If the system detects [a problem] within 10 seconds... And if m≠0, the system determines that the pedal has returned to its initial position; If the pedal has returned to its initial position or no detection is detected after more than 10 seconds... If m≠0, then the calibration is considered complete and the calibration mode is exited.

4. The automatic calibration method for voltage-type pedals of mining dump trucks as described in claim 1, characterized in that, If the position boundary value obtained from this calibration is valid, the control system will store the valid boundary value and the characteristic parameter of the pedal feedback voltage increasing with the angle into the non-volatile memory; if the boundary value obtained from this calibration is deemed invalid, the boundary value and the increasing characteristic parameter will be discarded.

5. The automatic calibration method for voltage-type pedals of mining dump trucks as described in claim 1, characterized in that, The conversion calculation model includes: ； ； ； ； ； in, It is the input reference voltage of the pedal position sensor. It is the actual percentage corresponding to the minimum boundary value of the pedal. It is the actual percentage corresponding to the maximum boundary value of the pedal. This is the percentage range adjustment parameter, and k is the scaling factor of the simulated percentage relative to the true percentage. It is the current position signal sample value. It is the actual percentage corresponding to the current position signal sample value. It is the analog percentage corresponding to the current position signal sample value.

6. The automatic calibration method for voltage-type pedals of mining dump trucks as described in claim 5, characterized in that, After the automatic calibration task is completed or the vehicle is powered on, the control system reads the pedal calibration parameters from the non-volatile memory. Then, in normal mode, when the driver presses the accelerator pedal, the system calculates the accelerator pedal percentage in real time using this conversion calculation model. .

7. The automatic calibration method for voltage-type pedals of mining dump trucks as described in claim 5, characterized in that, The pedal position is set to the initial position. When the pedal angle is 0°, the position sensor signal value is... The system then records this data: , , .

8. The automatic calibration method for voltage-type pedals of mining dump trucks as described in claim 5, characterized in that, include: The control system presets the initial position variable of the pedal. Maximum boundary variable of pedal position Minimum boundary variable of pedal position When the system receives the calibration start signal, it enters automatic calibration mode; Assuming N=8, as the user gradually increases the angle of pressing the pedal, the control system checks the relationship between the first 8 voltage values ​​of the potentiometer to identify the increasing / decreasing characteristic of the voltage signal as the pedal angle increases. For the nth voltage sample value of the potentiometer, when the voltage value of the pedal meets the condition: n=1, 2, 3... and The pedal feedback voltage increases with the increase of the pedal angle; the method for the control system to update the boundary values ​​of the position sensor signal is as follows: Let m be the position sensor signal sample value corresponding to a certain angle, and m = 0, 1, 2, 3..., if but ;like but ; The control system presets the boundary difference threshold. The obtained pedal position boundary values ​​are judged. The pedal output reference voltage is 5V, and the effective pedal travel is at least one-third of the total travel. The difference between the maximum and minimum boundary values ​​of the pedal position is The maximum boundary value of the new pedal position is considered. and minimum boundary value It is a valid value.

9. The automatic calibration method for voltage-type pedals of mining dump trucks as described in claim 8, characterized in that, , Set to 1.0%. , , , , , .

10. The automatic calibration method for voltage-type pedals of mining dump trucks as described in claim 8, characterized in that, The minimum boundary of the plate position remains unchanged. The maximum limit of the pedal position is continuously updated, and the feedback voltage value is when the pedal angle reaches its maximum. It is the largest. .

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