A multi-track cooperative steering control method and system for a slip-form paver

Abstract

This invention discloses a multi-track coordinated steering control method and system for slipform pavers, belonging to the field of mechanical control technology. It includes acquiring the boom steering angle, track steering angle, slipform paver steering control information, and vehicle parameters; calculating the slipform paver steering angle based on these parameters; and performing steering operations on the slipform paver using this steering angle. This invention adjusts the boom and track steering via electro-hydraulic means based on the calculated slipform paver steering angle, achieving the steering requirements of the slipform paver in various operating modes, while also offering fast response, high efficiency, and energy savings.

Description

Technical Field

[0001] This invention relates to a multi-track coordinated steering control method and system for slipform pavers, belonging to the field of mechanical control technology. Background Technology

[0002] Slipform pavers operate in complex environments with numerous working modes. During multi-mode turning, the large mass and inertia of slipform pavers can lead to insufficient driving force on the inner tracks during low-speed turns, resulting in crawling or vibration. The multi-track coordinated motion model is complex; improper control can cause path deviations, machine instability, and a lack of coordination among the tracks, leading to situations where one track drags another, affecting track lifespan and, in severe cases, causing outrigger breakage.

[0003] Therefore, there is an urgent need for a multi-track steering control system, to establish an accurate kinematic and dynamic model, and to solve the above-mentioned technical problems through scientific control algorithms. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-track coordinated steering control method and system for slipform pavers. Based on the calculated steering angle of the slipform paver, the swing arm and track steering are adjusted by electro-hydraulic means, realizing the steering requirements of the slipform paver in multiple state modes. At the same time, it has fast response speed, high efficiency, and energy saving.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution: On one hand, the present invention provides a multi-track cooperative steering control method for slipform pavers, comprising: Acquire the swing arm steering angle, track steering angle, slipform paver steering control information, and vehicle parameters; The steering angle of the slipform paver is calculated based on the swing arm steering angle, track steering angle, slipform paver steering control information, and vehicle parameters. The steering operation of the slipform paver is performed by utilizing its steering angle.

[0006] Furthermore, the steering control information of the slipform paver includes front / rear track steering, coordinated steering, lateral movement, in-situ steering, and crabbing.

[0007] Furthermore, the track steering angle is the steering angle of the track relative to the corresponding swing arm, which includes the left front track steering angle, the left rear track steering angle, the right front track steering angle, and the right rear track steering angle. The swing arm steering angles include the left front swing arm steering angle, the left rear swing arm steering angle, the right front swing arm steering angle, and the right rear swing arm steering angle.

[0008] Furthermore, the vehicle parameters include the distance between the speed center of the slipform paver and the outer track of the turn, the distance between the speed center of the slipform paver and the inner track of the turn, the wheelbase of the front and rear tracks, the wheelbase of the front and rear swing arms, and the wheelbase of the left and right swing arms.

[0009] Furthermore, the calculation method for the steering angle of the slipform paver corresponding to the front / rear track steering includes: When turning right while moving forward, the turning angle of the right front track is calculated based on the turning angle of the left front track, and its expression is: S = N / tan(δ3); S = D + b / 2; P=Sb; δ4 = arctan(N / P); Where S represents the distance between the speed center of the slipform paver and the outer track of the turn, N represents the wheelbase of the front and rear tracks, δ3 represents the turning angle of the left front track, D represents the turning radius, b represents the wheelbase of the left and right swing arms, P represents the distance between the speed center of the slipform paver and the inner track of the turn, and δ4 represents the turning angle of the right front track. When turning left while moving forward, the turning angle of the left front track is calculated based on the turning angle of the right front track, and its expression is: S = N / tan(δ4); D = ABS(S + b / 2); P = S + b; δ3 = arctan(N / P); Where ABS() represents taking the absolute value; When turning left in reverse, the left rear track steering angle is calculated based on the right rear track steering angle, and its expression is: S = N / tan(δ1); D = Sb / 2; P=Sb; δ2 = arctan(N / P); Wherein, δ1 represents the right rear track steering angle, and δ2 represents the left rear track steering angle; When turning right in reverse, the steering angle of the right rear track is calculated based on the steering angle of the left rear track, and its expression is: S = N / tan(δ2); D = ABS(S + b / 2); P = S + b; δ1 = arctan(N / P).

[0010] Furthermore, the calculation method for the steering angle of the slipform paver corresponding to the coordinated steering includes: When turning right, the turning angle of the right front track is calculated based on the turning angle of the left front track, and the turning angles of the left rear track and the right rear track are obtained based on the turning angles of the left front track and the right front track. The expression is as follows: S=(N / 2) / tan (δ3); D = Sb / 2; P=Sb; δ4 = arctan (N / 2P); δ1 = -δ4; δ2 = -δ3; Where S represents the distance between the speed center of the slipform paver and the outer track of the turn, N represents the wheelbase of the front and rear tracks, δ3 represents the turning angle of the left front track, D represents the turning radius, b represents the wheelbase of the left and right swing arms, P represents the distance between the speed center of the slipform paver and the inner track of the turn, δ4 represents the turning angle of the right front track, δ1 represents the turning angle of the right rear track, and δ2 represents the turning angle of the left rear track. When turning left, the turning angle of the left front track is calculated based on the turning angle of the right front track. Then, the turning angles of the left rear track and the right rear track are derived from the turning angles of the left front track and the right front track. The expressions are as follows: S=(N / 2) / tan (δ4); D = ABS (S + b / 2); P = S + b; δ3 = arctan (N / 2P); δ1 = -δ4; δ2 = -δ3; Here, ABS() represents taking the absolute value.

[0011] Furthermore, the calculation expression for the steering angle of the slipform paver corresponding to the in-situ turn is: ABS(δ1)=δ2= ABS(δ3)=δ4; Furthermore, δ1 and δ3 are positive numbers, while δ2 and δ4 are negative numbers; Where δ1 represents the right rear track steering angle, δ2 represents the left rear track steering angle, δ3 represents the left front track steering angle, δ4 represents the right front track steering angle, and ABS() represents taking the absolute value.

[0012] Furthermore, the calculation expression for the slipform paver's steering angle corresponding to the lateral movement is as follows: δ1 = 90° - β1; δ2 = 90° - β2; δ3 = β3 - 90°; δ4 = β4 - 90°; Wherein, δ1 represents the right rear track steering angle, δ2 represents the left rear track steering angle, δ3 represents the left front track steering angle, δ4 represents the right front track steering angle, β1 represents the left front swing arm steering angle, β2 represents the left rear swing arm steering angle, β3 represents the right front swing arm steering angle, and β4 represents the right rear swing arm steering angle. The calculation expression for the turning angle of the slipform paver corresponding to the crab-like movement is δ1=δ2=δ3=δ4, where δ1 represents the turning angle of the right rear track, δ2 represents the turning angle of the left rear track, δ3 represents the turning angle of the left front track, and δ4 represents the turning angle of the right front track.

[0013] On the other hand, the present invention also provides a multi-track coordinated steering control system for a slipform paver, used to implement the multi-track coordinated steering control method for a slipform paver as described in any of the above claims, comprising a central controller, wherein the central controller is electrically connected to a control panel, an outrigger domain control module, and a pump drive MCU2, and the outrigger domain control module is electrically connected to a swing arm steering angle sensor and a track steering angle sensor. The boom steering angle sensor and the track steering angle sensor are used to acquire the boom steering angle and the track steering angle, respectively. The boom steering angle and the track steering angle are transmitted to the central controller via the outrigger domain control module. The control panel is used to generate steering signals for the slipform paver and transmit them to the central controller. The central controller is used to calculate the steering angle of the slipform paver based on the slipform paver steering signal and the swing arm steering angle and track steering angle, and transmit it to the pump drive MCU2. The pump drive MCU2 is used to control the steering of the slipform paver based on the slipform paver steering angle.

[0014] Furthermore, the pump drive MCU2 is electrically connected to the pump drive motor, the pump drive motor is connected to the oil pump, and the pump drive MCU2 controls the oil pump through the pump drive electrodes to realize the extension and retraction of the swing arm cylinder and the track cylinder.

[0015] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This invention uses electric and hydraulic power as the power base, controls the slipform paver through the control panel, obtains the swing arm steering angle and track steering angle based on the swing arm steering angle sensor and track steering angle sensor, calculates the steering angle of the slipform paver, and adjusts the swing arm and track steering through electro-hydraulic means according to the steering angle of the slipform paver, realizing the steering requirements of the slipform paver in multiple state modes, while having fast response speed, high efficiency, and energy saving. Attached Figure Description

[0016] Figure 1 This is a flowchart illustrating a multi-track cooperative steering control method for a slipform paver in one embodiment of the present invention. Figure 2 This is a schematic diagram illustrating the angular relationship between the front and rear tracks in a multi-track coordinated steering control method for a slipform paver according to one embodiment of the present invention; Figure 3 This is a schematic diagram of the angular relationship of coordinated steering in the multi-track coordinated steering control method for slipform pavers in one embodiment of the present invention; Figure 4 This is a schematic diagram of the lateral angle relationship in the multi-track cooperative steering control method for slipform pavers in one embodiment of the present invention; Figure 5 This is a schematic diagram of the angle relationship of in-situ turning in a multi-track cooperative steering control method for slipform pavers in one embodiment of the present invention. Detailed Implementation

[0017] 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. Example 1

[0018] like Figure 1 As shown, this embodiment of the invention provides a multi-track cooperative steering control method for slipform pavers, comprising the following steps: Acquire the swing arm steering angle, track steering angle, slipform paver steering control information, and vehicle parameters.

[0019] In this embodiment, the swing arm steering angle is the steering angle of the track relative to the corresponding swing arm. Since the slipform paver includes 4 outriggers, the number of swing arms and tracks is also 4. The track steering angle includes the left front track steering angle, the left rear track steering angle, the right front track steering angle, and the right rear track steering angle. The swing arm steering angle includes the left front swing arm steering angle, the left rear swing arm steering angle, the right front swing arm steering angle, and the right rear swing arm steering angle.

[0020] The steering control information of the slipform paver is the steering control information operated by the operator through the control panel. It includes 5 modes: front / rear track steering, coordinated steering, lateral movement, in-situ steering, and crabbing.

[0021] The vehicle parameters are fixed parameters for the slipform paver, including the distance S from the slipform paver's speed center to the outer track of the turn, the distance P from the slipform paver's speed center to the inner track of the turn, the front and rear track wheelbase N, the front and rear swing arm wheelbase a, and the left and right swing arm wheelbase b.

[0022] The steering angle of the slipform paver is calculated based on the boom steering angle, track steering angle, slipform paver steering control information, and vehicle parameters. Specifically, it includes: like Figure 2As shown, for front / rear track steering, only the steering angles of the two tracks in the forward direction need to be considered, and the two rear tracks only need to follow.

[0023] When turning right while moving forward, the turning angle of the right front track is calculated based on the turning angle of the left front track, and its expression is: S = N / tan(δ3); S = D + b / 2; P=Sb; δ4 = arctan(N / P); Where S represents the distance between the speed center of the slipform paver and the outer track of the turn, N represents the wheelbase of the front and rear tracks, δ3 represents the turning angle of the left front track, D represents the turning radius, b represents the wheelbase of the left and right swing arms, P represents the distance between the speed center of the slipform paver and the inner track of the turn, and δ4 represents the turning angle of the right front track.

[0024] When turning left while moving forward, the turning angle of the left front track is calculated based on the turning angle of the right front track, and its expression is: S = N / tan(δ4); D = ABS(S + b / 2); P = S + b; δ3 = arctan(N / P); Here, ABS() represents taking the absolute value.

[0025] When turning left in reverse, the left rear track steering angle is calculated based on the right rear track steering angle, and its expression is: S = N / tan(δ1); D = Sb / 2; P=Sb; δ2 = arctan(N / P); Where δ1 represents the right rear track steering angle and δ2 represents the left rear track steering angle.

[0026] When turning right in reverse, the steering angle of the right rear track is calculated based on the steering angle of the left rear track, and its expression is: S = N / tan(δ2); D = ABS(S + b / 2); P = S + b; δ1 = arctan(N / P).

[0027] like Figure 3 As shown, for cooperative steering: When turning right, the turning angle of the right front track is calculated based on the turning angle of the left front track, and the turning angles of the left rear track and the right rear track are obtained based on the turning angles of the left front track and the right front track. The expression is as follows: S=(N / 2) / tan (δ3); D = Sb / 2; P=Sb; δ4 = arctan (N / 2P); δ1 = -δ4; δ2 = -δ3; Where S represents the distance from the speed center of the slipform paver to the outer track of the turn, N represents the wheelbase of the front and rear tracks, δ3 represents the turning angle of the left front track, D represents the turning radius, b represents the wheelbase of the left and right swing arms, P represents the distance from the speed center of the slipform paver to the inner track of the turn, δ4 represents the turning angle of the right front track, δ1 represents the turning angle of the right rear track, and δ2 represents the turning angle of the left rear track.

[0028] When turning left, the turning angle of the left front track is calculated based on the turning angle of the right front track. Then, the turning angles of the left rear track and the right rear track are derived from the turning angles of the left front track and the right front track. The expressions are as follows: S=(N / 2) / tan (δ4); D = ABS (S + b / 2); P = S + b; δ3 = arctan (N / 2P); δ1 = -δ4; δ2 = -δ3; Here, ABS() represents taking the absolute value.

[0029] like Figure 4 As shown, for lateral movement, the following conditions must be met: δ1=90°-β1; δ2=90°-β2; δ3=β3-90°; δ4=β4-90°.

[0030] like Figure 5 As shown, for turning in place: Set the track steering angle according to the following expression: ABS(δ1) = δ2 = ABS(δ3) = δ4; and δ1 and δ3 are positive numbers, while δ2 and δ4 are negative numbers.

[0031] Where δ1 represents the right rear track steering angle, δ2 represents the left rear track steering angle, δ3 represents the left front track steering angle, δ4 represents the right front track steering angle, and ABS() represents taking the absolute value.

[0032] For lateral movement, the track steering angle is set according to the following expression: δ1=δ2=δ3=δ4.

[0033] The track steering angle is calculated based on the above calculations, and it is used to perform steering operations on the slipform paver. Example 2

[0034] Based on Embodiment 1, this embodiment also provides a multi-track cooperative steering control system for slipform pavers, which includes a central controller. The central controller is electrically connected to the control panel, outrigger domain control module, and pump drive MCU2.

[0035] The control panel integrates a mode knob, a steering knob, and an MCU module. The user operates the steering knob, and the MCU module transmits the slipform paver's steering control information to the central controller via CAN communication. In some embodiments, the control panel also includes a steering sensitivity adjustment knob, which allows for adjustment of the steering knob's accuracy.

[0036] The outrigger domain control module is electrically connected to the boom steering angle sensor and the track steering angle sensor. The boom steering angle sensor and the track steering angle sensor are installed at appropriate positions on the slipform paver to monitor the boom steering angle and the track steering angle, respectively, and transmit them to the central controller.

[0037] The central controller calculates the steering angle of the slipform paver based on the received boom steering angle, track steering angle, and slipform paver steering control information, combined with vehicle parameters, and transmits it to the pump drive MCU2. The pump drive MCU2 is electrically connected to the pump drive motor, which is connected to the hydraulic pump. The pump drive motor controls the forward or reverse rotation of the hydraulic pump to achieve the extension and retraction of the boom cylinder and track cylinder.

[0038] 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 multi-track cooperative steering control method for slipform pavers, characterized in that, include: Acquire the swing arm steering angle, track steering angle, slipform paver steering control information, and vehicle parameters; The steering angle of the slipform paver is calculated based on the swing arm steering angle, track steering angle, slipform paver steering control information, and vehicle parameters. The steering operation of the slipform paver is performed by utilizing its steering angle.

2. The multi-track cooperative steering control method for slipform pavers according to claim 1, characterized in that, The steering control information of the slipform paver includes front / rear track steering, coordinated steering, lateral movement, in-situ steering, and crabbing.

3. The multi-track cooperative steering control method for slipform pavers according to claim 1, characterized in that, The track turning angle is the turning angle of the track relative to the corresponding swing arm, which includes the left front track turning angle, the left rear track turning angle, the right front track turning angle, and the right rear track turning angle. The swing arm steering angles include the left front swing arm steering angle, the left rear swing arm steering angle, the right front swing arm steering angle, and the right rear swing arm steering angle.

4. The multi-track cooperative steering control method for slipform pavers according to claim 1, characterized in that, The vehicle parameters include the distance between the speed center of the slipform paver and the outer track of the turn, the distance between the speed center of the slipform paver and the inner track of the turn, the wheelbase of the front and rear tracks, the wheelbase of the front and rear swing arms, and the wheelbase of the left and right swing arms.

5. The multi-track cooperative steering control method for slipform pavers according to claim 2, characterized in that, The calculation method for the steering angle of the slipform paver corresponding to the front / rear track steering includes: When turning right while moving forward, the turning angle of the right front track is calculated based on the turning angle of the left front track, and its expression is: S = N / tan(δ3); S = D + b / 2; P=Sb; δ4 = arctan(N / P); Where S represents the distance between the speed center of the slipform paver and the outer track of the turn, N represents the wheelbase of the front and rear tracks, δ3 represents the turning angle of the left front track, D represents the turning radius, b represents the wheelbase of the left and right swing arms, P represents the distance between the speed center of the slipform paver and the inner track of the turn, and δ4 represents the turning angle of the right front track. When turning left while moving forward, the turning angle of the left front track is calculated based on the turning angle of the right front track, and its expression is: S = N / tan(δ4); D = ABS(S + b / 2); P = S + b; δ3 = arctan(N / P); Where ABS() represents taking the absolute value; When turning left in reverse, the left rear track steering angle is calculated based on the right rear track steering angle, and its expression is: S = N / tan(δ1); D = Sb / 2; P=Sb; δ2 = arctan(N / P); Wherein, δ1 represents the right rear track steering angle, and δ2 represents the left rear track steering angle; When turning right in reverse, the steering angle of the right rear track is calculated based on the steering angle of the left rear track, and its expression is: S = N / tan(δ2); D = ABS(S + b / 2); P = S + b; δ1 = arctan(N / P).

6. The multi-track cooperative steering control method for slipform pavers according to claim 2, characterized in that, The calculation method for the steering angle of the slipform paver corresponding to the coordinated steering includes: When turning right, the turning angle of the right front track is calculated based on the turning angle of the left front track, and the turning angles of the left rear track and the right rear track are obtained based on the turning angles of the left front track and the right front track. The expression is as follows: S=(N / 2) / tan (δ3); D = Sb / 2; P=Sb; δ4 = arctan (N / 2P); δ1 = -δ4; δ2 = -δ3; Where S represents the distance between the speed center of the slipform paver and the outer track of the turn, N represents the wheelbase of the front and rear tracks, δ3 represents the turning angle of the left front track, D represents the turning radius, b represents the wheelbase of the left and right swing arms, P represents the distance between the speed center of the slipform paver and the inner track of the turn, δ4 represents the turning angle of the right front track, δ1 represents the turning angle of the right rear track, and δ2 represents the turning angle of the left rear track. When turning left, the turning angle of the left front track is calculated based on the turning angle of the right front track. Then, the turning angles of the left rear track and the right rear track are derived from the turning angles of the left front track and the right front track. The expressions are as follows: S=(N / 2) / tan (δ4); D = ABS (S + b / 2); P = S + b; δ3 = arctan (N / 2P); δ1 = -δ4; δ2 = -δ3; Here, ABS() represents taking the absolute value.

7. The multi-track cooperative steering control method for slipform pavers according to claim 2, characterized in that, The formula for calculating the turning angle of the slipform paver corresponding to the in-situ turning is: ABS(δ1)=δ2= ABS(δ3)=δ4; Furthermore, δ1 and δ3 are positive numbers, while δ2 and δ4 are negative numbers; Where δ1 represents the right rear track steering angle, δ2 represents the left rear track steering angle, δ3 represents the left front track steering angle, δ4 represents the right front track steering angle, and ABS() represents taking the absolute value.

8. The multi-track cooperative steering control method for slipform pavers according to claim 2, characterized in that, The formula for calculating the turning angle of the slipform paver corresponding to the lateral movement is: δ1 = 90° - β1; δ2 = 90° - β2; δ3 = β3 - 90°; δ4 = β4 - 90°; Wherein, δ1 represents the right rear track steering angle, δ2 represents the left rear track steering angle, δ3 represents the left front track steering angle, δ4 represents the right front track steering angle, β1 represents the left front swing arm steering angle, β2 represents the left rear swing arm steering angle, β3 represents the right front swing arm steering angle, and β4 represents the right rear swing arm steering angle. The calculation expression for the turning angle of the slipform paver corresponding to the crab-like movement is δ1=δ2=δ3=δ4, where δ1 represents the turning angle of the right rear track, δ2 represents the turning angle of the left rear track, δ3 represents the turning angle of the left front track, and δ4 represents the turning angle of the right front track.

9. A multi-track coordinated steering control system for a slipform paver, characterized in that, The method for implementing the multi-track coordinated steering control method for slipform pavers as described in any one of claims 1 to 8 includes a central controller, which is electrically connected to a control panel, an outrigger domain control module, and a pump drive MCU2, and the outrigger domain control module is electrically connected to a swing arm steering angle sensor and a track steering angle sensor. The boom steering angle sensor and the track steering angle sensor are used to acquire the boom steering angle and the track steering angle, respectively. The boom steering angle and the track steering angle are transmitted to the central controller via the outrigger domain control module. The control panel is used to generate steering signals for the slipform paver and transmit them to the central controller. The central controller is used to calculate the steering angle of the slipform paver based on the slipform paver steering signal and the swing arm steering angle and track steering angle, and transmit it to the pump drive MCU2. The pump drive MCU2 is used to control the steering of the slipform paver based on the slipform paver steering angle.

10. The multi-track cooperative steering control system according to claim 9, characterized in that, The pump drive MCU2 is electrically connected to the pump drive motor, and the pump drive motor is connected to the oil pump. The pump drive MCU2 controls the oil pump through the pump drive electrodes to realize the extension and retraction of the swing arm cylinder and the track cylinder.

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