An engineering machine electric control pedal durability test system and test method

Abstract

This application discloses a durability testing system and method for electric control pedals in engineering machinery, comprising: an electric control pedal fixing device; a mechanical execution unit including two identical mechanical devices for loading the left and right electric control pedals respectively; the mechanical devices include a motor and a loading mechanism; the motor position is controlled by a controller; the loading mechanism is used to simulate the actual working conditions of the electric control pedal, applying a loading force to the electric control pedal under the drive of the motor, so that the electric control pedal outputs a corresponding signal; the controller is used to acquire a walking action timing table and control the motor to cyclically execute each action step in the walking action timing table according to a preset number of cycles; the walking action timing table includes the action type and preset duration of each action step; executing each action step includes: acquiring the corresponding target positions of the two motors from a calibration parameter table according to the action type; controlling the two motors to move to the corresponding target positions and maintaining them for a preset duration.

Description

Technical Field

[0001] This application belongs to the technical field of durability testing of electrical components for engineering machinery, and relates to a durability testing system and method for electrically controlled foot pedals in engineering machinery. Background Technology

[0002] In construction machinery (such as excavators), the electric control pedals are a key input component of the walking system, and their reliability directly affects the overall machine's operational safety and work efficiency. The electric control pedals use angle sensors to convert the operator's pedal depth into an electrical signal, which is sent to the vehicle's controller. This controller then controls the opening of the travel pilot proportional valve, enabling independent adjustment of the left and right track travel speeds. In the overall durability testing of excavators, the electric control pedals need to undergo hundreds of thousands or even millions of pedaling cycles, requiring thorough verification of their mechanical structure and internal sensors.

[0003] Related technical solution one (CN 118188654 A): A hydraulic cylinder or telescopic cylinder is used to drive the foot pedal to reciprocate through a movable rod linkage mechanism. This solution can only achieve a single-direction "press-release" cycle and cannot simulate complex working conditions such as forward, backward, and turning.

[0004] Related technical solution two (CN212903878U): The brake pedal is repeatedly pressed by a turntable driven by an electric motor and an adjustable eccentricity push rod, combined with a spring return mechanism to simulate pedaling action and test the pedal's durability. This solution is also limited to the repetition of a single action and cannot control the independent movement of the left and right pedals separately.

[0005] The related technologies have the following drawbacks:

[0006] (1) Insufficient motion simulation capability: The existing device can only simulate simple linear pedal mechanical wear and cannot realize the complex walking motion sequence in real operation, especially lacking the ability to simulate independent control of the left and right pedals and coordinated steering motion. The problem that needs to be solved is to upgrade the "single motion durability test" to the "composite walking motion durability test".

[0007] (2) Non-programmable action sequence: It is impossible to execute a combination loop of multiple actions in the order of actual working conditions. This refers to the problem of the organization logic of actions. Even if the device can perform multiple actions, if it cannot automatically loop in the order of actual working conditions such as "first step on the left foot pedal 3 times, then step on the left and right foot pedals at the same time and turn, and finally release", the test is still not realistic. The problem that needs to be solved is "how to program the actions".

[0008] (3) Lack of position calibration function: The device cannot perform personalized position settings based on the travel characteristics of different types of pedals. This refers to the adaptability and calibration capability for different product models. Different pedals have different travel and starting positions, requiring the device to first "set" the mechanical boundaries of each specific pedal to apply force accurately. The problem to be solved is "how to make the device recognize and adapt to specific objects." Summary of the Invention

[0009] Objective: In view of at least one of the above technical problems, this application provides a durability testing system and method for electric control foot pedals in engineering machinery. The system uses a dual-motor independent drive loading mechanism and a "teach-playback" control mode. First, the motor positions corresponding to each action are calibrated. Then, the system automatically executes various walking actions such as forward, backward, soft steering, single-sided braking steering, stationary steering, and rapid reversing according to a preset action sequence, thereby achieving a comprehensive durability test of the lifespan of the electric control foot pedal and the electrical system.

[0010] Technical solution: To solve the above-mentioned technical problems, the technical solution adopted in this application is as follows:

[0011] Firstly, a durability testing system for electrically controlled foot pedals in engineering machinery is provided, comprising:

[0012] Electric foot pedal fixing device, used to install the left electric foot pedal and the right electric foot pedal;

[0013] The mechanical actuator includes two identical mechanical devices, which are used to load the left and right electric pedals respectively. The mechanical devices include a motor and a loading mechanism. The position of the motor is controlled by a controller. The loading mechanism is used to simulate the actual working conditions of the electric pedals and applies a loading force to the electric pedals under the drive of the motor so that the electric pedals output corresponding signals.

[0014] The controller is used to acquire the walking action timing table and control the motor to cyclically execute each action step in the walking action timing table according to a preset number of cycles. The walking action timing table includes the action type and preset duration of each action step. The action types include at least: straight forward, straight backward, soft steering, quick reversal, single-sided braking steering, and stationary steering. Executing each action step in the walking action timing table includes: acquiring the corresponding target positions of the two motors from the calibration parameter table according to the action type of the current action step; controlling the two motors to move to the corresponding target positions to drive the loading mechanism to apply the corresponding loading force to the electric foot pedal and maintain it for the preset duration.

[0015] In some embodiments, the engineering machinery electronic control foot pedal durability testing system further includes: a motor encoder, used to detect the actual position of the two motors and feed it back to the controller to achieve closed-loop control of the motor position.

[0016] In some embodiments, the loading mechanism includes a coupling, an eccentric wheel, a connecting rod, a slider, a foot-operated loading fixture, and a foot-operated fixture;

[0017] The slider is slidably mounted on the guide rail; the power output end of the motor is connected to the input end of the eccentric wheel through a coupling, and the output end of the eccentric wheel is connected to the slider through a connecting rod. A foot pedal loading fixture is mounted on the slider; the upper end of the foot pedal is rotatably mounted on the foot pedal loading fixture, and the lower end of the foot pedal is connected to the corresponding electrically controlled foot pedal.

[0018] In some embodiments, the foot-operated tooling loading fixture includes: a fine-tuning guide rail fixedly connected to the upper surface of the slider, a fine-tuning slider slidably connected to the fine-tuning guide rail, a fine-tuning slider positioning plate and a bearing mounting bracket relatively fixedly disposed on the fine-tuning slider, and a foot-operated tooling mounting sleeve rotatably connected to the bearing mounting bracket via a rolling bearing; wherein, the fine-tuning slider positioning plate is provided with a connecting hole, a connector passes through the elongated hole and connects to the slider, and the relative position between the fine-tuning slider positioning plate and the slider is fixed by locking the connector.

[0019] Furthermore, positioning blocks are provided at both ends of the fine-tuning guide rail to limit the stroke of the fine-tuning slider;

[0020] Furthermore, the foot-operated loading fixture also includes a fine-tuning bolt. The first end of the fine-tuning bolt is axially fixed relative to the fine-tuning slider, and the second end is threadedly connected to the fine-tuning guide rail. The position of the fine-tuning slider on the fine-tuning guide rail can be adjusted by rotating the fine-tuning bolt.

[0021] In some embodiments, the system further includes a foot pedal adjustment mechanism to ensure that the electrically controlled foot pedal remains in the neutral position during the initial calibration and testing state;

[0022] The foot pedal fixture adjustment mechanism includes a first part and a second part arranged perpendicularly to each other. The first part is vertically mounted on the test platform. The first end of the second part is provided with a first clamp. The second part is mounted on the first part and can move axially and vertically through the first clamp. The second end of the second part is provided with a second clamp. The second clamp has a vertical through hole for the connecting rod of the upper part of the foot pedal fixture to pass through.

[0023] Furthermore, the calibration parameter table includes at least: the action type and the corresponding target positions of the two motors;

[0024] The method for obtaining the calibration parameter table includes:

[0025] Select the action type to be calibrated, manually control the motor to run until the loading mechanism drives the electric foot pedal to output a signal that reaches the target opening of the action type, and obtain the current actual position of the two motors as the target position of the two motors;

[0026] The calibration action types include zero position, forward common opening, forward soft steering inner opening, reverse common opening, and reverse soft steering inner opening.

[0027] Secondly, a method for testing the durability of electrically controlled foot pedals in engineering machinery is provided. Based on the aforementioned engineering machinery electrically controlled foot pedal durability testing system, the method includes:

[0028] S1. Adjust the loading mechanism to ensure the electronically controlled foot pedal is in the neutral position before calibration;

[0029] S2. Power on the controller, select the controller as "calibration mode", calibrate the motion parameters according to the test requirements, calibrate and save the left and right motor positions when each walking action is performed, until all calibration parameters in the calibration parameter table are calibrated.

[0030] S3. The controller loads the stored calibration parameter table and enters "running mode", controls the motor to move to the calibrated zero position, and clears the cycle count counter;

[0031] S4. Obtain a walking action sequence table, wherein the walking action sequence table includes the action type and preset duration of each action step; the action type includes at least: straight forward, straight backward, soft turn, quick change of direction, unilateral braking and turning, and turning in place;

[0032] S5. The controller controls the motor to execute each action step sequentially according to the walking action sequence table until all action steps in the walking action sequence table have been executed, and the cycle count counter is incremented by 1; wherein, executing each action step sequentially according to the walking action sequence table includes:

[0033] S51. The controller obtains the corresponding target positions of the two motors from the calibration parameter table according to the action type of the current action step.

[0034] S52, The controller sends instructions to the corresponding motors according to the target position of the motors, controls the motors to move to the corresponding target positions, and starts recording the holding time of the current action;

[0035] S53. In response to the current action holding time reaching the preset duration, the controller reads the next action step in the walking action sequence table and repeats S51 to S53.

[0036] S6. If the current number of cycles has not reached the preset number of cycles, repeat S5 until the current number of cycles reaches the preset number of cycles. Then, the controller controls the motor to move to the calibrated zero position, and the test ends.

[0037] In some embodiments, S52 and the controller respectively send instructions to the corresponding motors according to the target motor position, controlling the motors to move to the corresponding target positions, including:

[0038] The controller employs a PID algorithm for closed-loop control of the motor position, specifically including:

[0039] The actual positions of the motors are obtained. If the deviations between the actual positions of the two motors and their corresponding target positions are both less than the allowable error, and the duration exceeds the arrival confirmation time, the motors are determined to have moved to the corresponding target positions.

[0040] During the preset duration, the controller continuously sends target position commands to control the motor to remain at the corresponding target position.

[0041] Thirdly, an engineering machinery is provided, which is equipped with the aforementioned engineering machinery electronically controlled foot pedal durability testing system.

[0042] Compared with existing technologies, the beneficial effects achieved by this application are as follows: The engineering machinery electronically controlled foot pedal durability testing system and method provided by this application can simulate real walking conditions, support position calibration to adapt to different machine models, and automatically execute durability tests of multiple action combinations, filling the gap in existing technologies that can only perform single-action cycle tests. It has the following advantages:

[0043] 1. Realistic working condition simulation. Through independent dual-motor drive and walking motion sequence control, it can simulate various walking actions and combinations of construction machinery (such as excavators) in actual operation, such as straight forward, straight backward, soft steering, single-sided braking steering, and turning in place. The test results are closer to real-world usage scenarios.

[0044] 2. Full motion coverage. Programmable motion sequences can cover all typical working conditions of the walking system of construction machinery (such as excavators), avoiding the limitations of existing technologies that only test a single motion.

[0045] 3. Teach-and-playback control mode. Through the position calibration function, personalized settings can be made for electric foot pedals of different models, with different interfaces (CAN bus, voltage signal, current signal), and different stroke characteristics, making the device highly adaptable.

[0046] 4. Simple and reliable structure. It does not rely on external angle sensors, but only uses the encoder built into the servo motor to achieve precise positioning, which reduces system complexity and cost. Attached Figure Description

[0047] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a schematic diagram of the structure of the engineering machinery electronically controlled foot pedal durability testing system according to an embodiment of this application;

[0049] Figure 2 This is a schematic diagram of the electrically controlled foot pedal fixing device and the mechanical execution unit in the embodiments of this application;

[0050] Figure 3 for Figure 2 A magnified view of a portion of the image;

[0051] Figure 4 This is a schematic diagram of the foot-operated tooling loading fixture in the embodiments of this application;

[0052] Figure 5 This is a schematic diagram of the foot pedal adjustment mechanism in the embodiments of this application;

[0053] Figure 6 This is a schematic diagram of the calibration method for the durability test of the electric control foot pedal of engineering machinery according to an embodiment of this application;

[0054] Figure 7 This is a schematic diagram of the durability test method for electrically controlled foot pedals of engineering machinery according to an embodiment of this application.

[0055] The reference numerals in the attached drawings are explained as follows: 1. Motor; 2. Coupling; 3. Eccentric wheel; 4. Connecting rod; 5. Slider; 6. Foot pedal loading fixture; 7. Foot pedal adjustment mechanism; 8. Foot pedal; 9. Left electric foot pedal; 10. Right electric foot pedal; 11. Foot pedal mounting bracket; 12. Guide rail; 13. Test platform.

[0056] 6-1 Fine-tuning bolt, 6-2 Fine-tuning bolt fixing block, 6-3 Positioning block, 6-4 Fine-tuning slider positioning plate, 6-5 Fine-tuning guide rail, 6-6 Fine-tuning slider, 6-7 Bearing mounting bracket, 6-8 Foot pedal fixture mounting sleeve, 6-9 Rolling bearing, 6-10 Mounting block;

[0057] Part 1 71, Part 2 72, First clamp 73, First through hole 731, Second through hole 732, Second clamp 74, Third through hole 731, Fourth through hole 732. Detailed Implementation

[0058] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use.

[0059] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only used to explain the relative positional relationship and movement between components in a specific orientation. If the specific orientation changes, the directional indication will also change accordingly. These terms are used only for the convenience of describing this application and for simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0060] Furthermore, 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 technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0061] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0062] Example 1: This application provides a durability testing system for electrically controlled foot pedals in engineering machinery, such as... Figure 1 , Figure 2 As shown, it includes a controller, an electrically controlled foot pedal fixing device, and a mechanical actuator;

[0063] Electric foot pedal fixing device, used to install the left electric foot pedal 9 and the right electric foot pedal 10;

[0064] The mechanical actuator includes two identical mechanical devices, which are used to load the left electric pedal 9 and the right electric pedal 10 respectively. The mechanical device includes a motor 1 and a loading mechanism. The position of the motor 1 is controlled by the controller. The loading mechanism is used to simulate the actual working conditions of the electric pedal and apply a loading force to the electric pedal under the drive of the motor so that the electric pedal outputs a corresponding signal.

[0065] The controller is used to acquire the walking action timing table and control the motor to cyclically execute each action step in the walking action timing table according to a preset number of cycles. The walking action timing table includes the action type and preset duration of each action step. The action types include at least: straight forward, straight backward, soft steering, quick reversal, single-sided braking steering, and stationary steering. Executing each action step in the walking action timing table includes: acquiring the corresponding target positions of the two motors from the calibration parameter table according to the action type of the current action step; controlling the two motors to move to the corresponding target positions to drive the loading mechanism to apply the corresponding loading force to the electric foot pedal and maintain it for a preset duration.

[0066] In some embodiments, the engineering machinery electronic control foot pedal durability testing system further includes: a motor encoder, used to detect the actual position of the two motors and feed it back to the controller to achieve closed-loop control of the motor position.

[0067] In this embodiment, as Figure 1 As shown, the electronically controlled foot pedal fixing device adopts a foot pedal mounting bracket 11 fixed on the test platform.

[0068] In this embodiment, as Figure 2 As shown, the two identical mechanical devices are symmetrically arranged and are used to load the left electric foot pedal 9 and the right electric foot pedal 10, respectively; each mechanical device includes a motor 1 and a loading mechanism. In some embodiments, such as Figure 3 As shown, the loading mechanism includes a coupling 2, an eccentric wheel 3, a connecting rod 4, a slider 5, a foot-operated loading fixture 6, and a foot-operated fixture 8;

[0069] The slider 5 is slidably mounted on the guide rail 12 fixed on the test platform 13;

[0070] The power output end of the motor 1 is connected to the input end of the eccentric wheel 3 through the coupling 2. The output end of the eccentric wheel 3 is connected to the slider 5 through the connecting rod 4. The foot pedal loading fixture 6 is installed on the slider 5. The upper end of the foot pedal fixture 8 is rotatably installed on the foot pedal loading fixture 6, and the lower end of the foot pedal fixture 8 is connected to the corresponding electric foot pedal.

[0071] Its working principle and transmission logic are as follows: Motor 1 drives eccentric wheel 3 to rotate via coupling 2, and then connecting rod 4 converts the rotational motion of eccentric wheel 3 into the reciprocating linear motion of slider 5; foot pedal loading fixture 6 is fixedly installed on slider 5, and foot pedal loading fixture 6 is connected to electric foot pedal via foot pedal fixture 8. When motor 1 continuously drives eccentric wheel 3 to rotate, slider 5 performs periodic linear reciprocating motion, ultimately driving electric foot pedal to move regularly, realizing continuous pressing and releasing cycle action.

[0072] In some embodiments, such as Figure 4 As shown, the foot-operated tooling loading fixture 6 includes: a fine-tuning guide rail 6-5 fixedly connected to the upper surface of the slider 5; a fine-tuning slider 6-6 slidably connected to the fine-tuning guide rail 6-5; a fine-tuning slider positioning plate 6-4 and a bearing mounting bracket 6-7 relatively fixedly disposed on the fine-tuning slider 6-6; and a foot-operated tooling mounting sleeve 6-8 rotatably connected to the bearing mounting bracket 6-7 via a rolling bearing 6-9. The fine-tuning slider positioning plate 6-4 is provided with a connecting hole, and a connecting piece passes through the connecting hole and connects to the slider 5. The relative position between the fine-tuning slider positioning plate 6-4 and the slider 5 is fixed by locking the connecting piece. Further, in this embodiment, the connecting hole is an elongated hole, and the connecting piece is a bolt.

[0073] Furthermore, positioning blocks 6-3 are provided at both ends of the fine-tuning guide rail 6-5 to limit the stroke of the fine-tuning slider 6-6.

[0074] Furthermore, it also includes a fine-tuning bolt 6-1, the first end of which is axially fixed relative to the fine-tuning slider 6-6, and the second end is threadedly connected to the fine-tuning guide rail 6-5. The position of the fine-tuning slider 6-6 on the fine-tuning guide rail 6-5 can be adjusted by rotating the fine-tuning bolt 6-1. In this embodiment, the first end of the fine-tuning bolt 6-1 is rotatably mounted in the mounting block 6-10 on the fine-tuning slider 6-6 through a bearing.

[0075] The system also includes a foot pedal adjustment mechanism 7, which is used to ensure that the electrically controlled foot pedal remains in the neutral position during the initial calibration and testing state.

[0076] Furthermore, such as Figure 5 As shown, in this embodiment, the foot pedal fixture adjustment mechanism 7 includes a first part 71 and a second part 72 arranged perpendicularly to each other. The first part 71 is vertically mounted on the test platform. The first end of the second part 72 is provided with a first clamp 73. The second part 72 is mounted on the first part 71 through the first clamp 73, and can move axially and vertically. The second end of the second part 72 is provided with a second clamp 74. The second clamp 74 has a vertical through hole for the connecting rod of the upper part of the foot pedal fixture 8 to pass through.

[0077] More specifically, the first clamp 73 is provided with a first through hole 731 and a second through hole 732 that are perpendicular to each other, wherein the upper end of the first part 71 passes through the first through hole 731 and the first end of the second part 72 passes through the second through hole 732; the second clamp 74 is provided with a third through hole 731 and a fourth through hole 732 that are perpendicular to each other, wherein the second end of the second part 72 passes through the third through hole 731 and the fourth through hole 732 is used to pass through the connecting rod of the upper part of the foot pedal fixture 8.

[0078] The aforementioned engineering machinery electronically controlled foot pedal durability testing system, taking the left electronically controlled foot pedal 9 side as an example, has the following specific pre-adjustment process:

[0079] Step 1: Adjust the loading amplitude. Based on the actual swing stroke of the left electric pedal 9, adjust the installation radius of the connecting rod 4 on the eccentric wheel 3 to set the loading amplitude required for the pedal durability test.

[0080] Step 2: Correct the vertical position. For example... Figure 5 As shown, the connecting rod on the upper part of the foot pedal fixture 8 is inserted into the foot pedal fixture mounting sleeve 6-8, and then temporarily fixed by the foot pedal fixture adjustment mechanism 7. Then, the fine-tuning bolt 6-1 is adjusted, causing the fine-tuning slider 6-6 to slide along the fine-tuning guide rail 6-5, calibrating the foot pedal fixture 8 to a precise vertical position. After adjustment, the connecting parts are locked, fixing the fine-tuning slider positioning plate 6-4 onto the slider 5, ensuring that the left electric foot pedal 9 remains in the center position during the initial test.

[0081] Step 3: Remove auxiliary mechanisms. After all pre-adjustment work is completed, before the equipment is officially started and tested, the foot pedal adjustment mechanism 7 must be removed to avoid affecting the normal operation of the equipment.

[0082] It should be noted that the controller of this application has a core component of a programmable logic controller (PLC), which mainly realizes the automated control of the test process and the management of test data. The specific functional configuration is as follows: (1) Calibration mode: It supports the operator to manually control the motor to complete the calibration of the target position of the motor corresponding to each action, and stores the parameters in non-volatile memory to realize parameter saving. (2) Running mode: According to the preset walking action timing scheme, it calls the stored calibration position data and controls the first servo motor and the second servo motor respectively, so that they run to the specified target position in the logical sequence. (3) Closed-loop position control: The motor position feedback signal is collected in real time through the encoder of the first motor and the encoder of the second motor to build a position closed-loop control system to ensure the positioning accuracy and motion stability of the motor. (4) Cyclic start and stop control: The number of test cycles is counted in real time. When the number of runs reaches the preset threshold, the equipment test is automatically stopped. In addition, during the entire test process, the controller can collect and parse the output signal of the electric foot pedal in real time, establish two-way communication with the host computer, upload the processed test data in real time, and complete the online display and transmission of data.

[0083] In other embodiments, such as Figure 1 As shown, the system also includes a human-machine interaction unit. The human-machine interaction unit is based on the host computer and undertakes the whole process control and human-machine interaction functions of the whole machine test. The specific functions are as follows: (1) Working mode selection and parameter setting. Calibration mode and running mode can be switched freely. In calibration mode, manual control of motor forward and reverse rotation is supported. The current motor position can be recorded with one click as the target positioning parameter for each action. In running mode, various test parameters can be configured independently, including walking action sequence, test cycle number, motor running speed, etc. (2) Real-time monitoring of test status. The equipment running status is displayed in real time throughout the process, covering key information such as the current execution action steps, motor target position, motor actual position, real-time cycle number and electric control foot pedal output signal waveform, so that the operator can grasp the test conditions in real time. (3) Data archiving and report generation. After the test, the host computer can automatically generate and output a complete test report, and simultaneously complete the archiving and storage of test data to ensure the traceability of test data.

[0084] In some embodiments, the calibration parameter table includes at least: the action type and the corresponding two motor target positions;

[0085] Furthermore, in this embodiment, the position of the motor is represented by the motor encoder value.

[0086] In some embodiments, the method for obtaining the calibration parameter table includes:

[0087] Select the action type to be calibrated, manually control the motor to run until the loading mechanism drives the electric foot pedal to output a signal that reaches the target opening of the action type, and obtain the current actual position of the two motors as the target position of the two motors;

[0088] The calibration action types include zero position (Pos_Zero), forward common opening (Pos_A1), forward soft steering inside opening (Pos_A2), reverse common opening (Pos_A3), and reverse soft steering inside opening (Pos_A4).

[0089] Example 2: This application also provides a method for testing the durability of an electronically controlled foot pedal in engineering machinery, based on the engineering machinery electronically controlled foot pedal durability testing system described in Example 1. The method includes:

[0090] S1. Adjust the loading mechanism to ensure the electronically controlled foot pedal is in the neutral position before calibration;

[0091] S2. Power on the controller, select the controller as "calibration mode", calibrate the motion parameters according to the test requirements, calibrate and save the left and right motor positions when each walking action is performed, until all calibration parameters in the calibration parameter table are calibrated.

[0092] S3. The controller loads the stored calibration parameter table and enters "running mode", controls the motor to move to the calibrated zero position, and clears the cycle count counter;

[0093] S4. (Selected or customized via human-computer interaction unit) Obtain walking action sequence table, wherein the walking action sequence table includes the action type and preset duration of each action step; the action type includes at least: straight forward, straight backward, soft turn, quick change of direction, unilateral braking and turning, and turning in place.

[0094] S5. The controller controls the motor to execute each action step sequentially according to the walking action sequence table until all action steps in the walking action sequence table have been executed, and the cycle count counter is incremented by 1; wherein, executing each action step sequentially according to the walking action sequence table includes:

[0095] S51. The controller obtains the corresponding target positions of the two motors from the calibration parameter table according to the action type of the current action step.

[0096] S52, The controller sends instructions to the corresponding motors according to the target position of the motors, controls the motors to move to the corresponding target positions, and starts recording the holding time of the current action;

[0097] S53. In response to the current action holding time reaching the preset duration, the controller reads the next action step in the walking action sequence table and repeats S51 to S53.

[0098] S6. If the current number of cycles has not reached the preset number of cycles, repeat S5 until the current number of cycles reaches the preset number of cycles. The controller then controls the motor to move to the calibrated zero position, generates a test report and saves it to the human-machine interaction unit, and the test ends.

[0099] In some embodiments, S52 and the controller respectively send instructions to the corresponding motors according to the target motor position, controlling the motors to move to the corresponding target positions, including:

[0100] The controller employs a PID algorithm for closed-loop control of the motor position, specifically including:

[0101] The actual positions of the motors are obtained. If the deviations between the actual positions of the two motors and their corresponding target positions are both less than the allowable error, and the duration exceeds the arrival confirmation time, the motors are determined to have moved to the corresponding target positions.

[0102] During the preset duration, the controller continuously sends target position commands to control the motor to remain at the corresponding target position.

[0103] In this embodiment, the specific implementation steps of the calibration method are as follows: Figure 5 As shown, it includes:

[0104] Step T1: Enter calibration mode

[0105] The operator selects "calibration mode" through the human-machine interface unit, and the controller enters the calibration state.

[0106] Step T2: Select calibration action

[0107] The operator selects the action to be calibrated from the walking action sequence table, including but not limited to: forward common opening (Pos_A1), forward soft steering inside opening (Pos_A2), backward common opening (Pos_A3), backward soft steering inside opening (Pos_A4), and zero position (Pos_Zero).

[0108] Step T3: Manually adjust the motor position

[0109] Operators can manually control the movement of the corresponding motors using the "forward" and "reverse" buttons on the human-machine interface unit, and observe the actual position of the foot pedal driven by the loading mechanism until the foot pedal reaches the target opening corresponding to the action.

[0110] Step T4: Record the calibration position

[0111] After the operator confirms the position is correct, they press the "Save" button. The controller reads the current motor encoder value and associates this value with the action identifier, storing it in non-volatile memory. For example, if the calibration action is the forward common opening (Pos_A1), the left motor encoder value is Pos_A1_L, and the right motor encoder value is Pos_A1_R. Pos_A1_L, Pos_A1_R, and Pos_A1 are associated and stored in non-volatile memory. Note: The values ​​of Pos_A1_L, Pos_A1_R, and Pos_A1 are not fixed; they are determined by the calibration action and the model of the servo motor's built-in encoder.

[0112] Step T5: Repeat calibration

[0113] Repeat steps T2 to T4 until the motor positions corresponding to all actions are calibrated.

[0114] Step T6: Save the calibration parameter table

[0115] After calibration, the controller will save the calibration parameter table, which must include at least the following:

[0116]

[0117] In this embodiment, the specific implementation steps of the control method are as follows: Figure 6 As shown, it includes:

[0118] Step S1: Adjust the loading mechanism

[0119] The installation position of the connecting rod on the eccentric wheel is determined based on the loading amplitude of the electric foot pedal under test. The foot pedal is then placed in the neutral position before calibration using the foot pedal fixture loading clamp and foot pedal fixture adjustment mechanism. The foot pedal fixture adjustment mechanism must be removed before calibration begins.

[0120] Step S2: Motion parameter calibration

[0121] Power on the controller, select "calibration mode" for the controller, calibrate the motion parameters according to the test requirements, calibrate and save the values ​​of the left and right motor encoders when performing each walking action, until all calibration parameters in the calibration parameter table are calibrated.

[0122] Step S3: System Initialization

[0123] The controller loads the stored calibration parameter table and enters "running mode". The motor moves to the calibrated zero position, confirms that the loading mechanism is in the initial position, and the cycle count counter is cleared to zero.

[0124] Step S4: Load the action sequence

[0125] Operators can select or customize a walking action sequence table through the human-computer interaction unit. The walking action sequence table includes at least the following action types: straight forward, straight backward, soft turn, quick change of direction, unilateral braking and turning, and turning in place.

[0126] Step S5: Execute a single action sequence

[0127] The controller executes each movement step sequentially according to a preset walking action sequence table. The execution process of each movement step includes the following sub-steps:

[0128] Step S5.1: Read the target position of the current action.

[0129] The controller reads the action type corresponding to the current step from the action timing table, and obtains the target encoder positions of the left and right motors from the calibration parameter table based on the action type.

[0130] Step S5.2: The motor moves to the target position.

[0131] The controller sends position commands to the servo motor drivers, driving the left and right motors to move from their current positions to their respective target positions. A PID algorithm is used for closed-loop position control during the movement.

[0132] Step S5.3: Determine whether the target location has been reached.

[0133] The controller continuously reads the encoder feedback value. When the deviation between the actual position of the left motor and the right motor and their respective target position is less than the allowable error (e.g., ±0.5% of full scale) and the duration exceeds the arrival confirmation time (e.g., 50ms), it is determined that the target position has been reached.

[0134] Step S5.4: Start timing upon arrival.

[0135] After the motor reaches the target position, the controller starts the timer to record the holding time of the current action.

[0136] Step S5.5: Maintain position for the set duration

[0137] During the set duration of the action, the controller continuously outputs a position hold command, enabling the motor to overcome external loads and maintain the foot pedal at the target opening position.

[0138] Step S5.6: Timer ends, switch to the next action.

[0139] When the timing reaches the set duration of this step, the controller reads the next step in the action sequence table and repeats steps S5.1 to S5.6 until all actions in the current cycle are completed.

[0140] Step S6: Loop counting and judgment

[0141] After completing a full sequence of actions, the loop count counter is incremented by 1. The controller then checks whether the current loop count has reached the preset loop count.

[0142] If the preset number of cycles is not reached, repeat steps S5 to S6;

[0143] If the preset number of cycles is reached, proceed to step S7.

[0144] Step S7: Test terminated

[0145] The controller stops all motor drives, moves the motors to the calibrated zero position, generates a test report and saves it to the human-machine interface unit, and the test ends.

[0146] In one specific embodiment of the present invention, the walking action timing table is as follows:

[0147]

[0148] In this embodiment of the application, the calibration parameters satisfy the following relationship:

[0149] 1. Pos_Zero is the zero reference point, and the encoder value is 0;

[0150] 2. Pos_A1 and Pos_A2 are located in the forward direction (positive value), while Pos_A3 and Pos_A4 are located in the backward direction (negative value).

[0151] 3. |Pos_A2|<|Pos_A1|, meaning the inner opening of the forward soft steering is less than the commonly used forward opening;

[0152] 4. |Pos_A4|<|Pos_A3|, meaning the inner opening of the reverse soft steering is less than the commonly used reverse opening;

[0153] 5. |Pos_A1| and |Pos_A3|, |Pos_A2| and |Pos_A4| can be equal or unequal, and should be calibrated independently according to the walking characteristics of the tested model.

[0154] It should be noted that this walking motion sequence consists of 15 steps in a complete sequence, with a total duration of 50 seconds. The controller executes steps 1 to 15 sequentially, with each step lasting a set duration. After completing step 15, the loop counter is incremented by 1, and the system automatically returns to step 1 to begin the next loop. This process repeats until the preset number of loops is reached and then stops.

[0155] Example 3: This application provides an engineering machinery equipped with the aforementioned engineering machinery electronically controlled foot pedal durability testing system.

[0156] In some embodiments, the construction machinery may be an excavator.

[0157] 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.

[0158] 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.

[0159] 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.

[0160] 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.

[0161] The above description is only a preferred embodiment of this application. It should be noted that those skilled in the art should understand that various changes and improvements may be made to this application without departing from the principles and spirit. These improvements should also be considered within the scope of protection of this application and are not limited to the above embodiments.

Claims

1. A durability testing system for electrically controlled foot pedals in engineering machinery, characterized in that, include: Electric foot pedal fixing device, used to install the left electric foot pedal and the right electric foot pedal; The mechanical actuator includes two identical mechanical devices, which are used to load the left and right electric pedals respectively. The mechanical devices include a motor and a loading mechanism. The position of the motor is controlled by a controller. The loading mechanism is used to simulate the actual working conditions of the electric pedals and applies a loading force to the electric pedals under the drive of the motor so that the electric pedals output corresponding signals. The controller is used to acquire the walking action timing table and control the motor to cyclically execute each action step in the walking action timing table according to a preset number of cycles. The walking action timing table includes the action type and preset duration of each action step. The action types include at least: straight forward, straight backward, soft steering, quick reversal, single-sided braking steering, and stationary steering. Executing each action step in the walking action timing table includes: acquiring the corresponding target positions of the two motors from the calibration parameter table according to the action type of the current action step; controlling the two motors to move to the corresponding target positions to drive the loading mechanism to apply the corresponding loading force to the electric foot pedal and maintain it for the preset duration.

2. The engineering machinery electronic control foot pedal durability testing system according to claim 1, characterized in that, Also includes: Motor encoders are used to detect the actual position of two motors and feed it back to the controller to achieve closed-loop control of motor position.

3. The engineering machinery electronic control foot pedal durability testing system according to claim 1, characterized in that, The loading mechanism includes a coupling, an eccentric wheel, a connecting rod, a slider, a foot-operated loading fixture, and a foot-operated fixture. The slider is slidably mounted on the guide rail; The power output end of the motor is connected to the input end of the eccentric wheel via a coupling. The output end of the eccentric wheel is connected to the slider via a connecting rod. A foot pedal loading fixture is installed on the slider. The upper end of the foot pedal is rotatably mounted on the foot pedal loading fixture, and the lower end of the foot pedal is connected to the corresponding electrically controlled foot pedal.

4. The engineering machinery electronic control foot pedal durability testing system according to claim 1, characterized in that, The foot-operated tooling loading fixture includes: a fine-tuning guide rail fixedly connected to the upper surface of the slider, a fine-tuning slider slidably connected to the fine-tuning guide rail, a fine-tuning slider positioning plate and a bearing mounting bracket relatively fixedly disposed on the fine-tuning slider, and a foot-operated tooling mounting sleeve rotatably connected to the bearing mounting bracket via a rolling bearing; wherein, the fine-tuning slider positioning plate is provided with a connecting hole, and a connecting piece passes through the elongated hole and connects to the slider, and the relative position between the fine-tuning slider positioning plate and the slider is fixed by locking the connecting piece.

5. The engineering machinery electronic control foot pedal durability testing system according to claim 4, characterized in that, The fine-tuning guide rail is also equipped with positioning blocks at both ends to limit the stroke of the fine-tuning slider; and / or, The foot-operated loading fixture also includes a fine-tuning bolt. The first end of the fine-tuning bolt is axially fixed relative to the fine-tuning slider, and the second end is threadedly connected to the fine-tuning guide rail. The position of the fine-tuning slider on the fine-tuning guide rail can be adjusted by rotating the fine-tuning bolt.

6. The engineering machinery electronic control foot pedal durability testing system according to claim 3, characterized in that, The system also includes a foot pedal adjustment mechanism to ensure that the electronically controlled foot pedal remains in the neutral position during the initial calibration and testing states. The foot pedal fixture adjustment mechanism includes a first part and a second part arranged perpendicularly to each other. The first part is vertically mounted on the test platform. The first end of the second part is provided with a first clamp. The second part is mounted on the first part and can move axially and vertically through the first clamp. The second end of the second part is provided with a second clamp. The second clamp has a vertical through hole for the connecting rod of the upper part of the foot pedal fixture to pass through.

7. The engineering machinery electronic control foot pedal durability testing system according to claim 1, characterized in that, The calibration parameter table includes at least: the action type and the corresponding two motor target positions; The method for obtaining the calibration parameter table includes: Select the action type to be calibrated, manually control the motor to run until the loading mechanism drives the electric foot pedal to output a signal that reaches the target opening of the action type, and obtain the current actual position of the two motors as the target position of the two motors; The calibration action types include zero position, forward common opening, forward soft steering inner opening, reverse common opening, and reverse soft steering inner opening.

8. A method for testing the durability of an electrically controlled foot pedal in engineering machinery, characterized in that, Based on the engineering machinery electronically controlled foot pedal durability testing system according to any one of claims 1 to 7, the method includes: S1. Adjust the loading mechanism to ensure the electronically controlled foot pedal is in the neutral position before calibration; S2. Power on the controller, select the controller as "calibration mode", calibrate the motion parameters according to the test requirements, calibrate and save the left and right motor positions when each walking action is performed, until all calibration parameters in the calibration parameter table are calibrated. S3. The controller loads the stored calibration parameter table and enters "running mode", controls the motor to move to the calibrated zero position, and clears the cycle count counter; S4. Obtain a walking action sequence table, wherein the walking action sequence table includes the action type and preset duration of each action step; the action type includes at least: straight forward, straight backward, soft turn, quick change of direction, unilateral braking and turning, and turning in place; S5. The controller controls the motor to execute each action step sequentially according to the walking action sequence table until all action steps in the walking action sequence table have been executed, and the cycle count counter is incremented by 1; wherein, executing each action step sequentially according to the walking action sequence table includes: S51. The controller obtains the corresponding target positions of the two motors from the calibration parameter table according to the action type of the current action step. S52, The controller sends instructions to the corresponding motors according to the target position of the motors, controls the motors to move to the corresponding target positions, and starts recording the holding time of the current action; S53. In response to the current action holding time reaching the preset duration, the controller reads the next action step in the walking action sequence table and repeats S51 to S53. S6. If the current number of cycles has not reached the preset number of cycles, repeat S5 until the current number of cycles reaches the preset number of cycles. Then, the controller controls the motor to move to the calibrated zero position, and the test ends.

9. The method for testing the durability of electrically controlled foot pedals in engineering machinery according to claim 8, characterized in that, S52, the controller sends commands to the corresponding motors according to their target positions, controlling the motors to move to the corresponding target positions, including: The controller employs a PID algorithm for closed-loop control of the motor position, specifically including: The actual positions of the motors are obtained. If the deviations between the actual positions of the two motors and their corresponding target positions are both less than the allowable error, and the duration exceeds the arrival confirmation time, the motors are determined to have moved to the corresponding target positions. During the preset duration, the controller continuously sends target position commands to control the motor to remain at the corresponding target position.

10. An engineering machinery, characterized in that, The system is equipped with the engineering machinery electronic control foot pedal durability testing system as described in any one of claims 1 to 7.

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