Hydraulically-operated construction machine actuator movement control method and device used for method realisation

FIELD: construction industry.

SUBSTANCE: group of inventions refers to construction machine control systems and can be used in hydraulically-operated construction machines. Hydraulically-operated construction machine actuator movement control method consists in reference-input signal generated by manipulating handle with inductive position sensor, formation of control effect on hydraulic drive with the help of electric hydraulic converter. In addition hydraulically-operated construction machine actuator speed is measured, and manipulating handle position sensor output signal is compared with output signal of hydraulically-operated construction machine actuator speed measuring unit. Eventually the first difference signal which is converted in integral control, and the output signal of which is compared with output signal of speed measuring unit, is generated, and after that the second difference signal which is converted in second-order two term controller is generated, and then it is supplied to electric hydraulic converter of actuator hydraulic drive.

EFFECT: improving process reliability due to smooth movement of actuators as well as the possibility of obtaining wide range of speed control at variable load of hydraulic drive.

2 cl, 2 dwg

 

Group of inventions relates to control systems for construction machines and can be used in construction machines with hydraulic drive.

There is a method of controlling the Executive mechanism of a construction machine with a hydraulic actuator by means of the handle arm, providing for the establishment of the setting signal, forming a controlling influence on the hydraulic actuator using an electro-hydraulic transducer by moving the operator arm-manipulator, in which the integrated position sensor / Constructor for adults. Part 4. Stronger for the joystick... // Construction equipment and technologies. - 2004. No. 4. - s-125 / [1].

For reasons that impede the achievement of specified following technical result when using the known method include the fact that the known method does not allow for wide speed control range of motion of the actuator construction machines with hydraulic drive, including smooth operation at low (slow) speed.

The closest way to the same destination to the claimed method in a group of inventions on the totality of symptoms is the way the Executive management mechanism of a construction machine with a hydraulic actuator by means of the handle arm, providing for the establishment of specifying the signal using arm-man is pulator with an inductive position sensor, forming a control action on the hydraulic actuator using an electro-hydraulic transducer through power electronic key regulators DC / Passport to the apparatus control electro-hydraulic distributors AWRSP SPE "Resonance", 2000 [2]. This method is adopted for the prototype.

For reasons that impede the achievement of specified following technical result when using the known method include the fact that in the known method does not provide any stabilization maintain the speed of the actuator construction machines with hydraulic drive, in the region of small ("creeping") speeds due to the changing load torques of the hydraulic actuator, causing the operator must continually adjust the speed of movement of the actuator construction machines with hydraulic drive, which in conditions of frequent starts and braking is very difficult, and often impossible due to the brevity of dynamic processes.

A device for controlling the Executive mechanism of a construction machine with a hydraulic drive, comprising a crank arm with a position sensor, an electro-hydraulic Converter / Constructor for adults. Part 4. Stronger for the joystick... // Construction equipment and technologies. - 2004. No. 4. - s-125 [1].

For reasons that impede the achievement of specified the who technical result when using the known device, consider that the use does not allow for wide speed control range of motion of the actuator construction machines with hydraulic drive, including smooth operation at low (slow) speed.

The closest device of the same purposes of the claimed device in the group of inventions on a set of attributes is a device to control the Executive mechanism of a construction machine with a hydraulic drive, comprising a crank arm with an inductive position sensor, power electronic key regulators DC / Passport to the apparatus control electro-hydraulic distributors AWRSP SPE "Resonance", 2000 [2].

For reasons that impede the achievement of specified following technical result when using known devices include the fact that no stabilization maintain the speed of the actuator construction machinery with hydraulic actuator when the load changes of the hydraulic drive.

The invention consists in the following. To improve the reliability of technological construction of the machine the speed of movement of the actuator in a predetermined range of speeds should not depend on the moment load on the hydraulic actuator. For this condition must be stabilized near the capabilities of the actuator in a predetermined range, including in the region of small (slow) speed.

Technical result - increase process reliability construction machinery due to the smoothness of motion actuators, as well as the possibility of obtaining a wide range of speed control with variable load of the hydraulic drive.

Specified single technical result in the exercise of invention the object of the method is achieved in that in the known method of controlling the movement of the actuator construction machines with hydraulic drive, including the creation of a reference signal by means of a lever arm with an inductive position sensor, forming a controlling influence on the hydraulic actuator using an electro-hydraulic Converter, the peculiarity lies in the fact that additionally measured the speed of the actuator construction machines with hydraulic drive, the output signal from the position sensor crank arm is compared with the output signal of the measuring unit of the speed of the actuator construction machines with hydraulic drive, the result is a first differential signal, which is converted to the integral controller output signal which is compared with the output signal of the measuring unit of speed, resulting in a second differential signal, the which is converted to a proportional-differential controller of the second order and then fed to the electro-hydraulic Converter hydraulic operating mechanism.

The drawings show: 1 shows a block diagram of a system speed control actuator construction machinery hydraulic; figure 2 shows the structure of a unit of measurement of speed of the actuator construction machine with a hydraulic drive.

When exposed to Xpanelthe operator on the lever arm with an inductive position sensor 1 (figure 1) at the output of the inductive position sensor occurs, the control signal X1that comes at the direct input of the first comparator 2 output signal X2which is converted to the integral controller 3 into a signalthat comes to a direct input of the second comparator 4; the output signal X4converted to proportionalrepresentation the controller of the second order 5 into a signalthat is input to an electro-hydraulic Converter 6, which controls the fluid flow Q of the hydraulic actuator construction machinery hydraulic 7, speed ω which is measured by the measurement unit, the speed of the actuator 8, the output signal X6is applied to the inverted inputs of the first comparator 2 and the second comparator 4.

When the machine is in operation, the requirement is to be technological reliability, it is necessary that the speed of movement of the operating mechanism of the machine in a predetermined range of speeds should not depend on the moment load on the hydraulic actuator. Compliance with this condition is only possible with smooth regulation and maintaining the speed of movement of the actuator construction machines with hydraulic drive with variable load of the hydraulic drive. These requirements are met in a closed-loop velocity system of automatic control of the hydraulic actuator of the construction machine with a hydraulic drive.

Specified single technical result in the exercise of invention the device object is achieved by the fact that in the known device, containing the crank-arm with an inductive position sensor, electro-hydraulic Converter, the output of which is connected to the input of the hydraulic actuator, the peculiarity lies in the fact that the device is further provided with first and second devices comparison, the integral controller and a proportional-differential controller of the second order, the unit of measurement of the speed of the actuator construction machines with hydraulic drive, and the output of the inductive sensor lever arm connected with the direct input of the first comparator, the output of which is connected to whodo the integral controller, the output of the integral controller is connected to the direct input of the second comparator, the output of which is connected to the input of the proportional-differential controller of the second order, the output of which is connected to the input of the electro-hydraulic Converter, the output signal of the measuring unit of the speed of the actuator construction machinery hydraulic served on the inverted inputs of the first and second devices compare.

1 shows a block diagram of a system speed control actuator construction machine with a hydraulic drive. It includes a lever arm with an inductive position sensor 1, the first comparator 2, the integral controller 3, the second comparator 4, a proportional-differential controller of the second order 5, electrohydraulic Converter 6, the actuating device of construction machine with hydraulic drive 7, the unit of measurement of the speed of the actuator 8.

Figure 2 shows the structure of a unit of measurement of speed of the actuator construction machine with a hydraulic drive. It includes the position sensor 9 of the actuator construction machinery hydraulic and differentiating device 10.

The claimed device allows you to automatically maintain the speed modulating the enforcement mechanism of a construction machine with hydraulic actuator when the load changes of the hydraulic drive. With the use of the claimed device extends the range of the speed control actuator and you can get small (slow) speed.

The output signal of the inductive position sensor crank arm 1 is fed to a direct input of the first comparator 2 output signal which is fed to the input of the integral controller 3, the output of which a signal comes to the direct input of the second comparator 4. The output signal of the second comparator 4 is supplied to the input of the proportional-differential controller of the second order 5, the output of which is fed to the input of the electrohydraulic transducer 6, which generates a signal to control the speed of the actuator construction machinery with hydraulic actuator 7, the speed of which is measured by the measurement unit, the speed of the actuator 8, the output signal is applied to the inverted inputs of the first comparator 2 and the second comparator 4.

The claimed group of inventions meet the requirements of unity of invention, since the group runobject inventions form a single inventive concept, one of the stated interest groups - device to control the Executive mechanism of a construction machine with hydraulic drive designation is about to implement another of the declared object group - method of controlling the Executive mechanism of a construction machine with a hydraulic drive, in this case, both of the object of invention is aimed at solving the same problem for a single technical result.

Information confirming the possibility of implementation of each object of the claimed group of inventions with obtaining the specified technical result.

Object - method of controlling the Executive mechanism of a construction machine with a hydraulic drive.

The actuator is characterized by a natural feature (the dependence of the rate of rotation or linear movement from the developing time or effort). The natural characteristics of the hydraulic drive allows you to get a small (slow) speed, which is often necessary when working construction machine with a hydraulic drive. By applying a closed-loop speed automatic control system, it becomes possible to expand the range of speed control actuator and receiving small (slow) speed.

The device object for the Executive management mechanism of a construction machine with a hydraulic drive.

As the lever arm 1 (Fig 1) can be used in the Apparatus of the electro-hydraulic control valves AWRSP". Electrohydraulic Converter 6 PR is dstanley a set of pulse-width Converter, for example, a digital pulse-width modulator for A.S. 1478316, and electromagnetic valve, for example REL. The Executive mechanism of a construction machine with hydraulic drive 7 is a set of hydraulic motor, such as motor 210.25.13 and presented them in the action mechanism of the machine, such as rotary platform of the machine. As a unit of measurement of speed of the actuator 8, you can use the position sensor 9, the shaft which mates with the shaft of the actuator (figure 2), the digital output signal of the sensor is formed, for example, using "Converter angle shaft code" by A.S. 888163, the output of which is differentiated by time differentiating the device 10, to obtain a signal proportional to the angular velocity of the actuator construction machine with a hydraulic drive. Blocks 2-5, 10 made, for example, programmatically, for example, on the basis of single-chip microcontroller TMS320C80.

The output signal of the inductive position sensor of the handle arm 1 (Fig 1) is fed to a direct input of the first comparator 2. The output signal of the first comparator 2 is supplied to the input of the integral controller 3, the output of which a signal comes to the direct input of the second comparator 4. The output signal of the second device is a means of comparison 4 is fed to the input of the proportional-differential controller of the second order 5, since the output of which is fed to the input of the electrohydraulic transducer 6, which generates a signal to control the speed of the actuator construction machinery hydraulic 7, speed ω which is measured by the measurement unit, the speed of the actuator 8, the output signal is applied to the inverted inputs of the first comparator 2 and the second comparator 4.

The device operates as follows. Arm-manipulator with an inductive position sensor 1 generates a reference signal which is compared with a signal equivalent to the current value of the speed of the actuator construction machinery with hydraulic actuator 7, in the first comparator 2. The received differential signal is input to the integral controller 3; the signal is then fed to a direct input of the second comparator 4 and is compared with a signal equivalent to the current value of the speed of the actuator construction machinery with hydraulic actuator 7. The received differential signal is input to proportionalintegral controller of the second order 5 and is input to an electro-hydraulic Converter 6, in accordance with which the output of the electrohydraulic transducer 6 is formed by the flow of the working fluid with a flow rate Q, which is served on Herod the engine actuator construction machinery hydraulic 7, bringing it in motion; speed ω movement of the actuator construction machinery with hydraulic actuator 7 is measured by the measurement unit, the speed of the actuator 8, the output signal is applied to the inverted inputs of the first comparator 2 and the second device comparison 4. As a result, the outputs of the comparator there is a new differential signal, which leads to the change of the output signal of the second controller 5, which, in turn, leads to changes in the flow rate Q of the hydraulic motor by varying the speed of rotation of the hydraulic motor, and hence the speed of movement of the actuator. This leads to the fact that the speed of movement of the actuator approaches the speed value given by the lever arm, and at the time of their equality comes the stabilization of the speed of the actuator construction machine with a hydraulic drive.

Sources of information

1. The constructor for adults. Part 4. Stronger for the joystick... // Construction equipment and technologies. - 2004. No. 4. - s-125.

2. Passport to the apparatus control electro-hydraulic distributors AWRSP SPE "Resonance", 2000

1. The method of controlling the movement of the actuator construction machines with hydraulic drive, including the creation of a reference signal by using the handle-manipulate is and with an inductive position sensor, forming a control action on the hydraulic actuator using an electro-hydraulic transducer, characterized in that it further measured the speed of the actuator construction machines with hydraulic drive, the output signal from the position sensor crank arm is compared with the output signal of the measuring unit of the speed of the actuator construction machines with hydraulic drive, the result is a first differential signal, which is converted to the integral controller output signal which is compared with the output signal of the measuring unit of speed, resulting in a second differential signal, which is converted to a proportional-differential controller of the second order and then fed to the electro-hydraulic Converter hydraulic operating mechanism.

2. Device to control movement of the actuator construction machines with hydraulic drive containing the crank-arm with an inductive position sensor, electro-hydraulic Converter, the output of which is connected to the input of the hydraulic actuator, characterized in that it is further provided with first and second devices comparison, the integral controller and a proportional-differential controller, storagepolicy, unit of measurement of the speed of the actuator construction machines with hydraulic drive, and the output of the inductive sensor lever arm connected with the direct input of the first comparator, the output of which is connected to the input of the integral controller, the output of the integral controller is connected to the direct input of the second comparator, the output of which is connected to the input of the proportional-differential controller of the second order, the output of which is connected to the input of the electro-hydraulic Converter, the output signal of the measuring unit of the speed of the actuator construction machinery hydraulic served on the inverted inputs of the first and second devices compare.



 

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