Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Control method of loader leveling system and loader leveling system
The invention discloses a control method of a loader leveling system and the loader leveling system. The control method of the loader leveling system is applied to a remote control loader and comprises the following steps: calculating the relative angle of a current movable arm and the relative angle of a bucket according to detection data of a movable arm inertial measurement unit and detection data of a rocker arm inertial measurement unit; the difference value between the relative angle of the current movable arm and the relative angle of the bucket and the set leveling angle is determined, and whether the automatic leveling mode needs to be quitted or not is judged; a simultaneous action area and a bucket advance area are set, and the electromagnetic valve needing to act is judged based on the distribution of the relative angle of the current movable arm and the relative angle of the bucket; the current needed by the electromagnetic valve is determined according to the difference value between the relative angle of the current movable arm and the relative angle of the bucket and the set leveling angle; and determining a correction coefficient of the current of the movable arm electromagnetic valve based on the large-cavity pressure of the movable arm oil cylinder and the angle increment of the movable arm. The control method of the loader leveling system has the advantages of being high in efficiency and small in impact.
本发明公开了一种装载机放平系统的控制方法和装载机放平系统。装载机放平系统的控制方法应用于遥控装载机，包括根据动臂惯性测量单元的检测数据和摇臂惯性测量单元的检测数据计算当前动臂的相对角度和铲斗的相对角度；确定当前动臂的相对角度、铲斗的相对角度与设定放平角度之间的差值并判断是否需要退出自动放平模式；设定同时动作区域和铲斗先行区域，并基于当前动臂的相对角度和铲斗的相对角度的分布判断需要动作的电磁阀；根据当前动臂的相对角度、铲斗的相对角度与设定放平角度之间的差值确定电磁阀所需的电流；基于动臂油缸大腔压力和动臂角度增量确定动臂电磁阀电流的修正系数。本发明装载机放平系统的控制方法具有效率高、冲击小的优点。
Control method of loader leveling system and loader leveling system
The invention discloses a control method of a loader leveling system and the loader leveling system. The control method of the loader leveling system is applied to a remote control loader and comprises the following steps: calculating the relative angle of a current movable arm and the relative angle of a bucket according to detection data of a movable arm inertial measurement unit and detection data of a rocker arm inertial measurement unit; the difference value between the relative angle of the current movable arm and the relative angle of the bucket and the set leveling angle is determined, and whether the automatic leveling mode needs to be quitted or not is judged; a simultaneous action area and a bucket advance area are set, and the electromagnetic valve needing to act is judged based on the distribution of the relative angle of the current movable arm and the relative angle of the bucket; the current needed by the electromagnetic valve is determined according to the difference value between the relative angle of the current movable arm and the relative angle of the bucket and the set leveling angle; and determining a correction coefficient of the current of the movable arm electromagnetic valve based on the large-cavity pressure of the movable arm oil cylinder and the angle increment of the movable arm. The control method of the loader leveling system has the advantages of being high in efficiency and small in impact.
本发明公开了一种装载机放平系统的控制方法和装载机放平系统。装载机放平系统的控制方法应用于遥控装载机，包括根据动臂惯性测量单元的检测数据和摇臂惯性测量单元的检测数据计算当前动臂的相对角度和铲斗的相对角度；确定当前动臂的相对角度、铲斗的相对角度与设定放平角度之间的差值并判断是否需要退出自动放平模式；设定同时动作区域和铲斗先行区域，并基于当前动臂的相对角度和铲斗的相对角度的分布判断需要动作的电磁阀；根据当前动臂的相对角度、铲斗的相对角度与设定放平角度之间的差值确定电磁阀所需的电流；基于动臂油缸大腔压力和动臂角度增量确定动臂电磁阀电流的修正系数。本发明装载机放平系统的控制方法具有效率高、冲击小的优点。
Control method of loader leveling system and loader leveling system
一种装载机放平系统的控制方法和装载机放平系统
CHI FENG (Autor:in) / ZHANG JIAN (Autor:in) / LIU CHENGQUAN (Autor:in) / XU TENGFEI (Autor:in)
11.08.2023
Patent
Elektronische Ressource
Chinesisch
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