Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Shovel control method of energy-saving electric drive wheel type unmanned loader
The invention discloses a shoveling control method of an energy-saving electric drive wheel type unmanned loader. The shoveling control method is used for solving the shoveling problem of a bucket and the optimal control problem of motor torque. By calibrating some parameters in advance, when a loading machine reaches the position in front of a material pile and receives a shoveling command, firstly, a bucket straightly descends until the pressure of a pressure-bearing cavity of a bucket cylinder is just grounded and does not cause excessive pressure to the ground, and then a vehicle approaches the material pile at a certain vehicle speed and corresponding driving torque; and when the pressure, measured in real time, of the pressure bearing cavity of the movable arm cylinder is larger than a calibration value, it is judged that the bucket makes contact with the material pile, shoveling is started, and at the moment, the driving torque of the driving motor is changed to be 120% of the motor and hydraulic calibration driving torque. In the spading process, the forward stroke of the loader is recorded at the same time, and whether spading is completed or not and what measures are taken are judged according to the stroke and vehicle speed changes.
本发明公开一种节能型电驱动轮式无人装载机铲掘控制方法，用以解决铲斗铲收问题以及电机扭矩最佳控制问题。通过预先标定一些参数，使得当装载机达到料堆前方接到铲掘命令时，首先令铲斗平直下降至铲斗缸承压腔的压力达到刚刚接地且不对地面造成过大压力，然后令车辆以一定车速和对应的驱动扭矩接近料堆，当实时测得的动臂缸承压腔的压力大于标定值时，判定铲斗已经接触到料堆，开始铲掘，此时令驱动电机的驱动扭矩改变为电机与液压标定驱动扭矩的120％。铲掘过程中，同时记录装载机前进行程，根据行程和车速变化，判断是否铲掘完成以及采取何种措施。
Shovel control method of energy-saving electric drive wheel type unmanned loader
The invention discloses a shoveling control method of an energy-saving electric drive wheel type unmanned loader. The shoveling control method is used for solving the shoveling problem of a bucket and the optimal control problem of motor torque. By calibrating some parameters in advance, when a loading machine reaches the position in front of a material pile and receives a shoveling command, firstly, a bucket straightly descends until the pressure of a pressure-bearing cavity of a bucket cylinder is just grounded and does not cause excessive pressure to the ground, and then a vehicle approaches the material pile at a certain vehicle speed and corresponding driving torque; and when the pressure, measured in real time, of the pressure bearing cavity of the movable arm cylinder is larger than a calibration value, it is judged that the bucket makes contact with the material pile, shoveling is started, and at the moment, the driving torque of the driving motor is changed to be 120% of the motor and hydraulic calibration driving torque. In the spading process, the forward stroke of the loader is recorded at the same time, and whether spading is completed or not and what measures are taken are judged according to the stroke and vehicle speed changes.
本发明公开一种节能型电驱动轮式无人装载机铲掘控制方法，用以解决铲斗铲收问题以及电机扭矩最佳控制问题。通过预先标定一些参数，使得当装载机达到料堆前方接到铲掘命令时，首先令铲斗平直下降至铲斗缸承压腔的压力达到刚刚接地且不对地面造成过大压力，然后令车辆以一定车速和对应的驱动扭矩接近料堆，当实时测得的动臂缸承压腔的压力大于标定值时，判定铲斗已经接触到料堆，开始铲掘，此时令驱动电机的驱动扭矩改变为电机与液压标定驱动扭矩的120％。铲掘过程中，同时记录装载机前进行程，根据行程和车速变化，判断是否铲掘完成以及采取何种措施。
Shovel control method of energy-saving electric drive wheel type unmanned loader
一种节能型电驱动轮式无人装载机铲掘控制方法
HAN YUNWU (Autor:in) / HAN SHENRUI (Autor:in) / LYU YANYING (Autor:in) / WANG ZI (Autor:in)
27.10.2023
Patent
Elektronische Ressource
Chinesisch
IPC:
E02F
Baggern
,
DREDGING
Miniature energy-saving self-charging four-wheel drive loader
| Europäisches Patentamt | 2020