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Straight line moving control method for crawler-type mechanical equipment

A kind of mechanical equipment, straight-line walking technology, applied in two-dimensional position/channel control and other directions, can solve problems such as inability to solve deviations, and achieve the effect of improving the straight-line performance of walking, eliminating the deviation of walking straightness, and having a simple control structure.

Inactive Publication Date: 2012-07-11
SOUTHWEST JIAOTONG UNIV +1
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AI Technical Summary

Problems solved by technology

Similarly, the method of ensuring that the cumulative rotation angles of the left and right driving wheels are the same cannot solve the problem of deviation when the tracked mechanical equipment travels in a straight line

Method used

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Experimental program
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Embodiment Construction

[0014] A method for controlling straight-line travel of crawler-type mechanical equipment, comprising the following steps:

[0015] The first step is to set the initial walking speed of left and right through the speed setting device, and the processor CPU reads the current speed setting value of both sides through the interface device and saves it;

[0016] The second step is to install speed sensors on the left and right crawler drive equipment to collect the travel distance of the left and right driving motors. After the CPU reads the speed data of the left and right crawlers, it calls the speed control modules corresponding to the crawlers on both sides. , the speed control module compares the left and right speed values ​​with the initially given left and right travel speeds respectively, and obtains the corrected speeds of the left and right travel motors, which are output as signals acceptable to the actuator after gain conversion, and then make The crawlers on the left...

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Abstract

The invention discloses a straight line moving control method for crawler-type mechanical equipment. The method includes comparing the present right impulser mileage increment with the value which equals the present left impulser mileage increment multiplied by the rectifying deviation coefficient, inputting the difference between the present right impulser mileage increment and the value into a proportional controller, obtaining the rectifying deviation quantity, adding the rectifying deviation quantity into the right speed set value, finally changing the right impulser mileage increment value through a speed closed-loop control system, and enabling the right mileage to be in accordance with the left mileage multiplied by the rectifying deviation coefficient. According to the straight line moving control method, moving straightness accuracy deviation caused by inconsistent effective driving machinery dimensions on two sides and driving speed deviations on two sides is eliminated, controlling structure is simple, rectifying deviation effect is good, the purpose of straight line moving rectifying deviation is achieved without changing prior speed closed-loop control system, and straight line moving performance of the crawler-type mechanical equipment is improved.

Description

technical field [0001] The invention relates to a method for controlling straight-line travel of crawler-type mechanical equipment. Background technique [0002] Crawler-type mechanical equipment (such as paver, excavator, etc.) usually drives the crawler through the drive wheel. Taking the paver as an example, the effective wheel diameter of the driving wheel includes the diameter of the driving wheel, the contact gap between the driving wheel and the track rack, and the thickness of the track rubber. Due to the slight difference in the wheel diameters of the driving wheels on both sides of the crawler machinery and the center of gravity of the crawler machinery may not necessarily be on the central axis of the machine, the load-bearing masses of the left and right crawlers are different, resulting in The gear contact gap and the compression amount of the rubber pad are different, and many factors cause the difference in the effective wheel diameter of the drive wheels on ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 刘东陈彦杰张利蒋启龙胡基士陈路徐乐杨强
Owner SOUTHWEST JIAOTONG UNIV
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