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Running off tracking control system and method of excavator and excavator

A control method and control system technology, which is applied to earth movers/excavators, construction, etc., can solve problems such as deviation faults of excavators, and differences in characteristics of proportional valves of hydraulic pumps, so as to eliminate deviation faults and improve comfort Effect

Inactive Publication Date: 2012-10-10
SHANGHAI SANY HEAVY IND
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem that the excavator has deviation due to the difference in the characteristics of the proportional valve of the hydraulic pump and the difference in the travel motor itself, a control method for the deviation of the excavator is provided.

Method used

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  • Running off tracking control system and method of excavator and excavator
  • Running off tracking control system and method of excavator and excavator
  • Running off tracking control system and method of excavator and excavator

Examples

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Embodiment 1

[0028] Such as figure 2 As shown, the control pressures acting on the swash plate angles of the front and rear pumps are not equal due to the difference in the proportional valve, which causes faults such as machine walking deviation. The embodiment of the present invention provides a method for controlling the walking deviation of the excavator. The method has the following steps,

[0029] When the excavator is running in a straight line, the controller collects the angle value of the left and right pedals, the pilot pressure value of the left and right walking, calculates the output given pressure value of the proportional valve according to the given current, and calculates the output given pressure value of the proportional valve As a closed-loop control object;

[0030] The controller collects the output pressure values ​​of the proportional valves of the front and rear pumps, and compares the output pressure values ​​of the proportional valves of the front and rear pum...

Embodiment 2

[0035] Such as image 3 As shown, since the traveling motor itself also has a certain difference, when the output of the front and rear pumps is the same, there will often be a deviation phenomenon, and the closed-loop adjustment of embodiment 1 is no longer effective. The embodiment of the present invention provides a A method for controlling excavator walking deviation, the method has the following steps,

[0036] The controller collects the main pressure values ​​of the front and rear pumps, and compares the main pressure values ​​of the front and rear pumps;

[0037] Determine the main pressure given value of the front and rear pumps according to the external load, and make the main pressure given value of the front and rear pumps the closed-loop control object;

[0038] If the main pressure values ​​of the front and rear pumps are the same, the excavator will walk in a straight line normally; The given current of the proportional valve of the pump is corrected and adjus...

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Abstract

The invention discloses a running off tracking control system and a running off tracking control method of an excavator and the excavator and belongs to the technical field of running control of the excavator. The control method comprises the following steps that firstly, a controller collects the angle value of a pedal plate and the pilot pressure value of leftward and rightward running, and the output given pressure value of a proportional valve is calculated; then, the controller collects the output pressure values of the proportional valves of a front pump and a back pump, and in addition, the output pressure values of the proportional valves of the front pump and the back pump are compared; finally, when the output pressure values of the proportional valves of the front pump and the back pump are identical, the excavator normally runs straightly; when the output pressure values of the proportional valves of the front pump and the back pump are different, the output given pressure value of the proportional valve is used as a closed ring control object, and the given current of the front pump and the back pump output by a closed ring is modified and regulated until the output pressure feedback values of the proportional valves of the front pump and the back pump are identical. The system, the method and the excavator have the advantages that the off tracking failure of the excavator is eliminated, and the comfort of operators and the work efficiency of the excavator are improved.

Description

technical field [0001] The invention relates to the technical field of excavator walking control, in particular to an excavator walking deviation control system and method and an excavator. Background technique [0002] Hydraulic excavator is a multi-functional machine, which is currently widely used in mechanical construction such as water conservancy projects, transportation, electric power engineering and mining excavation. It can reduce heavy physical labor, ensure project quality, speed up construction and improve labor productivity. play a very important role. Due to the characteristics of various types, multi-functions, high quality and high efficiency, hydraulic excavators are favored by the majority of users. The excavator is prone to excavator deviation faults during the walking process, which affects the working efficiency of the excavator. [0003] Due to the difference in the characteristics of the proportional valve of the hydraulic pump in the current excava...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): E02F9/20E02F9/22
Inventor 邓园涂晓丹乔玉伟
Owner SHANGHAI SANY HEAVY IND
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