CN101881011A - Method for ensuring operation of a mobile material distributor control system and an operation process control device - Google Patents
Method for ensuring operation of a mobile material distributor control system and an operation process control device Download PDFInfo
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- CN101881011A CN101881011A CN200910173764XA CN200910173764A CN101881011A CN 101881011 A CN101881011 A CN 101881011A CN 200910173764X A CN200910173764X A CN 200910173764XA CN 200910173764 A CN200910173764 A CN 200910173764A CN 101881011 A CN101881011 A CN 101881011A
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- tripper
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- microcontroller
- pulse modulator
- control system
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Abstract
The invention discloses a method for ensuring operation of a mobile material distributor control system and an operation process control device, which enhance system reliability and widen functional scope. The method comprises the steps of: obtaining, by experiments or computations, a relational expression between rotation frequency of a hydraulic drive device of an actuator and type of used material as well as and current intensity of a wide pulse modulator; storing the relational expression in a memory of a programmable microcontroller of an automatic control system; using data in the memory according to the operation manner and the type of material; and forming a signal controlling the current intensity and transferring quantitative working liquid to a hydraulic adjuster. The control device comprises a console on a vehicle; a vehicle speed sensor connected with the console; a wide pulse modulator, an output end of which is coupled with a proportional electromagnet coil of the hydraulic adjuster; a fixed flow hydraulic valve, which is communicated with an input end of the hydraulic adjuster; and a control device with the programmable microcontroller, wherein the microcontroller comprises the data of the relational expression between the rotation frequency of the actuator and the current intensity of the wide pulse modulator.
Description
Technical field
The present invention relates to be used for highway maintenance and the road pavement method and the instrument that keep in repair in winter.The present invention is used in the design of mobile device, and these mobile devices are used for spraying different construction materials, comprising solid and liquid Snow Agent (ice-melt agent), and maintenance required asphalt emulsion during the road surface.
Background technology
The system that the known mobile material distributor (spreader) to spraying the snow melt material is controlled comprises: console; The electronic type vehicle speed sensor; The control module of band microcontroller is equipped with control program in microcontroller inside; Broad pulse modulator, this modulator are connected with the proportion electro-magnet of the speed fluid pressure governor of spreading disk drive unit with tripper executing agency-conveyer belt, and (RU 18280, are published in 2001.10.06; DT 2504725 A1,1975.02.05 is published in 1976.08.19).
The process that known tripper operation conditions is controlled ascribes to, when car speed changes, still must keep the operation output parameter of executing agency to immobilize, and the moment numerical value of speed is determined by electronic speed sensor.In known devices, all be injected into hydraulic fluid in each fluid pressure governor of executing agency's drive unit, it is from the independent hydraulically controlled pump of double loop hydraulic system.
The major defect of double-circuit system is its more complicated and cost height, and this is because for this system, except that two high-pressure hydraulic pumps, the hydraulic fluid of double amount must be arranged equally.Feedback transducer guarantees the known control system operation, and the signal of telecommunication that they produce is directly proportional with the speed of executing agency's drive unit.These signals enter microcontroller, compare with the controlling parameter standard value of having set, if there are differences, then produce the corrected impulse that enters the broad pulse modulator.Therefore, the electric current of the proportional controller circuit of flowing through is proofreaied and correct, and change has taken place in the speed of executing agency's drive unit in the direction of expectation.
The example that has the control system of feedback in many practical applications shows that there is important disadvantages in they.Because feedback transducer is installed in the outside of executing agency's drive unit, so negative effect of its suffering erosion property environment, in this kind environment, exist the salt of sodium, calcium and other metals, thereby cause sensor element accelerated corrosion, sensor to lose sealing and break down.The executing agency of tripper, for example the executing agency of snow melt material tripper has different dynamic characteristics and need realize adjustment process with distinct methods, and in practice to use the condition of a control system, is difficult to realize this point.This will cause, and for example, the spreading disk that the snow melt material is entered changes the self dynamic characteristic and has high rotatory inertia.The boundary up and down of the adjustable range of therefore, having set often changes and spreading disk can begin to reduce every now and then and increase self speed.This process is similar to the self-oscillation process that produces in the dynamical system.Only under the situation that reduces system sensitivity greatly, could in having the regulating system of feedback, eliminate it fully.In practice, adopt the method be called as " alligatoring " feedback transducer signal can cause degree of regulation to reduce, cause correspondingly that the precision of spray material has also reduced on the road surface.
Above-mentioned known control system is used at the tripper that is used for spraying a kind of material.In this case, in order to use controller the tripper that is used to spray another kind of material is controlled, must give the microcontroller programming preface again, arrive another kind of working equipment if change a kind of working equipment of tripper, for example be converted to fluent material from solid material, then this situation has limited the versatility of system widely.
Enumerated the automatic control system that is used to guarantee the tripper operation in being published in the document DT 2439046A1 in February 26 in 1976, the tripper of this spray material has the single loop hydraulic system.Owing to exist feedback transducer, this control system to have shortcoming noted earlier, therefore, handle if control system is not carried out substance, comprising reprograming preface, then it equally is not suitable for dissimilar use materials yet.
Except that shortcoming above-mentioned, when on mobile material distributor, using known control system, also need to carry out regular inspection and adjustment.Inspection ascribes to and utilizes the experiment gimmick to set up tripper parameter and the actual corresponding relation of being set by console that obtains between numerical value.The problem that occurs when carrying out this inspection is that vehicle should not be kept in motion when checking, is parked in the original place exactly, and vehicle drive axle is under lifting (disconnection) state.This is because the signal that must receive from electronic sensor causes.Finish under these conditions and check it is heavy a, costliness, and often still be dangerous tasks.
In addition, when under modern condition, using mobile material distributor, no matter be after finishing one class of work, still under real-time mode, all must use satellite navigation system and information is transferred to device on the remote equipment by mobile GPRS, for example be transferred on the scheduling computer, thus the actual operating of monitoring mobile material distributor.In known devices, extra external device (ED) as disk information memory and satellite navigation system and with the system of transfer of data to the remote equipment, can not be connected with console.This has dwindled the envelop of function of known automatic control system.
Summary of the invention
Technological achievement of the present invention is to have improved the versatility and the reliability of operation thereof of control system.
Another achievement is to have reduced workload and the safety when having improved monitoring or having checked the control system running status, has equally also enlarged the envelop of function of control system.
Mobile material distributor is to the road surface spray material, for example spray Snow Agent, the method that the system that utilizes assurance to control its running automatically can work, the achievement of having been mentioned above having obtained, the characteristics of the method are, at first adopt experiment or Calculation Method, obtain tripper executing agency the fluid pressure drive device regulated speed and the relational expression between the current strength of the type of material of using and broad pulse modulator, the electric current proportion electro-magnet circuit of adjuster of this drive unit of flowing through here; Then, resulting relational expression is deposited in the form of list data in the memory of microcontroller able to programme of automatic control system; Then, according to the tripper method of operation that sets and on the road surface type of spray material, optionally use the list data of in the memory of microcontroller, storing; Afterwards, form the signal that the current strength of broad pulse modulator is controlled, in this case, hydraulic fluid is transported in the fluid pressure governor of drive unit speed with firm discharge.
The device that use is controlled the mobile material distributor running, the achievement of having been mentioned above having obtained.This apparatus features is that it comprises: be installed in the console on the vehicle; The car speed electronic sensor that is connected with console; The broad pulse modulator, the coil electric coupling of its output and proportion electro-magnet, this proportion electro-magnet belongs to the speed fluid pressure governor of tripper executing agency; The hydraulic valve regulated of hydraulic fluid solid flow, its input with the aforementioned hydraulic adjuster communicates; The control module that links to each other with console, it comprises a microcontroller able to programme, tripper operation control program is equipped with in this microcontroller inside, simultaneously, also include list data in this microcontroller, they are list datas of relational expression between the current strength of the speed of tripper respective execution mechanisms and each broad pulse modulator, here this tripper is used to spray at least two types material, and electric current flows in the circuit of proportion electro-magnet, and console is equipped with the instrument of selecting desired data according to the tripper method of operation of having set and the type of material of using.
Console is equipped with the car speed electronic simulator, and it is in parallel with the car speed electronic sensor.
Console is equipped with and is used for and external device (ED), for example with the disc information memory and/or be used for the device of vehicle satellite fix and will transmit data to device on the remote equipment, continuous means of communication.
Description of drawings
By annexed drawings set forth essence of the present invention.
The lateral view of the mobile material distributor of solid snow melt material has been shown among Fig. 1;
The lateral view of the mobile material distributor of liquid snow melt material has been shown among Fig. 2;
The structural representation of the device that is used to implement the method or the system of control mobile material distributor operation have been shown among Fig. 3.
The specific embodiment
Mobile material distributor is used for spraying road pavement employed material when handling, and by understanding the device that its running is controlled automatically, the operation method of this device is described.This device comprises: the console 1 of band display, and it is installed on the vehicle 2; The special equipment of tripper, for example solid snow melt material storage bin 3 (Fig. 1) or liquid snow melt material storage tank 4 (Fig. 2).Conveyer belt 5 and spreading disk 6 are housed on the vehicle 2 of solid snow melt material tripper (Fig. 1), and they form the executing agency of solid material tripper.Chemical pumping 7 and spreading disk 8 are housed on the vehicle 2 of liquid snow melt material tripper (Fig. 2), and they form the executing agency of fluent material tripper.
What be connected with console 1 (Fig. 3) is car speed electronic sensor 9.Control module 10 is connected with console 1, and it comprises the microcontroller able to programme 11 of built-in tripper operation control program.Microcontroller 11 has built-in operand store, and data required when producing interaction with control program are kept in this memory.So-called car speed simulator 12 is parallel with electronic sensor 9, and links to each other with console 1.It is an electric pulse generator, and the electric pulse that is produced is consistent with the signal of sensor 9.Console 1 is equipped with and is used for the instrument 13 that communicates with external device (ED), and external device (ED) is disc information memory 14 and/or be used for vehicle 2 satellite fixes and with the device 15 of transfer of data to the remote equipment for example.
Means of communication 13 is a kind of like this devices, and promptly portion handles the data that obtain from microcontroller 11 within it, and utilizes necessary interface that it is forwarded on the external device (ED).
Automaton or system include broad pulse modulator 16 and 17 simultaneously.With modulator 16 output electrical couplings be the coil of the proportion electro-magnet 18 of fluid pressure governor 19, and this fluid pressure governor links to each other with executing agency-conveyer belt 5 or with pump 7.With modulator 17 output electrical couplings be the coil of the proportion electro-magnet 20 of fluid pressure governor 21, and this fluid pressure governor links to each other with executing agency-spreading disk 6 or spreading disk 8.The data that leave in the operand store of microcontroller 11 are the list data of the speed and the relational expression between the current strength of executing agency, executing agency-conveyer belt 5n
κ=f (I
κ) or pump 7n
H=f (I
H), and executing agency-spreading disk 6
Or spreading disk 8
And electric current refers to the electric current that broad pulse modulator 16 and 17 flows through proportion electro-magnet 18 and 20 circuit.Utilize experiment Calibration Method and/or Calculation Method in advance, can obtain relational expression noted earlier.Under any circumstance, for dissimilar spray material, their physics and chemical property are different fully and have different states of matter-solid-state or liquid, can obtain this data form.These materials may be solid snow melt materials: sand-salt mixture, chemical agent or inert material, and liquid snow melt material comprise calcium chloride, sodium chloride, magnesium chloride solution.Because every kind is used the difference that influences that snow-ice structure produces on the material road pavement, so use their method widely different mutually and can find reflection about this difference in the above-mentioned relational expression that obtains.
An instrument is housed in the console 1, is used for according to the method for operation set and the required data of the institute's type of material of using selection.When using this selection tool, can have subprogram in the program of control tripper operation, it has choice menus, and menu is presented on the display of console 1, perhaps, and such as on the electropneumatic transducer (not shown), showing.
The hydraulic part of control system comprises high-pressure hydraulic pump 22, and in parallel with its pressure main pipe is safety valve 23 and bypass valve 24.The input of the controlled hydraulic valve 25 that the hydraulic fluid flow is fixing is connected with the pressure main pipe of pump.Valve 25 built-in flow regulators strengthen under the situation of transportation work liquid at pump 22, and it enters unnecessary hydraulic fluid in the fuel tank 26, and when the engine crankshaft speed of vehicle 2 changed, the speed of adjuster also can change.In this case, form the firm discharge Q (Q=constant) of hydraulic fluid at the output of valve 25, its flows into the input of fluid pressure governor 19.Adjuster 19 and 21 has corresponding bypass line 27 and 28, and preferential pipeline 29 and 30.Comprise the hydraulic motor 31 that drives executing agency 5 or 7 between bypass line 27 and preferential pipeline 29, wherein bypass line 27 links to each other with the input of fluid pressure governor 20.Therefore, the hydraulic motor 32 of executing agency 6 or 8 drive unit just is connected with bypass line 28 and preferential pipeline 30.Bypass line 28 communicates with fuel tank 26.
Illustrate the method that guarantees that material distributor control system can be worked with the operation conditions of control system.For making the control system operation, at first utilize experiment (calibration) or Calculation Method, at dissimilar spray material, draw the relational expression between hydraulic motor 31 and 32 speeds and broad pulse modulator 16 and 17 current strength, the electric current here is meant the circuit of flow through respectively proportion electro-magnet 18 and 20.Resulting relational expression for example by the method to microcontroller programming, and deposits (introducing) in the form of list data in operand store 11.In this case, in the memory of microcontroller 11, introduced at least two kinds of fronts and mentioned relational expression, for example n
κ=f (I
κ) and n
H=f (I
H), and
With
They are applicable to the material of two types (solid and liquid).
Before starting working, select the type of material of using with console 1, and set needed spray pattern, for example sprinkler discharge density and width according to the technology of under actual conditions, using.In this case, only need extract the relevant data of using material type and having set spray pattern of having selected that are positioned at its inside with control program from the memory of microcontroller 11 gets final product.
For spray material on the road surface, vehicle 2 will be under the state of opening pump 22 setting in motion.Under the state of closing bypass valve 24, hydraulic fluid enters valve 25, and it has passed through adjustment in advance, and is required when the flow that makes its conveying is hydraulic motor 31 and 32 work.Will select the displacement volume of pump 22 like this, promptly when vehicle 2 motions, in the four corner of pump 22 speeds, the flow of pump always surpasses essential hydraulic fluid flow.Difference between the flow of pump 22 and the essential hydraulic fluid flow promptly is unnecessary hydraulic fluid, and unnecessary hydraulic fluid is discharged to fuel tank 26 from valve 25.Therefore, hydraulic fluid always injects fluid pressure governor 19 with firm discharge.Hydraulic fluid flow through hydraulic motor 5 or 7 and bypass line 27 after, its total liquid stream injects the input of fluid pressure governor 21.The total liquid stream of this hydraulic fluid equally also has firm discharge, its equal to flow through flow of hydraulic fluid of fluid pressure governor 19.
When vehicle 2 motions, electronic speed sensor 9 produces pulse, and the quantity of these pulses is directly proportional with degree of testing the speed.The pulse of sensor 9 enters console 1 and is transferred in the microcontroller 11, in this microcontroller, utilize the signal of input pickup 9 and from memory, extract be stored in its inner relational expression data, tripper operation control program carries out calculation of parameter, so that form the signal that the current strength of broad pulse modulator 16 and 17 is controlled.
When tripper moved, the sub-material mode that need set-density and the width of spray material immobilized on road, and irrelevant with the speed of vehicle 2.Obviously, when the speed of vehicle 2 improves, must increase the material quantity that is input on spreading disk 6 or 8, this can realize by the rotary speed that improves hydraulic motor 31.When the speed of vehicle 2 descends, must reduce the material quantity that enters spreading disk 6 or 8, this can reach by the speed that reduces hydraulic motor 31.This adjustment is carried out with automated manner, so control program all can make a response and change the control signal of broad pulse modulator 16 to any change of the speed of service.Reaction has been made in these variations, so variation has equally also taken place the current strength in the coil circuit of proportion electro-magnet 18.The displacement of proportion electro-magnet 18 iron cores is directly proportional with the electric current by electromagnet coil, and this makes by the speed of raising or reduction hydraulic motor 31, thereby realization is to the adjusting of the hydraulic fluid flow of this motor of flowing through.Because what inject adjuster 19 and 21 inputs is the fixing hydraulic fluid of flow, so the speed of hydraulic motor 31 and 32 only depends on the proportion electro-magnet 18 of adjuster 19 and 21 and the current strength in 20 coils, and irrelevant with other parameters.That is to say that the eternal monodrome of the actual value of hydraulic motor 31 and 32 speeds ground is determined that by the data of above-mentioned relation formula these relational expressions are to obtain with calibration or Calculation Method in advance.
Exactly because the width of spray material is directly proportional with the speed of spreading disk 6 or 8 and is in fact irrelevant with other factors on road surface, think that remaining on the console 1 spray width of setting immobilizes, and only needs to keep constant the getting final product of current strength of broad pulse modulator 17 passing ratio electromagnet 20 coils.Control program is selected essential current value from calibration or the relational expression data that calculate for this reason, and is the constant control signal of its formation broad pulse modulator 17.Thus, check that constantly the necessity of the axle speed of hydraulic motor 31 and 32 descends, so also need not use feedback transducer to obtain information about hydraulic motor 31 and 32 speed actual numerical values.
Therefore the operational reliability integral body of control system is improved, this be because within it portion do not have can suffering erosion property erosion medium resistance function influence element-feedback transducer.Degree of regulation is improved similarly, and this is stable because self-oscillation phenomenon and system can not occur when control system is moved.
Control system is general and is applicable to various trippers, therefore can use type of material in fact without limits, this be because the operand store of microcontroller 11 on capacity within it portion store considerable information array.When using same vehicle 2 and on it, installing when being applicable to the replacement equipment of dissimilar Material Useds, for example be applicable to the replacement equipment of solid and liquid snow melt material, the automatic control system that just is particularly suitable for using here and is told about.
When using tripper, must make regular check on the operation conditions of control system and it is carried out necessary correction, for example control program be made modification.For carrying out this inspection, vehicle 2 will be positioned on the platform and with pump 22 to be opened.Electronic speed sensor 9 does not turn round under dead ship condition, therefore wants opening speed simulator 12, and it produces and sensor 9 similar electric pulses.Operator's console 1 is set the parameter and the type thereof of spray material, and the value of certain simulating vehicle 2 speed is set with velocity simulate device 12.After this, use necessary instrument to measure the axle speed of hydraulic motor 31 and 32, and the numerical value that obtains is compared with the spray pattern of having set and the numerical value that is had of the material that uses.If deviation is very big, then control program is revised, so that obtain maximum between the above-mentioned parameter value of coincideing.Here the audit program of telling about carries out when vehicle 2 is static, does not therefore need to use expensive special device, has low workload and high security when carrying out work.
In increasing tripper practical application, can find diverse ways to store the current information of relevant control system service behavior at present.Such information may comprise the tripper speed of data value, the vehicle 2 of setup parameter and diagnostic message etc.This information can be transferred on the magnetic disc store 14 with the means of communication 13 of external device (ED) coupling, for example on the flash memory.Behind one class of end-of-job, can be used on the operation conditions that the information that is write down in this class work is analyzed concrete tripper.In addition, also the information of relevant tripper operation conditions can be transferred on the remote-control device, for example the information of this information together with relevant vehicle 2 current coordinates be transferred on the computer of operation organizational scheduling department by GPRS.The information of relevant current coordinate is from the device 15 that vehicle 2 is carried out satellite fix.The information that obtains is handled in real time, can be made the dispatcher control the operation conditions of tripper effectively, this is very important to guaranteeing traffic safety.
Claims (4)
1. guarantee the method for the control system operation of mobile material distributor running, described mobile material distributor spray material on the road surface, Snow Agent for example, it is characterized in that, at first utilize experiment or Calculation Method obtain tripper executing agency the fluid pressure drive device regulated speed and the relational expression between the current's intensity of the type of material of using and broad pulse modulator, the flow through circuit of proportion electro-magnet of adjuster of described drive unit of described electric current; Then, resulting relational expression is deposited in the memory of microcontroller able to programme of automatic control system with the form of list data; Then, according to the tripper method of operation that sets and to the type of road surface spray material, optionally use the list data of storing in the memory of described microcontroller; Afterwards, form the signal that the current's intensity of broad pulse modulator is controlled, the hydraulic fluid with firm discharge is transported in the fluid pressure governor of drive unit speed simultaneously.
2. the control device of mobile material distributor running, described mobile material distributor spray material on the road surface, for example Snow Agent is characterized in that, described control device comprises: be installed in the console on the vehicle; The car speed electronic sensor that is connected with console; The broad pulse modulator, the coil electric coupling of the proportion electro-magnet of the fluid pressure governor of its output and tripper executing agency speed; The hydraulic valve regulated of hydraulic fluid firm discharge, it communicates with the input of described fluid pressure governor; The control module that links to each other with console, it comprises the microcontroller able to programme with built-in tripper operation control program, the list data that comprises simultaneously relational expression between the current's intensity of the speed of tripper respective execution mechanisms and each broad pulse modulator in the described microcontroller, tripper is used to spray at least two types material, described electric current is meant the electric current of the proportion electro-magnet circuit of flowing through, and is equipped with the instrument of selecting desired data according to the tripper method of operation set and the type of material of using on the described console.
3. device according to claim 2 is characterized in that, the car speed electronic simulator in parallel with the car speed electronic sensor is housed on the described console.
4. device according to claim 2, it is characterized in that, be equipped with on the described console and be used for the instrument that communicates with external device (ED), described external device (ED) is for example disc information memory and/or vehicle satellite positioning device and with the device of transfer of data to the remote equipment.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| RU2009116823/11A RU2398929C1 (en) | 2009-05-05 | 2009-05-05 | Method of operating control system for mobile distributor of road coat processing materials and control system to this end |
| RU2009116823 | 2009-05-05 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101881011A true CN101881011A (en) | 2010-11-10 |
Family
ID=42800541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910173764XA Pending CN101881011A (en) | 2009-05-05 | 2009-09-15 | Method for ensuring operation of a mobile material distributor control system and an operation process control device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN101881011A (en) |
| RU (1) | RU2398929C1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102561249A (en) * | 2012-02-28 | 2012-07-11 | 陈健 | Intelligent remote snow-ice removal system |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2456403C1 (en) * | 2010-12-29 | 2012-07-20 | Виктор Сергеевич Аносов | Method for automatic treatment of road surface with deicing reagent |
| RU2734623C1 (en) * | 2019-06-21 | 2020-10-21 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Московский автомобильно-дорожный государственный технический университет (МАДИ)" | Method for automatic control of de-icy processing of road and aerodrome coatings |
-
2009
- 2009-05-05 RU RU2009116823/11A patent/RU2398929C1/en not_active IP Right Cessation
- 2009-09-15 CN CN200910173764XA patent/CN101881011A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102561249A (en) * | 2012-02-28 | 2012-07-11 | 陈健 | Intelligent remote snow-ice removal system |
Also Published As
| Publication number | Publication date |
|---|---|
| RU2398929C1 (en) | 2010-09-10 |
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