MIMO algorithm-based double-wheel milling automatic feeding control method and system and engineering vehicle
阅读说明：本技术 基于mimo算法的双轮铣自动进给控制方法、系统及工程车辆 (MIMO algorithm-based double-wheel milling automatic feeding control method and system and engineering vehicle ) 是由 王兵 王选卓 王刚 卢相安 于 2019-11-28 设计创作，主要内容包括：本发明公开了基于MIMO算法的双轮铣自动进给控制方法、系统及工程车辆,控制系统包括用于双轮铣自动进给速度主导控制的速度控制模块,用于解决速度被扰动的速度解耦模块,该模块接收进给力误差值信号判断实际工况,并给出速度调节的次因子,还包括用于双轮铣自动进给力控制模块和进给解耦模块,用于作用双轮铣机器实体的系统模块。本发明以进给力和进给速度双闭环为主逻辑并创新性的采用MIMO特有的解耦模块思路解决进给速度和进给力两者调节的相互扰动和震荡问题,现场施工测试效果良好,满足双轮铣自动进给的实际需求。(The invention discloses a double-wheel milling automatic feeding control method based on an MIMO algorithm, a system and an engineering vehicle, wherein the control system comprises a speed control module for double-wheel milling automatic feeding speed leading control, a speed decoupling module for solving speed disturbance, a system module for double-wheel milling automatic feeding control module, a feeding decoupling module and a system module for acting on a double-wheel milling machine entity, wherein the speed control module is used for receiving a feeding force error value signal to judge an actual working condition and give a secondary factor of speed regulation. The invention takes the double closed loops of the feeding force and the feeding speed as main logics and innovatively adopts a decoupling module thought unique to MIMO to solve the problems of mutual disturbance and oscillation of the adjustment of the feeding speed and the feeding force, has good field construction test effect and meets the actual requirement of automatic feeding of the double-wheel milling machine.)
1. The double-wheel milling automatic feeding control method based on the MIMO algorithm is characterized in that:
the lowering speed of the automatic feeding of the double-wheel milling machine is controlled through a speed control module, the lowering speed directly acts on a flow valve signal of an actuator, and an error value of an automatic feeding target speed and an actual speed is adopted at a module inlet;
the disturbance of the feeding force to the feeding speed is solved through a speed decoupling module, and the error value of the automatic feeding target speed and the actual speed is adopted at the inlet of the module;
the feeding force control module controls the ground force of the automatic feeding of the double-wheel mill, the module inlet receives the target feeding force and the actual feeding force error value of the feeding force, and the overflow valve is regulated and controlled in a closed loop mode to be adjusted in real time during construction;
the feed force decoupling module is used for solving the disturbance of the change of the automatic feed speed on the feed force, the module inlet receives the feed target speed and the actual speed error value, and the data is sent to the overflow valve for control after calculation;
the flow valve control signal and the overflow valve control signal which are output by the MIMO control are executed through the system module, and the output current is calibrated linearly through the control quantity in the module to the port value.
2. The MIMO algorithm-based double-wheel milling automatic feed control method according to claim 1, wherein the speed control module comprises the following specific control method:
target set values from a control knob and speed difference values fed back by a system module are input into a proportional link and an integral link after passing through an error filter, and final output values are output through calibration of flow valve control signals;
in the process, the error filter is used for setting a dead zone for a specific speed to prevent frequent adjustment when the speed error meets the requirement, and releasing the error value after the ground force enters a stable state interval; the proportion link enables the output value to be in direct proportion to the input error; the integration element is used for eliminating static errors.
3. The MIMO algorithm-based double-wheel milling automatic feeding control system according to claim 1, wherein the feeding control module comprises the following specific control method:
the feeding force error data come from a calculated value of the actual ground force given by a knob set target ground force and a back-end system module, a proportional link is in direct proportion to the feeding error, a steady-state system error can occur in the P regulation process, at the moment, an integral link acts on integral of the error value in time, and an integral term is larger and larger along with the increase of time, so that the error can be gradually eliminated along with the increase of time even if the error is small, and finally the system enters an unsteady-state error; the differential link is in direct proportion to the differential of the error value of the feeding force, because the system has large inertia and a lag link, the milling wheel rotates to have certain jumping and edge sweeping conditions, the differential link has a certain advancing effect on error suppression, and the dynamic characteristic is good in actual adjustment.
4. The MIMO algorithm-based double-wheel milling automatic feed control system according to claim 1, wherein the system module comprises the following specific control method:
the flow valve control signal received by the system module is from a signal superposition value output by the speed control module and the speed decoupling module, the overflow valve signal received by the system module is from a signal superposition value output by the feeding force control module and the feeding force decoupling module, the flow valve control signal and the overflow valve control signal are output to an electric control current port after linear calibration of the modules, the feeding speed is converted by a winch encoder in the system module for data feedback, and the ground force is converted by a pin shaft sensor in the system module for data feedback.
5. The MIMO algorithm based dual-wheel milling automatic feed control method according to claim 4, wherein the actual data acquisition and feedback working method in the system module is as follows:
the tension of a steel wire rope is converted by acquiring signals through a pin shaft sensor arranged on the double-wheel mill, an accurate real-time ground pressure value is obtained through calculation of factors such as fixed weight and buoyancy of a tool rest, control data are provided for an MIMO algorithm, the data collection of the feeding speed is realized from encoders arranged in front and rear winches of the double-wheel mill, and the accurate feeding speed is obtained through real-time calculation of values of the front and rear ultrahigh-precision encoders.
6. The MIMO algorithm-based double-wheel milling automatic feed control method according to claim 4, wherein the working method of the flow valve signal and the overflow valve signal control in the system module is as follows:
and overflow valve and flow valve control signals received from the front-section module are output to a pin of the controller through the DA conversion closed loop to drive the overflow valve and the flow proportional valve, and the numerical value output to the pin is adjusted according to the actual current feedback value.
7. The MIMO algorithm-based double round milling automatic feed control method according to claim 4, characterized in that the feed force and speed control working method in the system module is as follows:
the feeding force regulation priority is higher than the feeding speed regulation priority, and the problem of disturbance among multiple control quantities is solved by adopting a multi-path input multi-output control algorithm under the requirement of simultaneous setting of the feeding force and the feeding speed.
8. Double round mills automatic feed control system based on MIMO algorithm, its characterized in that includes:
the speed control module is used for responding to the target feeding speed and the actual speed error, the output value of the speed control module is used as a flow valve control signal, and the output value of the speed control module is used as a leading factor for adjusting the feeding speed;
the speed decoupling module is used for processing the influence of the feed force change disturbance on speed control, and the output value is superposed on the flow valve control semaphore of the speed control module;
the feeding force control module is used for responding to errors of target ground force and actual ground force, the output value of the module is used as an overflow valve control signal, and the output value of the module is used as a leading factor for adjusting the ground force;
the feeding force decoupling module is used for processing the influence of the feeding speed change disturbance on the actual feeding force, and the output value is superposed on the overflow valve control signal quantity;
and the system module is used for executing flow valve control signals superposed at the front end and superposed overflow valve control signals, outputting closed loops to the flow valve and the overflow valve connected with the ports, calculating the actual ground force by the signals from the pin shaft sensor, the parameters of the tool rest and the buoyancy parameters in the module, and calculating the actual speed of automatic feeding by the numerical processing of high-precision rotary encoders from the front winch and the rear winch in the module.
9. The engineering vehicle is characterized by comprising a winch feeding system, wherein the winch feeding system is provided with the MIMO algorithm-based double-wheel milling automatic feeding control system according to claim 8.
10. The work vehicle of claim 9, wherein: the engineering vehicle comprises a double-wheel slot milling machine.
Technical Field
The invention relates to the technical field of engineering machinery, in particular to an automatic feeding control method of a double-wheel slot milling machine.
Background
The double-wheel slot milling machine is a large-scale foundation engineering construction mechanical equipment suitable for slot forming operation in foundation engineering, the double-wheel milling is a hydraulic operating machine, a main working device is a steel frame with the height of 12 meters and the weight of 30 tons and provided with a hydraulic and electric control system, two hydraulic motors are arranged at the lower part of the steel frame to drive a milling wheel to rotate at a low speed so as to cut the soil and rock below the milling wheel, the middle slurry pump is used for continuously conveying the soil, broken stones and the slurry pump to a slurry screening system, hydraulic deviation rectifying push plates for rectifying deviation are arranged on the four sides of a milling wheel tool rest, the milling wheel rest is automatically fed down through a hoisting steel wire rope, the ratio of the automatic feeding working condition in the whole construction period of the double-wheel milling is the largest, and the automatic feeding tension and the automatic feeding speed directly.
At present, the automatic feeding control of a double-wheel slot milling machine is direct open-loop control, the ground force is difficult to control, however, the selection of the ground force under a complex stratum determines the efficiency of the milling wheel, and an original system cannot meet the requirement. On the other hand, the prior automatic feeding control state cannot realize the subsequent low-speed low-ground force trimming and milling construction of double-wheel milling in the construction of the grab bucket machinery.
Disclosure of Invention
The invention provides an automatic feeding control method for a double-wheel mill based on an MIMO algorithm, which aims to realize the stable control of the ground force and the accurate control of the feeding speed of the automatic feeding of the double-wheel mill.
The invention is realized according to the following technical scheme:
the double-wheel milling automatic feeding control method based on the MIMO algorithm comprises the following steps:
the lowering speed of the automatic feeding of the double-wheel milling machine is controlled through a speed control module, the lowering speed directly acts on a flow valve signal of an actuator, and an error value of an automatic feeding target speed and an actual speed is adopted at a module inlet;
the disturbance of the feeding force to the feeding speed is solved through a speed decoupling module, and the error value of the automatic feeding target speed and the actual speed is adopted at the inlet of the module;
the feeding force control module controls the ground force of the automatic feeding of the double-wheel mill, the module inlet receives the target feeding force and the actual feeding force error value of the feeding force, and the overflow valve is regulated and controlled in a closed loop mode to be adjusted in real time during construction;
the feed force decoupling module is used for solving the disturbance of the change of the automatic feed speed on the feed force, the module inlet receives the feed target speed and the actual speed error value, and the data is sent to the overflow valve for control after calculation;
the flow valve control signal and the overflow valve control signal which are output by the MIMO control are executed through the system module, and the output current is calibrated linearly through the control quantity in the module to the port value.
Further, the specific control method of the speed control module is as follows:
target set values from a control knob and speed difference values fed back by a system module are input into a proportional link and an integral link after passing through an error filter, and final output values are output through calibration of flow valve control signals;
in the process, the error filter is used for setting a dead zone for a specific speed to prevent frequent adjustment when the speed error meets the requirement, and releasing the error value after the ground force enters a stable state interval; the proportion link enables the output value to be in direct proportion to the input error; the integration element is used for eliminating static errors.
Further, the feeding force control module specifically controls the following method:
the feeding force error data come from a calculated value of the actual ground force given by a knob set target ground force and a back-end system module, a proportional link is in direct proportion to the feeding error, a steady-state system error can occur in the P regulation process, at the moment, an integral link acts on integral of the error value in time, and an integral term is larger and larger along with the increase of time, so that the error can be gradually eliminated along with the increase of time even if the error is small, and finally the system enters an unsteady-state error; the differential link is in direct proportion to the differential of the error value of the feeding force, because the system has large inertia and a lag link, the milling wheel rotates to have certain jumping and edge sweeping conditions, the differential link has a certain advancing effect on error suppression, and the dynamic characteristic is good in actual adjustment.
Further, the specific control method of the system module is as follows:
the flow valve control signal received by the system module is from a signal superposition value output by the speed control module and the speed decoupling module, the overflow valve signal received by the system module is from a signal superposition value output by the feeding force control module and the feeding force decoupling module, the flow valve control signal and the overflow valve control signal are output to an electric control current port after linear calibration of the modules, the feeding speed is converted by a winch encoder in the system module for data feedback, and the ground force is converted by a pin shaft sensor in the system module for data feedback.
Further, the actual data acquisition and return working method in the system module is as follows:
the tension of a steel wire rope is converted by acquiring signals through a pin shaft sensor arranged on the double-wheel mill, an accurate real-time ground pressure value is obtained through calculation of factors such as fixed weight and buoyancy of a tool rest, control data are provided for an MIMO algorithm, the data collection of the feeding speed is realized from encoders arranged in front and rear winches of the double-wheel mill, and the accurate feeding speed is obtained through real-time calculation of values of the front and rear ultrahigh-precision encoders.
Further, the working method for controlling the flow valve signal and the overflow valve signal in the system module is as follows:
and overflow valve and flow valve control signals received from the front-section module are output to a pin of the controller through the DA conversion closed loop to drive the overflow valve and the flow proportional valve, and the numerical value output to the pin is adjusted according to the actual current feedback value.
Further, the working method of the feed force and speed control in the system module is as follows:
the feeding force regulation priority is higher than the feeding speed regulation priority, and the problem of disturbance among multiple control quantities is solved by adopting a multi-path input multi-output control algorithm under the requirement of simultaneous setting of the feeding force and the feeding speed.
Double round mills automatic feed control system based on MIMO algorithm includes:
the speed control module is used for responding to the target feeding speed and the actual speed error, the output value of the speed control module is used as a flow valve control signal, and the output value of the speed control module is used as a leading factor for adjusting the feeding speed;
the speed decoupling module is used for processing the influence of the feed force change disturbance on speed control, and the output value is superposed on the flow valve control semaphore of the speed control module;
the feeding force control module is used for responding to errors of target ground force and actual ground force, the output value of the module is used as an overflow valve control signal, and the output value of the module is used as a leading factor for adjusting the ground force;
the feeding force decoupling module is used for processing the influence of the feeding speed change disturbance on the actual feeding force, and the output value is superposed on the overflow valve control signal quantity;
and the system module is used for executing flow valve control signals superposed at the front end and superposed overflow valve control signals, outputting closed loops to the flow valve and the overflow valve connected with the ports, calculating the actual ground force by the signals from the pin shaft sensor, the parameters of the tool rest and the buoyancy parameters in the module, and calculating the actual speed of automatic feeding by the numerical processing of high-precision rotary encoders from the front winch and the rear winch in the module.
The engineering vehicle comprises a winch feeding system, and the winch feeding system is provided with the double-wheel milling automatic feeding control system based on the MIMO algorithm.
Further, the engineering vehicle comprises a double-wheel slot milling machine.
The invention has the beneficial effects that:
the invention realizes the automatic feeding control of the double-wheel milling machine based on the MIMO algorithm in an innovative way, and solves the problem of mutual disturbance of automatic feeding speed control and feeding force control. The decoupling module is introduced, and through a parameter adjusting mode, coupling is reduced, and excessive adjustment of an overflow valve and a flow valve under special working conditions can be avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
The present invention will be described in detail below with reference to the accompanying drawings and examples.
FIG. 1 is a diagram of the control logic scheme of the present invention.
FIG. 2 is a diagram of the speed control module of the present invention.
FIG. 3 is a block diagram of a feed control module of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an automatic feeding control system for a double-wheel milling machine based on MIMO algorithm includes a speed control module 101, a speed decoupling module 102, a feeding force control module 103, a feeding force decoupling module 104 and a
Referring to fig. 1, in the MIMO algorithm based dual-wheel milling automatic feed control method of the present invention:
the automatic feeding speed control and the automatic feeding force control are two control quantities with high coupling, the feeding force is required to be set according to the actual stratum hardness in actual milling, the milling wheel is blocked due to overlarge feeding force, the feeding speed is reduced due to improper feeding force, therefore, the stability and controllability of the ground force are guaranteed by adopting closed-loop control, the ground pressure is increased due to too high feeding speed in actual construction, and a feeding force decoupling module is introduced to consider the influence calculation of a feeding speed parameter on the feeding force. Also in the speed control, a data target speed and actual speed error value and a feeding force error value are introduced, and the speed control module 101 and the speed decoupling module 102 output flow valve control signals which are superposed and transmitted to the
The double-wheel milling automatic feeding control method based on the MIMO algorithm comprises the following steps:
the lowering speed of the automatic feeding of the double-wheel milling machine is controlled through a speed control module 101, the lowering speed directly acts on a flow valve signal of an actuator, and an error value of an automatic feeding target speed and an actual speed is adopted at a module inlet;
the disturbance of the feeding force to the feeding speed is solved through a speed decoupling module 102, and the module inlet adopts the error value of the automatic feeding target speed and the actual speed;
the feed control module 104 controls the ground force of the automatic feed of the double-wheel mill, the module inlet receives the feed target feed force and the actual feed error value, and the overflow valve is regulated and controlled in a closed loop mode to be adjusted in real time during construction;
the feed force decoupling module 103 is used for solving the disturbance of the automatic feed speed change on the feed force, the module inlet receives the feed target speed and the actual speed error value, and the data is sent to the overflow valve for control after calculation;
the flow valve control signal and the overflow valve control signal output by the MIMO control are executed by the
As shown in fig. 2, the speed control module 101 specifically controls the following method:
because the automatic feeding control system controls the feeding force as the main control and the speed is the performance in the resultant force state, the speed control module adopts PI closed-loop control, and the speed control module 101 comprises: the method comprises the following steps that a
As shown in fig. 3, the feeding force control module specifically controls the method as follows:
because the feeding force control of the tool rest hoisting system is a large inertia lag model, the control module adopts a PID control principle, the feeding force error 1040 data comes from a calculated value of the actual ground force given by a knob set target ground force and a back-end system module, a proportion link 1041 is in direct proportion to the feeding error 1040, a steady-state system error can occur in the P adjusting process, at the moment, an integral link 1042 acts on the integral of an error value in time, the integral term is larger and larger along with the increase of time, even if the error is small, the error can be gradually eliminated along with the increase of time, and finally the system enters an unsteady-state error. The differentiation link 1013 is in direct proportion to the differentiation of the error value of the feeding force, because the system has large inertia and a lag link, the milling wheel has certain jumping and edge sweeping conditions in rotation, and the differentiation link has a certain advancing effect in error suppression and has good dynamic characteristics in actual adjustment.
The specific control method of the system module is as follows:
the flow valve control signal received by the system module is from a signal superposition value output by the speed control module and the speed decoupling module, the overflow valve signal received by the system module is from a signal superposition value output by the feeding force control module and the feeding force decoupling module, the flow valve control signal and the overflow valve control signal are output to an electric control current port after linear calibration of the modules, the feeding speed is converted by a winch encoder in the system module for data feedback, and the ground force is converted by a pin shaft sensor in the system module for data feedback.
The actual data acquisition and return working method in the system module is as follows:
the tension of a steel wire rope is converted by acquiring signals through a pin shaft sensor arranged on the double-wheel mill, an accurate real-time ground pressure value is obtained through calculation of factors such as fixed weight and buoyancy of a tool rest, control data are provided for an MIMO algorithm, the data collection of the feeding speed is realized from encoders arranged in front and rear winches of the double-wheel mill, and the accurate feeding speed is obtained through real-time calculation of values of the front and rear ultrahigh-precision encoders.
The working method for controlling the flow valve signal and the overflow valve signal in the system module comprises the following steps:
and overflow valve and flow valve control signals received from the front-section module are output to a pin of the controller through the DA conversion closed loop to drive the overflow valve and the flow proportional valve, and the numerical value output to the pin is adjusted according to the actual current feedback value.
The feed force and speed control work method in the system module is as follows:
the feeding force regulation priority is higher than the feeding speed regulation priority, and the problem of disturbance among multiple control quantities is solved by adopting a multi-path input multi-output control algorithm under the requirement of simultaneous setting of the feeding force and the feeding speed.
Through the description of the multiple embodiments of the MIMO algorithm-based double-wheel milling automatic feeding control algorithm, the invention can solve the problem of interference between automatic feeding multiple control quantities by innovatively utilizing a multiple-input multiple-output control technology.
The automatic feeding control method for the double-wheel milling based on the MIMO algorithm is also used for innovatively indicating the large principle that the feeding force control priority is higher than the speed control priority in the automatic feeding control, indicating the correct direction for algorithm implementation, and achieving better stability and high efficiency in practical application.
The invention also provides an engineering vehicle which comprises a winch feeding system, wherein the winch feeding system is provided with the double-wheel milling automatic feeding control method based on the MIMO algorithm. Wherein, the engineering vehicle includes the slot milling machine of double round.
Finally, it should be noted that: although the present invention has been described in detail with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in the details of the embodiments may be made and equivalents may be substituted for elements thereof; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
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