阅读说明：本技术 一种液压转向系统和控制方法 (Hydraulic steering system and control method ) 是由 李鑫 于 2021-10-20 设计创作，主要内容包括：本发明公开了一种液压转向系统和控制方法,液压转向系统包括手柄操作数据检测模块、控制器、比例电磁阀、转向阀,控制器、比例电磁阀、转向阀依次连接,手柄操作数据检测模块连接控制器,控制器用于根据手柄操作数据,计算出筛选数据,进行滑动滤波计算,输出控制数据,控制比例电磁阀的开口度,从而控制转向阀的输出流量,实现对转向的平稳控制。(The invention discloses a hydraulic steering system and a control method, wherein the hydraulic steering system comprises a handle operation data detection module, a controller, a proportional solenoid valve and a steering valve, the controller, the proportional solenoid valve and the steering valve are sequentially connected, the handle operation data detection module is connected with the controller, and the controller is used for calculating screening data according to the handle operation data, performing sliding filtering calculation, outputting control data and controlling the opening degree of the proportional solenoid valve, so that the output flow of the steering valve is controlled, and the stable control of steering is realized.)

1. A hydraulic steering system, characterized by: the controller is used for controlling the opening degree of the proportional solenoid valve according to the handle operation data, so that the output flow of the steering valve is controlled, and the steering is stably controlled.

2. A control method of a hydraulic steering system, characterized by: the hydraulic steering system comprises a controller and a proportional solenoid valve which are sequentially connected, wherein the controller is used for calculating screening data according to the change of handle operation data, performing sliding filtering calculation, outputting control data, controlling the opening degree of the proportional solenoid valve and smoothly controlling the steering of equipment.

3. The control method of the hydraulic steering system according to claim 1, characterized in that: calculating the increase value of the handle operation data of this time compared with the previous time, and taking the handle operation data of this time as screening data when the increase value is smaller than a set value; and when the increase value is larger than or equal to the set value, adding the specified value to the previous handle operation data to be used as screening data.

4. The control method of the hydraulic steering system according to claim 1, characterized in that: and calculating the average value of at least N continuous screening data as control data, wherein N is a positive integer greater than or equal to 1.

5. The control method of the hydraulic steering system according to claim 3, characterized in that: and sampling the handle operation data according to a certain frequency, and selecting N continuous screening data from the screening data to perform sliding filtering calculation.

6. The control method of the hydraulic steering system according to claim 1 or 4, characterized in that: sliding filter calculation, comprising the steps of:

s1, starting;

s2, clearing the earliest data in the data group;

s3, setting the data number N in the data group;

s4, assigning the nth screening data to the (N-1) th screening data, wherein N is less than or equal to N;

S5、n=n-1；

s6, judging whether n is equal to 1, if yes, entering the next step, and if not, turning to S4;

s7, assigning the 1 st screening data to the latest screening data;

s8, calculating and outputting the mean value of the screening data;

and S9, ending.

7. The control method of the hydraulic steering system according to claim 1 or 2, characterized in that: according to the change of the handle operation data, calculating screening data and performing sliding filtering calculation, the method comprises the following steps:

a1, start;

a2, receiving handle operation data;

a3, judging whether handle operation data are sampled or not, if so, entering the next step, and if not, turning to A2;

a4, calculating the increment of the current sampling handle operation data and the previous sampling handle operation data;

a5, judging whether the growth value is smaller than the set value, if so, entering the next step, and if not, turning to A7;

a6, taking the operation data of the current sampling handle as screening data, and turning to A8;

a7, adding a specified value to the previous sampling handle operation data to be used as screening data;

a8, calculating the average value of data group data by adopting a sliding filter algorithm;

a9, carrying out linear calculation on the average value to obtain control data, outputting the control data to the proportional solenoid valve, and controlling the opening degree of the proportional solenoid valve;

and A10, ending.

8. A hydraulic steering control terminal, characterized in that: comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: the processor, when executing the computer program, implements the method of any of claims 1-6.

9. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.

10. The utility model provides an underground trackless equipment with hydraulic steering system which characterized in that: the underground trackless equipment comprises a hydraulic steering system, and when the underground trackless equipment is steered, the underground trackless equipment is subjected to steering control by adopting the method of any one of claims 1 to 6.

Technical Field

The invention relates to the technical field of hydraulic steering control, in particular to a hydraulic steering system and a control method.

Background

At present, trackless equipment for underground mining is manufactured by fully electrically controlled and digitalized products, and development of green mining and automatic mining becomes a priority while economic development of mining. The equipment is electrically controlled, various information is collected in a large quantity, problems are analyzed and processed in time, a plurality of uncertain factors are converted into foreseeable factors, and the failure rate of enterprise manufacturing and the risk of mine construction are reduced.

In recent years, the electric control technology of domestic underground trackless equipment is widely applied, most of the existing equipment adopts a hydraulic system for reducing the cost, if a quantitative hydraulic system is adopted, the discharge capacity of the hydraulic system cannot be changed according to the working condition of the equipment, so that the required flow can be proportionally output, and the steering process cannot be stably controlled; if a variable hydraulic system is adopted, most of hydraulic components depend on high-price import from abroad, and the purchase period is long, so that the cost of equipment is increased, and the production efficiency is influenced. The conventional control method has poor stability and applicability and cannot better meet the requirements of products.

Therefore, how to realize the smooth control of the steering in the process of controlling the steering of the hydraulic system is a problem to be solved urgently at present.

Disclosure of Invention

The invention aims to provide a hydraulic steering system and a control method, which screen handle operation data by acquiring the handle operation data, output the screened data, perform sliding filter calculation on N screened data to obtain control data, control the opening degree of a proportional solenoid valve according to the control data, realize proportional outflow output control on the hydraulic system and achieve adaptive control on steering.

In a first aspect, the above object of the present invention is achieved by the following technical solutions:

the utility model provides a hydraulic steering system, includes handle operation data detection module, controller, proportion solenoid valve, steering valve, and controller, proportion solenoid valve, steering valve connect gradually, and handle operation data detection module connection director, controller are used for according to handle operation data, control proportion solenoid valve's opening degree to control steering valve's output flow realizes the smooth control to turning to.

In a second aspect, the above object of the present invention is achieved by the following technical solutions:

a control method of a hydraulic steering system comprises a controller and a proportional solenoid valve which are sequentially connected, wherein the controller is used for calculating screening data according to the change of handle operation data, performing sliding filtering calculation, outputting control data, controlling the opening degree of the proportional solenoid valve and smoothly controlling the steering of equipment.

The invention is further configured to: calculating the increase value of the handle operation data of this time compared with the previous time, and taking the handle operation data of this time as screening data when the increase value is smaller than a set value; and when the increase value is larger than or equal to the set value, adding the specified value to the previous handle operation data to be used as screening data.

The invention is further configured to: and calculating the average value of at least N continuous screening data as control data, wherein N is a positive integer greater than or equal to 1.

The invention is further configured to: and sampling the handle operation data according to a certain frequency, and selecting N continuous screening data from the screening data to perform sliding filtering calculation.

The invention is further configured to: sliding filter calculation, comprising the steps of:

s1, starting;

s2, clearing the earliest data in the data group;

s3, setting the data number N in the data group;

s4, assigning the nth screening data to the (N-1) th screening data, wherein N is less than or equal to N;

S5、n=n-1；

s6, judging whether n is equal to 1, if yes, entering the next step, and if not, turning to S4;

s7, assigning the 1 st screening data to the latest screening data;

s8, calculating and outputting the mean value of the screening data;

and S9, ending.

The invention is further configured to: according to the change of the handle operation data, calculating screening data and performing sliding filtering calculation, the method comprises the following steps:

a1, start;

a2, receiving handle operation data;

a3, judging whether handle operation data are sampled or not, if so, entering the next step, and if not, turning to A2;

a4, calculating the increment of the current sampling handle operation data and the previous sampling handle operation data;

a5, judging whether the growth value is smaller than the set value, if so, entering the next step, and if not, turning to A7;

a6, taking the operation data of the current sampling handle as screening data, and turning to A8;

a7, adding a specified value to the previous sampling handle operation data to be used as screening data;

a8, calculating the average value of data group data by adopting a sliding filter algorithm;

a9, carrying out linear calculation on the average value to obtain control data, outputting the control data to the proportional solenoid valve, and controlling the opening degree of the proportional solenoid valve;

and A10, ending.

In a third aspect, the above object of the present invention is achieved by the following technical solutions:

a hydraulic steering control terminal, characterized in that: comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: the processor, when executing the computer program, implements the methods described herein.

In a fourth aspect, the above object of the present invention is achieved by the following technical solutions:

a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the method of the present application.

In a fifth aspect, the above object of the present invention is achieved by the following technical solutions:

the underground trackless equipment comprises a hydraulic steering system, and when the underground trackless equipment is steered, the method is adopted to control the steering.

Compared with the prior art, the beneficial technical effects of this application do:

1. according to the method, the handle operation data are collected and processed to obtain screening data, smooth filtering calculation is carried out on the basis of the screening data, the opening degree of a hydraulic steering system is controlled, and smooth control over steering is achieved;

2. furthermore, the method and the device have the advantages that the handle operation data sampled this time are compared with the handle operation data sampled last time, screening data are obtained according to the comparison between the growth value and the set value, and discrete data are removed, so that the screening data are more reasonable;

3. furthermore, the method adopts a smooth moving method to select the N data before the data is screened at this time, and carries out filtering calculation, thereby realizing real-time operation control.

Drawings

FIG. 1 is a schematic flow chart of steering control in accordance with an exemplary embodiment of the present application;

FIG. 2 is a schematic flow chart of a smoothing filter calculation according to an embodiment of the present application;

FIG. 3 is a schematic illustration of a hydraulic steering system according to an embodiment of the present application.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Detailed description of the preferred embodiment

The utility model provides a hydraulic steering system, including the controller that connects gradually, the proportional solenoid valve, the diverter valve, handle operation data detection module is still connected to the controller, the controller receives handle operation data, sample according to the settlement frequency, handle operation data to sampling, calculate screening data, handle operation data and the handle operation data of sampling last time of this time compare, if the value of increase of this handle operation data is greater than the increase setting value, then increase behind a default on the handle operation data of sampling last time, as this screening data output, if the value of increase of this handle operation data is less than or equal to the increase setting value, then regard the handle operation data of this sampling as this screening data output.

The controller selects N times of screening data to carry out filtering calculation, and the obtained calculation result is used for controlling the opening degree of the proportional solenoid valve, so that the output flow of the steering valve is controlled, and the equipment is controlled to steer.

And calculating the average value of the N times of screening data through filtering calculation, wherein the average value or the root mean square value of the N times of screening data is included.

Detailed description of the invention

The control method of the hydraulic steering system comprises a handle operation data detection module, a controller and a proportional solenoid valve, wherein the handle operation data detection module is used for detecting handle operation data, the controller samples the handle operation data according to a certain frequency, calculates the increment of the sampled handle operation data compared with the previous handle operation data, compares the increment with an increment set value, and takes the sampled handle operation data as the screening data when the increment is smaller than or equal to the increment set value; and when the increase value is larger than the increase set value, adding a preset value to the previous handle operation data to serve as the current screening data.

Selecting the screening data and the previous N-1 times of screening data to form a data group comprising N screening data, calculating the average value of all data in the data group, performing linear function calculation on the average value to obtain control data, and controlling the opening degree of the proportional solenoid valve.

Wherein N is a positive integer of 1 or more.

And (3) acquiring new screening data every time sampling is increased along with the time lapse, removing the earliest screening data in the N times of screening data, adding the new screening data into the data group, recalculating the average value, updating the data and control data in the data group, and realizing sliding filter calculation.

And performing linear function calculation on the average value, namely linearly amplifying the average value, and adding a set value to obtain control data, wherein the amplification factor is the set factor.

In one embodiment of the present application, the sliding filter calculation, as shown in fig. 1, comprises the following steps:

s1, starting;

s2, clearing the earliest data in the data group;

s3, setting the data number N in the data group;

s4, assigning the nth screening data to the (N-1) th screening data, wherein N is less than or equal to N;

S5、n=n-1；

s6, judging whether n is equal to 1, if yes, entering the next step, and if not, turning to S4;

s7, assigning the 1 st screening data to the latest screening data;

s8, calculating and outputting the mean value of the screening data;

and S9, ending.

Calculating the screening data according to the change of the handle operation data, and performing sliding filter calculation, as shown in fig. 2, comprising the following steps:

a1, start;

a2, receiving handle operation data;

a3, judging whether handle operation data are sampled or not, if so, entering the next step, and if not, turning to A2;

a4, calculating the increment of the current sampling handle operation data and the previous sampling handle operation data;

a5, judging whether the growth value is less than or equal to the growth set value, if so, entering the next step, and if not, turning to A7;

a6, taking the operation data of the current sampling handle as screening data, and turning to A8;

a7, adding a preset value to the previous sampling handle operation data to be used as screening data;

a8, calculating the mean value of all data in the data group by adopting a sliding filter algorithm;

a9, carrying out linear calculation on the average value to obtain control data, sending the control data to the proportional solenoid valve, and controlling the opening degree of the proportional solenoid valve;

and A10, ending.

The linear calculation includes a linear calculation of a linear function.

Detailed description of the preferred embodiment

The utility model provides an underground trackless equipment with hydraulic steering system, as shown in fig. 3, including turn to pressure sensor, turn to angle sensor, speed sensor, handle operation data detection module, controller, proportion solenoid valve, steering cylinder, wherein turn to pressure sensor, turn to angle sensor, speed sensor, handle operation data detection module, proportion solenoid valve and be connected with the controller respectively, transmission data. The proportional electromagnetic valve, the steering valve and the steering oil cylinder are sequentially connected, and the controller outputs control data to the proportional electromagnetic valve to control the opening degree of the proportional electromagnetic valve, so that the output flow of the steering valve is controlled, the steering oil cylinder is controlled, and the steering of equipment is controlled.

The controller adopts the hydraulic steering system control method, obtains screening data according to the handle operation data detected by the handle operation data detection module, and calculates the average value of N screening data by adopting a sliding filter algorithm to obtain control data.

The controller is used for screening the handle operation data and performing sliding filtering calculation on the screened data to obtain control data to control the opening degree of the proportional solenoid valve and the flow required by the system, so that the impact of a hydraulic system on equipment is reduced, and the steering smoothness of the equipment is realized.

Detailed description of the invention

An embodiment of the present invention provides a hydraulic steering control terminal device, where the terminal device includes: a processor, a memory and a computer program, such as a sliding filter computer program, stored in the memory and executable on the processor, the processor implementing the method described herein when executing the computer program.

Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the hydraulic steering control terminal device. For example, the computer program may be divided into a plurality of modules, each module having the following specific functions:

1. the sliding filtering calculation module is used for performing sliding filtering calculation on the data;

2. and the control module is used for acquiring data and screening and controlling the data.

The hydraulic steering control terminal equipment can be computing equipment such as a desktop computer, a notebook computer, a palm computer and a cloud server. The hydraulic steering control terminal equipment can comprise, but is not limited to, a processor and a memory. It will be understood by those skilled in the art that the above examples are merely examples of the hydraulic steering control terminal device, and do not constitute a limitation of the hydraulic steering control terminal device, and may include more or less components than those shown, or combine some components, or different components, for example, the hydraulic steering control terminal device may further include an input-output device, a network access device, a bus, etc.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor is a control center of the one type of hydraulic steering control terminal device, and various interfaces and lines are used to connect various parts of the whole one type of hydraulic steering control terminal device.

The memory may be configured to store the computer program and/or the module, and the processor may implement various functions of the hydraulic steering control terminal device by executing or executing the computer program and/or the module stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the stored data area may store data (such as audio data, a phonebook, etc.) created according to the use of the handle, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

Detailed description of the preferred embodiment

The integrated module/unit of the hydraulic steering control terminal device can be stored in a computer readable storage medium if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, etc.

The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.