CN101284636A - Intelligence control system for aerial platform, aerial platform and control method thereof - Google Patents
Intelligence control system for aerial platform, aerial platform and control method thereof Download PDFInfo
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Abstract
The invention relates to an intelligent control system of an insulative aerial platform vehicle, an aerial platform vehicle with the intelligent control system and a control method thereof. The intelligent control system of the aerial platform vehicle comprises a wireless remote control device, an upper arm length sensor, an upper and lower arm angle encoder, a turntable rotating angle encoder, a leg grounding detection travel switch, a horizontal extending detection travel switch, a controller, a lower arm angle sensor, a lower arm length sensor, an arm bracket travel switch, a program download port, a liquid crystal screen, a quintuple proportional valve group, an oil circuit switching valve, a turntable operating switch, a leg action switch and a turntable potentiometer handle. A TTC200 controller is adopted as the controller of the aerial work platform, a wireless remote control handle is arranged at the insulative bucket part, the turntable is provided with the potentiometer handle to control the mechanism movement; the setting and the adjustment of various important parameters in the controller are completed through displaying the work condition of the vehicle body on the LCD display and debugging the software. The method has wide operational range, safety, reliability and high automatization through controlling the work condition of the entire vehicle by the controller.
Description
Technical field:
The present invention relates to a kind of aerial platform intelligence control system that insulate, with the aerial platform and the control method thereof of this intelligence control system.
Background technology:
Along with developing rapidly of market economy, aerial platform has obtained in the many fields of China using widely.In the operation of electric line hotline maintenance, need 26 meters of a kind of operation heights, 11 meters of operation amplitudes, and can in the high-tension bus-bar space, pass the insulation aerial platform of operation, conventional truck is operated mechanism with the mechanical speed governors valve at turntable, and accurately performance is poor.The turntable operating personal must be controlled aloft work personnel's job position by rule of thumb, because distance, it is quite big to control difficulty, and from the nearer uncontrollable vehicle of aloft work personnel of operating environment.For satisfying the stability of car load, former vehicle is bulky, Heavy Weight in addition.And folding arm adds the double telescopic high empty wagons that insulate, and still there is big difficulty in the control of Based Intelligent Control scope of work.Therefore, develop the full intelligence control system of a kind of aerial platform, make operating personal only need get final product the operation vehicle of safety and steady, extremely important meaning is arranged through simple training.
Summary of the invention:
Technical matters to be solved by this invention provide a kind of full intelligent and high-efficiency easily the aerial platform intelligence control system, with the aerial platform and the control method thereof of this intelligence control system.
The present invention solves the problems of the technologies described above the technical scheme that is adopted: this aerial platform intelligence control system, it is characterized in that being provided with wireless remote controller, the upper arm linear transducer, last underarm angle coder, turntable degreeof turn coder, supporting leg ground connection is detected travel switch, level is stretched out the detection travel switch, controller, following arm angle sensor, the underarm linear transducer, arm carriage travel switch, the program download port, LCDs, 5-linked apportioning valve group, the oil circuit transfer valve, the turntable operating switch, the supporting leg step switch, turntable potential device handle, wireless remote controller comprises wireless launcher and radio receiver two parts, wireless launcher is installed on the insulation bucket, radio receiver is arranged in the turntable control box, the actuating signal of wireless launcher is sent to radio receiver by wireless mode, controller is provided with the CAN bus port, analog quantity input, the pwm signal delivery port, the switching value input port, the switching value delivery port, radio receiver, last underarm angle coder, turntable degreeof turn coder, the program download port, LCDs all is connected with the CAN bus port of controller, the upper arm linear transducer, following arm angle sensor, the underarm linear transducer, turntable potential device handle all is connected with the analog quantity input of controller, 5-linked apportioning valve group, the oil circuit transfer valve all is connected with the pwm signal delivery port of controller, supporting leg ground connection is detected travel switch, level is stretched out the detection travel switch, arm carriage travel switch, the turntable operating switch, the supporting leg step switch all is connected with the switching value input port of controller, the switching value delivery port and the Engineering Lamp of controller, system failure alarm lamp, scope of work restriction lamp, jury pump, driving engine connects, the upper arm linear transducer is installed on the upper arm and is used for detecting the telescopic location of insulation telescopic boom, the underarm linear transducer is installed on the underarm and is used for detecting down the telescopic location of telescopic boom, last underarm angle coder is installed in upper arm and following telescopic boom connecting portion and is used for detecting angle between upper arm and the underarm, following arm angle sensor is installed in the afterbody of underarm and is used for detecting the elevation angle angle of underarm and horizontal surface, turntable degreeof turn coder is installed in the turntable in-to-in brush and is used for detecting the rotating angle of turntable, the turntable control box is installed on the turntable, the turntable control box is provided with the turntable operating switch, turntable potential device handle, LCDs, controller, radio receiver, on the arm carriage travel switch hold-down arm carriage and be used for detecting underarm and whether reset, the supporting leg step switch is installed on the vehicle frame and is used for detecting whether carry out the supporting leg operation, four supporting leg ground connection is detected travel switch and is installed on four horizontal support legs respectively and is used for whether reliable ground of detection of vertical supporting leg, eight levels are stretched out and are detected the extended position that travel switch is installed on the vehicle frame and is used for detecting four horizontal support legs, controller is controlled 5-linked apportioning valve group and oil circuit transfer valve by pwm signal, 5-linked apportioning valve group direct control upper arm hoist cylinder, the upper arm telescopic oil cylinder, the underarm hoist cylinder, the underarm telescopic oil cylinder, the turntable rotary motor, the oil circuit transfer valve is used for controlling the supporting leg action and switches with the oil circuit that upper mechanism moves, controller is connected with the debugging computer, so that aerial platform is debugged with debugging software, engine starting flameout switch in controller and the turntable operating switch, the jury pump switch, the engine throttle automatic control switch, emergency stop switch, scope of work restriction cancellation switch connects, and turntable potential device handle is used for being implemented in the control of on the turntable upper mechanism being moved.
Wireless launcher of the present invention is provided with Remote Control Automatic Oil Switch, remote control jury pump switch, telemotor starting flameout switch, remote control emergency stop switch, remote control upper arm lifting handle, remote control upper arm telescoping handle, remote control underarm lifting handle, remote control underarm telescoping handle, remote control turntable rotary handle.
Turntable potential device handle of the present invention comprises upper arm lifting handle, upper arm telescoping handle, underarm lifting handle, underarm telescoping handle, turntable rotary handle, and upper arm lifting handle, upper arm telescoping handle, underarm lifting handle, underarm telescoping handle, turntable rotary handle all are connected with controller.
Intelligence control system of the present invention is determined upper mechanism effective action scope according to the particular location of horizontal support legs and vertical leg.
Intelligence control system of the present invention is carried out auto-speed control at underarm, when telescopic boom, upper arm, insulation telescopic boom, turntable action are near desired location down.
LCDs of the present invention shows aerial platform job status comprehensively, comprise stretching out and ground state of arm lengths, the underarm elevation angle, upper arm length, the upper arm elevation angle, turntable degreeof turn, operation height, operation amplitude and horizontal support legs and vertical leg down, and when the system failure, show failure condition.
Controller of the present invention adopts the TTC200 controller; controller adopts independently watchdog circuit monitor program operation; built-in cpu temperature measuring ability has the internal current feedback function of the pwm signal of the short-circuit protection of input/output port and self-diagnostic function and electromagnetic proportional valve.
The present invention solves the problems of the technologies described above the technical scheme that is adopted and also comprises a kind of aerial platform with above-mentioned intelligence control system, this aerial platform is provided with the aerial platform intelligence control system, the insulation bucket, the insulation telescopic boom, upper arm, the upper arm hoist cylinder, following telescopic boom, underarm, the underarm hoist cylinder, turntable, the turntable control box, vertical leg, horizontal support legs, vehicle frame, the arm carriage, Engineering Lamp, system failure alarm lamp, scope of work restriction lamp, jury pump, driving engine, the upper arm telescopic oil cylinder, the underarm telescopic oil cylinder, insulation telescopic boom and the hinge joint of insulation bucket, insulation telescopic boom and upper arm flexibly connect, the upper arm telescopic oil cylinder is installed in the upper arm and the telescopic boom that is used for promoting insulating flexible, upper arm is connected with following telescopic boom head, following telescopic boom and underarm flexibly connect, the underarm telescopic oil cylinder is installed in the underarm and is used for promoting down the flexible of telescopic boom, the upper arm hoist cylinder is installed on the upper arm and with the connecting rod of following telescopic boom head and is connected, underarm fluctuating oil cylinder is installed on the turntable and with underarm and is connected, the turntable control box is installed on the turntable, turntable, the arm carriage is installed on the vehicle frame, driving engine drives Hydraulic Pump by power takeoff the car load hydraulic power is provided, four horizontal support legs and vehicle frame flexibly connect, each horizontal support legs and vertical leg flexible connection mounted thereto.
The present invention solves the problems of the technologies described above the control method that the technical scheme that is adopted also comprises a kind of above-mentioned aerial platform, it is characterized in that may further comprise the steps: the system parameter values among the Read Controller EEPROM, the system parameter assignment, the CAN bus initialization, the CAN data read, read incoming signal, sensor fault is judged, the car body Attitude Calculation, scope of work calculates, the responsiveness coefficient calculations, the handle signal conditioning, the system failure is judged, when existing, system failure situation enters emergency treatment mechanism, enter pwm signal after not having system failure situation or emergency treatment mechanism to finish and handle, control signal output, display data sends.
The present invention is in the CAN data read and read to also have the intelligence control system debugging step between the incoming signal, the intelligence control system debugging may further comprise the steps: the online judgement of debugging software, if debugging software is online, then modify instruction that sends according to debugging software and monitor command are to system's execution parameter initialization, parameter current reads, system parameter is revised, and monitoring data sends.
The present invention is directed to the car load debug system that whole-control system is implemented, mainly comprise the setting of CAN equipment, the parameter calibration of sensor terminus, the meta of potential device handle, dead band, delivery curve are set, apportioning valve starting point electric current, terminal point electric current, acclivity, decline slope are set, and the body construction parameter is set, deceleration buffer position and moderating ratio are set, and the actuation range limiting parameter is set.
The intelligence control system that the present invention adopts, by the control of controller enforcement to car load job status, scope of work is big, and is safe and reliable, replaced the mode of operation that traditional folding arm adds the artificial control vehicle safety of multi-section type telescopic boom aerial platform.
Description of drawings:
Fig. 1 is the structural representation of the embodiment of the invention.
Fig. 2 is the circuit controling drawing of the embodiment of the invention.
Fig. 3 is the control program block diagram of the embodiment of the invention.
Among the figure: 1, insulation bucket 12, wireless remote controller 3, insulation telescopic boom 4, upper arm linear transducer 5, upper arm 6, upper arm hoist cylinder 7, last underarm angle coder 8, following telescopic boom 9, underarm 10, underarm hoist cylinder 11, turntable 12, turntable degreeof turn coder 13, turntable control box 14, vertical leg 15, supporting leg ground connection is detected travel switch 16, horizontal support legs 17, level is stretched out and is detected travel switch 18, controller 19, following arm angle sensor 20, underarm linear transducer 21, vehicle frame 22, arm carriage travel switch 23, arm carriage 24, program download port 25, LCDs 26,5-linked apportioning valve group 27, oil circuit transfer valve 28, debugging computer 29, communication translation interface 30, Engineering Lamp 31, system failure alarm lamp 32, scope of work restriction lamp 33, jury pump 34, driving engine 35, connecting rod 37, turntable operating switch 38, supporting leg step switch 39, turntable potential device handle.
The specific embodiment:
Referring to Fig. 1, Fig. 2, embodiment of the invention aerial platform intelligence control system comprises wireless remote controller 2, upper arm linear transducer 4, last underarm angle coder 7, turntable degreeof turn coder 12, supporting leg ground connection is detected travel switch 15, level is stretched out and is detected travel switch 17, controller 18, following arm angle sensor 19, underarm linear transducer 20, arm carriage travel switch 22, program download port 24, LCDs 25,5-linked apportioning valve group 26, oil circuit transfer valve 27, debugging computer 28, communication translation interface 29, turntable operating switch 37, supporting leg step switch 38, turntable potential device handle 39, wireless remote controller 2 comprises wireless launcher 2_1 and radio receiver 2_2 two parts, wireless launcher 2_1 is installed on the insulation bucket 1, radio receiver 2_2 is arranged in the turntable control box 13, and the actuating signal of wireless launcher 2_1 is sent to radio receiver 2_2 by wireless mode.Embodiment of the invention aerial platform comprises aerial platform intelligence control system and insulation bucket 1, insulation telescopic boom 3, upper arm 5, upper arm hoist cylinder 6, following telescopic boom 8, underarm 9, underarm hoist cylinder 10, turntable 11, turntable control box 13, vertical leg 14, horizontal support legs 16, vehicle frame 21, arm carriage 23, Engineering Lamp 30, system failure alarm lamp 31, scope of work restriction lamp 32, jury pump 33 (jury pump 33 provides the device of reserve power when being engine breakdown), driving engine 34, connecting rod 35, the upper arm telescopic oil cylinder, the underarm telescopic oil cylinder.Wireless launcher 2_1 is installed on the insulation bucket 1, radio receiver 2_2 is arranged in the turntable control box 13, insulation telescopic boom 3 and 1 hinge joint of insulation bucket, insulation telescopic boom 3 flexibly connects with upper arm 5, the upper arm telescopic oil cylinder is installed in 5 li on upper arm and the telescopic boom 3 that is used for promoting insulating flexible, upper arm linear transducer 4 is installed on the upper arm 5 and is used for detecting the telescopic location of insulation telescopic boom 3, upper arm 5 and following telescopic boom 8 heads hinge joint, following telescopic boom 8 flexibly connects with underarm 9, the underarm telescopic oil cylinder is installed in 9 li of underarms and is used for promoting down the flexible of telescopic boom 8, underarm linear transducer 20 is installed on the underarm 9 and is used for detecting down the telescopic location of telescopic boom 8, last underarm angle coder 7 is installed in upper arm 5 and following telescopic boom 8 connecting portions, upper arm hoist cylinder 6 is installed on the upper arm 5, promote the connecting rod 35 of telescopic boom 8 heads down when flexible, make and go up the rotation of underarm angle coder 7 turning cylinders, detect the angle between upper arm 5 and the underarm 9, underarm fluctuating oil cylinder 10 is installed on the turntable 11 and with underarm 9 and is connected, following arm angle sensor 19 is installed in the afterbody of underarm 9 and is used for detecting the angle of inclination of underarm 9 and horizontal surface, turntable degreeof turn coder 12 is installed in the turntable 11 in-to-in brushes and is used for detecting turntable 11 rotating angles, turntable control box 13 is installed on the turntable 11, turntable control box 13 is provided with turntable operating switch 37, turntable potential device handle 39, LCDs 25, controller 18, radio receiver 2_2, system failure alarm lamp 31 on the turntable control box 13, scope of work restriction lamp 32 is used for reminding the operator safety operation, on the arm carriage travel switch 22 hold-down arm carriages 23, whether be used for detecting underarm 9 resets, supporting leg step switch 38 detects whether carry out the supporting leg operation, turntable 11 is installed on the vehicle frame 21, arm carriage 23 is installed on the vehicle frame 21, four horizontal support legs 16 flexibly connect with vehicle frame 21, the driving engine 34 that is installed on the car chassis drives Hydraulic Pump by power takeoff, upper arm hoist cylinder 6 is provided, the upper arm telescopic oil cylinder, underarm hoist cylinder 10, the underarm telescopic oil cylinder, the turntable rotary motor, the horizontal support legs oil cylinder, the hydraulic power of vertical leg oil cylinder, each horizontal support legs 16 and vertical leg 14 flexible connections mounted thereto, whether four supporting leg ground connection is detected that travel switch 15 is installed on four horizontal support legs 16 respectively and is used for detection of vertical supporting leg 14 can be recumbently, and eight levels are stretched out and detected the extended position that travel switch 17 is installed on the vehicle frame 21 and is used for detecting four horizontal support legs 16.
The wireless launcher 2_1 of the embodiment of the invention has five remote control handles (remote control upper arm lifting handle, remote control upper arm telescoping handle, remote control underarm lifting handle, remote control underarm telescoping handle, remote control turntable rotary handle) and four teleswitches (Remote Control Automatic Oil Switch, remote control jury pump switch, telemotor starting flameout switch, remote control emergency stop switch), and remote control handle and switch actuating signals are sent to radio receiver 2_2 by wireless mode.Controller 18 is connected with radio receiver 2_2 by CAN bus port CAN_A, receives the radio operation signal.Program download port 24, LCDs 25, turntable degreeof turn coder 12, last underarm angle coder 7 all are connected by CAN bus port CAN_A with controller 18, and program download port 24 can carry out the download of control program.The analog signals of underarm linear transducer 20, upper arm linear transducer 4, following arm angle sensor 19 is input to EA01, EA02, the EA03 port of the analog quantity input of controller 18 respectively.The LA24 of the PWM of controller 18 (pulse width modulation) signal output, LA25, LA00, LA01, LA02, LA03, LA04, the LA05 port is connected with 5-linked apportioning valve group 26, the LA26 of the pwm signal delivery port of controller 18, the LA27 port is connected with oil circuit transfer valve 27,5-linked apportioning valve group 26 direct control upper arm hoist cylinders 6, the upper arm telescopic oil cylinder, underarm hoist cylinder 10, the underarm telescopic oil cylinder, the turntable rotary motor, controller 18 usefulness pulse width modulating signals are realized the upper arm lifting action respectively by 5-linked apportioning valve group 26, the upper arm expanding-contracting action, the underarm lifting action, the underarm expanding-contracting action, turntable revolution action, controller 18 usefulness pulse width modulating signals (comprise horizontal support legs 16 by oil circuit transfer valve 27 control supporting legs, vertical leg 14) action and upper mechanism (insulation arm 3, upper arm 5, following telescopic boom 8, underarm 9, turntable 11) oil circuit of action switches.Controller 18 is connected with debugging computer 28 through communication translation interface 29 by CAN bus port CAN_B, so that with debugging software car load is debugged.LA17, the LA18 of the switching value delivery port of controller 18, LA19 port are connected with driving engine 34, export high engine speeds signal, medium engine speed signal, the flame-out signal of engine starting respectively, LA20, the LA21 of the switching value delivery port of controller 18, LA22, LA120 port are exported the control signal of jury pump 33, scope of work restriction lamp 32, system failure alarm lamp 31, Engineering Lamp 30 respectively.ET00, the ET01 of the switching value input port of controller 18, ET02, ET03, ET04 port are connected with engine starting flameout switch, jury pump switch, engine throttle automatic control switch, emergency stop switch, scope of work restriction cancellation switch in the turntable operating switch 37 respectively, are used for finishing corresponding action.The EAD11 of the switching value input port of controller 18 is connected with arm carriage travel switch 22, and the EAD05 of the switching value input port of controller 18 is connected with supporting leg step switch 38.Level is stretched out detection travel switch 17, and (two horizontal support legs 16 are stretched the detection travel switch entirely before and after comprising vehicle left side, two horizontal support legs 16 are stretched the detection travel switch entirely before and after the vehicle right side, two horizontal support legs 16 half are stretched the detection travel switch before and after the vehicle left side, two horizontal support legs 16 half are stretched and are detected travel switch before and after the vehicle right side) have eight, be installed on the vehicle frame 21, be used for detecting stretching entirely of vehicle left side front and back and right side front and back horizontal support legs 16 respectively, partly stretch state, determined level supporting leg 16 is in full reduced state when not stretching entirely and partly stretch signal, two horizontal support legs 16 in vehicle left side front and back are stretched detection travel switch series connection back entirely and are connected with the EAD06 of the switching value input port of controller 18, two horizontal support legs 16 in front and back, vehicle right side are stretched detection travel switch series connection back entirely and are connected with the EAD07 of the switching value input port of controller 18, two horizontal support legs 16 half are stretched and are detected travel switch series connection back and is connected with the EAD08 of the switching value input port of controller 18 before and after the vehicle left side, are connected with the EAD09 of the switching value input port of controller 18 after two horizontal support legs 16 half are stretched and detected travel switch and connect before and after the vehicle right side.Four supporting leg ground connection are detected travel switch 15 series connection backs and are connected with the EAD10 of the switching value input port of controller 18.Turntable potential device handle 39 comprises five of upper arm lifting handles, upper arm telescoping handle, underarm lifting handle, underarm telescoping handle, turntable rotary handle, be connected with EAD00, EAD01, EAD02, EAD03, the EAD04 of the analog quantity input of controller 18 respectively, be used for detecting the input of turntable potential device handle signal.
Present embodiment stretches out by eight levels and detects four states that horizontal support legs 16 stretches out of travel switch 17 detections, judges that left and right sides horizontal support legs 16 at full reduced state, partly stretches out state, still stretches out state entirely.Whether four supporting leg ground connection travel switches 15 detect four vertical leg 14 can be recumbently.By turning round the degreeof turn of the turntable degreeof turn coder 12 detection turntables of installing in the brush 11, detect underarms 9 elevations angle by following arm angle sensor 19, detect the upward angle between the underarm by last underarm angle coder 7.Detect underarm 5 extension elongations by stay-supported underarm linear transducer 20, detect insulation arm 3 extension elongations by stay-supported upper arm linear transducer 4.
Present embodiment is provided with the action of five turntable potential device handles, 39 control car loads on turntable control box 13, be provided with turntable operating switch 37 in addition.The turntable operating portion has also disposed the LCDs 25 of a CAN bus interface, job status to car load shows comprehensively, comprise stretching out and ground state of following arm lengths, the underarm elevation angle, upper arm length, the upper arm elevation angle, degreeof turn, operation height, operation amplitude and four horizontal support legs 16 and vertical leg 14, show the interface of failure condition when also being the system failure simultaneously.
The wireless remote controller 2 of present embodiment can be in insulation bucket 1 operate wireless feedway 2_1, radio receiver 2_2 receives wireless signal, and signal is transferred to controller 18 by the CAN bus, realization is to the operation of car load mechanism, operating function is identical with turntable control box 13, but the turntable operation has the action preceence.
The state that stretches out according to horizontal support legs, controller 18 is according to the permission scope of work of program inner setting, various mechanism actions are controlled, be implemented in the safe action of car load effective operation scope, when exceeding the effective operation scope, scope of work restriction indicator lamp 32 is lighted, and the risky operation action is under an embargo automatically.Operating attitude according to detected various signals judgement car loads realizes 5-linked apportioning valve group 26 control signals are carried out automatic compensation, thereby the maximum actuation speed of control mechanism realizes the quiet run of aloft work.When each mechanism action, controller 18 provides high engine speeds signal and medium engine speed signal automatically according to the mechanism action situation, and control driving engine 34 rotating speeds change.When detecting sensing system and break down, system failure alarm lamp 31 is lighted, everything will stop, only allow the scope of work restriction cancellation switch operating mechanism by force by turntable operating switch 37 this moment, the operation of this moment can't be subjected to the safety control control of controller 18, the safety of necessary artificial control vehicle, this function is the safeguard mechanism that returns the vehicle to the garage and knock off when sensing system breaks down.Occur when unusual in control system in addition, the emergency stop switch by remote control emergency stop switch on the wireless launcher 2_1 or turntable operating switch 37 all stops all outputs of controller 18, guarantees the safety of car load.
The core control part of present embodiment is the TTC200 controller.It is a programmable controller that is exclusively used in the high reliability of special engineered vehicle control, can be applicable to slightly working environment of long-term evil.Its rich hardware resource, have 20 road analog quantitys inputs, the input of 12 way switch amounts, the output of 12 road pwm signals, the output of 19 way switch amounts, 2 road CAN bus interface, the reference power supply of the potential device handle of the sensor reference power supply of 2 5V and a 10V can also be provided in addition.In addition; controller 18 adopts independently watchdog circuit monitor program operation; built-in cpu temperature measuring ability; the short-circuit protection and the self-diagnostic function that also have input/output port; the internal current feedback function of the pwm signal of electromagnetic proportional valve has significantly improved the accuracy of control system safe reliability and control output.The programming platform of TTC200 has adopted the CODESYS software that meets the IEC61131-3 standard, can adopt ST structured text language to programme, and can be applicable to the control arithmetic system of various complexity.TTC200 provides altogether up to the program code space of 160K and 2K customer parameter storage space.It is effective that Feng Fu program library file can make the control program refining in addition.The control program of TTC200 is downloaded by the CAN bus, and debugging computer 28 has adopted Interface of Communication Conversion 29 with the conversion that is connected of CAN bus, and it has realized the USB port of debugging computer 28 and the communication of CAN bus.
Referring to Fig. 3, the present invention solves the problems of the technologies described above the control method that the technical scheme that is adopted also comprises a kind of above-mentioned aerial platform, may further comprise the steps: the system parameter values among the EEPROM of Read Controller 18, the CAN bus initialization, the system parameter assignment, the CAN data read, read incoming signal (comprising various kinds of sensors and travel switch signal), sensor fault is judged, calculate the car body attitude, responsiveness coefficient calculations, handle signal conditioning, scope of work calculates, the system failure is judged, enters emergency treatment mechanism when system failure situation exists, and enters pwm signal after not having system failure situation or emergency treatment mechanism to finish to handle, control signal output, display data sends.
The present invention carries out CAN data read steps and reads also the intelligence control system debugging step can be set between the incoming signal step at controller 18, the intelligence control system debugging step may further comprise the steps: the online judgement of debugging software, when detecting the debugging software request, the modify instruction that sends according to debugging software, can carry out the initialization of system parameter to the 2K EEPROM of controller 18, the empirical parameter of vehicle control is stored in the controller, also can the data among the current EEPROM be read, show parameter value among the current EEPROM by debugging software, can change any single parameter among the EEPROM, pass through the various input/output signals of the monitored instruction of debugging software simultaneously to control system, and the related operation parameter reads, the foundation with as systems inspection and trouble-shooting the time.
Groundwork in the control flow comprises:
Behind the system boot, program reads the data among the EEPROM, system parameter is carried out assignment, CAN equipment in the start-up system, accept the CAN bus data, read various kinds of sensors and travel switch signal, and detecting sensor failure condition, calculate the car body attitude, calculate the effective operation scope, calculate the velocity coefficient of the everything under the front vehicle body state, handle the operating handle control signal, 5-linked apportioning valve group and oil circuit transfer valve corresponding port are carried out pwm control signal processing and output, other control signal port is exported, LCDs is sent display data by the CAN bus.When control system detects the system failure when (comprising sensor fault, the scope of work fault), carry out the emergency treatment program, the control everything stops the concurrent alerting signal that is out of order, and can pass through scope of work cancel switch, the action of returning the vehicle to the garage and knock off this moment.Leave the interface of debugging software in the program, can carry out function corresponding according to the modify instruction and the monitored instruction of debugging software.，
Special-purpose debugging software
After the car load assembling is finished, must adopt debugging software that car load is debugged, make its performance optimization.Debugging software is mainly finished following function.
1, by this debugging software the 2K Byte EEPROM in the TTC200 is rewritten, thereby vehicle is carried out comprehensive performance adjustment.The parameter calibration that mainly comprises the sensor terminus, the meta of potential device handle, dead band, delivery curve are set, apportioning valve starting point electric current, terminal point electric current, acclivity, decline slope are set, the body construction parameter is set, deceleration buffer position and moderating ratio are set, and the actuation range limiting parameter is set.When vehicle is debugged for the first time, import nearly 300 empirical datas, then everything is checked one by one, and suitably revised parameter, can satisfy vehicle performance and promote comprehensively.Debugging software has powerful function for monitoring in addition, and the program internal data is shown.Comprise the input of sensor, the input of potential device handle, the input of various switches, the input of wireless remote control signal, speed control coefficient currency, apportioning valve output, the output of switching value, and the demonstration of the current attitude of car body, and the demonstration of system failure situation.Carry out convenient again comprehensively the detection in the time of can breaking down to vehicle by the supervisory system internal data.
2, can carry out element ID number to CAN bus rotary encoder by debugging software and set, the data communication speed setting, zero position is set, and hand of rotation is set.
Several innovative points of this intelligence control system comprise:
One, the scope of work automatic guidance under the various service conditions.
Six kinds of states of detection level supporting leg 16, the full reduced state of left side horizontal support legs 16, promptly the distance between the center of center of two vertical leg 14, left side and turntable 11 is all more than or equal to 1100mm, but wherein the distance between the center of the center of one or two vertical leg 14 and turntable 11 less than 1555mm; The state of partly stretching of left side horizontal support legs 16, promptly the distance between the center of center of two vertical leg 14, left side and turntable 11 is all more than or equal to 1555mm, but wherein the distance between the center of the center of one or two vertical leg 14 and turntable 11 less than 2120mm; The state of stretching entirely of left side horizontal support legs 16, promptly the distance between the center of the center of two vertical leg 14 in left side and turntable 11 is all more than or equal to 2120mm; The full reduced state of right side horizontal support legs 16, be distance between the center of the center of two vertical leg 14 in right side and turntable 11 all more than or equal to 1100mm, but wherein the distance between the center of the center of one or two vertical leg 14 and turntable 11 less than 1555mm; The state of partly stretching of right side horizontal support legs 16, be distance between the center of the center of two vertical leg 14 in right side and turntable 11 all more than or equal to 1555mm, but wherein the distance between the center of the center of one or two vertical leg 14 and turntable 11 less than 2120mm; The state of stretching entirely of right side horizontal support legs 16, promptly the distance between the center of the center of two vertical leg 14 in right side and turntable 11 is all more than or equal to 2120mm.
The car load scope of work is divided into four zones, the 40 ° of scopes in dead ahead, the 40 ° of scopes in dead aft, the 140 ° of scopes in positive left side, the 140 ° of scopes in positive right side, horizontal support legs 16 full reduced, partly stretch, the state of stretching has entirely determined the effective action scope of upper mechanism (referring to turntable 11 above mechanisms) in positive left side, positive two zones, right side.The scope of work on the positive left side the when scope of work in dead ahead, dead aft is stretched state entirely with both sides horizontal support legs 16, positive right side is identical, promptly after underarm 9 elevations angle exceed 45 °, following telescopic boom 8 extended 0～5000mm, insulation telescopic boom 3 extended 0～1900mm, scope of work maximum at this moment; Positive left side when the scope of work in underarm 9 elevations angle dead ahead, dead aft during smaller or equal to 45 ° and both sides horizontal support legs 16 are full reduced, the scope of work on positive right side are identical, and the telescopic boom 3 that promptly insulate all can not stretch out with following telescopic boom 8.Effective action scope in positive left side, positive two zones, right side is stretched out the state difference according to left and right sides horizontal support legs 16 and is stretched out a less side with horizontal support legs 16 and determine scope of work, horizontal support legs 16 is partly being stretched under the state when underarm 9 elevations angle exceed 60 °, following telescopic boom 8 extended 0～5000mm, insulation telescopic boom 3 extended 0～1900mm, when underarm 9 elevations angle smaller or equal to 60 ° during greater than 45 °, following telescopic boom 8 extended 0～2000mm, insulation telescopic boom 3 extended 0～900mm; Time insulation telescopic boom 3 all can not stretch out with following telescopic boom 8 smaller or equal to 45 ° when underarm 9 elevations angle; Horizontal support legs 16 is in full reduced state following time, no matter how insulate at underarm 9 elevations angle telescopic boom 3 all can not stretch out with following telescopic boom 8.This scheme makes vehicle can adapt to various narrow and small road environments, brings into play the operational capability of vehicle to greatest extent.
Two, the hommization of responsiveness control:
In order to satisfy the steady traveling comfort of insulation bucket 1 operating personal operation, to the speed control of having done of following three aspects.
1, after having calculated the car body attitude, will when allowing mechanical mechanism, carry out auto-speed control near desired location, it can accurately be stopped when desired location and do not impact the generation of situation.At following telescopic boom 8, insulation telescopic boom 3 is flexible before the desired location during 200mm, by controller 18 controls, make the dutycycle of corresponding actions pwm signal reduce gradually, carry out deceleration control, responsiveness is reduced to 0 gradually near desired location the time, thereby realizes steadily stopping of action.
2, when oil cylinder is at the uniform velocity flexible, each actuating mechanism differs greatly because of twisted point position reason causes insulation bucket 1 kinematic velocity, and operation is made troubles to operating personal.At last underarm angle during from 0 ° to 140 ° gamut lifting action, the insulation that is caused by the mechanical mechanism 1 speed difference maximum that struggles against reaches 4 times, for this reason according to the different range of last underarm angle, the dutycycle of 18 pairs of upper arm lifting actions of controller pwm signal is carried out different coefficient corrections, thereby make that the kinematic velocity of insulation bucket 1 is constant substantially, the comfortable stationarity of the bucket 1 operating personal operation of guaranteeing to insulate.
3, according to of the influence of mechanism's radius of turn to when revolution insulation bucket 1 speed; formulated the controlling schemes of mechanism's revolution peripheral speed; in the variation of swinging radius from 7000mm to 11000mm; the dutycycle of 18 pairs of revolution actions of controller pwm signal is carried out different coefficient corrections; it is more and more slower to make that revolution is moved; the turning spur speed of insulation bucket 1 is constant substantially when guaranteeing to turn round action, the comfortable stationarity of the bucket 1 operating personal operation of guaranteeing to insulate.
Three, underarm angle coder 7 is measured and is gone up the underarm angle in the employing, measure underarm 9 elevations angle by the following arm angle sensor 19 that underarm 9 afterbodys are installed, thereby calculate the elevation angle actuation range control of the angle realization upper arm 5 between upper arm 5 and the horizontal surface, it is direct at the angle of measuring on the upper arm 5 between upper arm 5 and the horizontal surface that this scheme has been avoided, and solved mechanism to greatest extent and rocked the bigger situation of upper arm 5 elevation angle detection angles data fluctuations that causes.
Four, the high security of sensing system control.
Each analog sensor has been set its signal actv. scope, and real-time detecting sensor numerical value during system works the sensor fault signal occurs after exceeding maximum or minimum setting value.The CAN bus sensors is also implemented the timing data passback detect, when not receiving actv. passback data at the appointed time, judge the CAN breakdown of equipment.When sensor fault, stop dangerous action, system failure alarm lamp 31 alarms, and show failure conditions by LCDs 25.Must just can carry out imperative operation, the action of returning the vehicle to the garage and knock off this moment by the scope of work cancel switch that is provided with in the turntable control box 13.
Five, maloperation prompting function.
Car load scope of work situation complexity, operating personal can't be made judgement to the correctness of direction of operating sometimes, and when the motion action anisotropy, mechanism is failure to actuate, and scope of work restriction lamp 32 can send sound and light alarm, reminds the operator.Have only this moment the action of not reporting to the police to be only action safely and effectively.
Six, device protection function.
Insulation telescopic boom 3 and insulation bucket 1 set to interfere prevented function, structure has been caused damage but actv. prevents that personnel operation is improper.By controller 18, calculate the ground-surface position of distance, insulation bucket 1 bottom surface, when less than minimum safe distance 200mm, control insulation bucket 1 continues the action of stretching of downward insulation telescopic boom 3, upper arm 5 action falls, the action of contracting of following telescopic boom 8, the liter action of underarm 9 all stops, and prevents insulation bucket 1 and ground-surface collision.When last underarm angle angle forbid during less than 3 ° insulating telescopic boom 3, the expanding-contracting action of telescopic boom 8 stops down, prevent to insulate telescopic boom 3 and the friction of underarm 9 cause the wearing and tearing of insulation telescopic boom 3.When last underarm angle during less than 10 °, calculate the position of insulation bucket 1, when the position of insulation bucket 1 apart from the distance of turntable 11, underarm 9 during less than 200mm, the action of contracting of control insulation telescopic boom 3, upper arm 6 action falls, the action of stretching of following telescopic boom 8 stops, the collision of prevent to insulate bucket 1 and turntable 11, underarm 9.
Seven, engine throttle automatic guidance function.
According to the demand difference of different running-active status to delivery quality, implement the high, normal, basic three speed control systems of engine speed, change the rotating speed of Hydraulic Pump, improve the efficient of fuel feeding.When mechanism is failure to actuate or when artificially requiring low-speed handing, throttle is a low speed, fully reduces operating noise, energy savings consumption.When upper mechanism carries out single movement or carry out supporting leg when operation, throttle is a middling speed, and when upper mechanism carried out multimachine structure composite move, throttle be at a high speed, the operating efficiency of raising car load.The control of throttle can be selected by the throttle automatic switch in wireless launcher 2-1 and the turntable operating switch 37, carries out low-speed handing or by the speed of controller 18 automatic guidance throttles.
Eight, the debugging software of perfect in shape and function.
Another principal feature of this control system is to have disposed powerful debugging software, and debugging software can be set this vehicle controllable function, makes vehicle performance the best, also is the important evidence of this control system trouble-shooting simultaneously.
The present invention has improved the advance of aerial platform in field of intelligent control technology, has significantly improved the safety of aloft work personnel and vehicle.Along with the popularization of this product, will produce good social benefit and economic interests.
Claims (10)
1, a kind of aerial platform intelligence control system, it is characterized in that: be provided with wireless remote controller, the upper arm linear transducer, last underarm angle coder, turntable degreeof turn coder, supporting leg ground connection is detected travel switch, level is stretched out the detection travel switch, controller, following arm angle sensor, the underarm linear transducer, arm carriage travel switch, the program download port, LCDs, 5-linked apportioning valve group, the oil circuit transfer valve, the turntable operating switch, the supporting leg step switch, turntable potential device handle, wireless remote controller comprises wireless launcher and radio receiver two parts, wireless launcher is installed on the insulation bucket, radio receiver is arranged in the turntable control box, the actuating signal of wireless launcher is sent to radio receiver by wireless mode, controller is provided with the CAN bus port, analog quantity input, the pwm signal delivery port, the switching value input port, the switching value delivery port, radio receiver, last underarm angle coder, turntable degreeof turn coder, the program download port, LCDs all is connected with the CAN bus port of controller, the upper arm linear transducer, following arm angle sensor, the underarm linear transducer, turntable potential device handle all is connected with the analog quantity input of controller, 5-linked apportioning valve group, the oil circuit transfer valve all is connected with the pwm signal delivery port of controller, supporting leg ground connection is detected travel switch, level is stretched out the detection travel switch, arm carriage travel switch, the turntable operating switch, the supporting leg step switch all is connected with the switching value input port of controller, the switching value delivery port and the Engineering Lamp of controller, system failure alarm lamp, scope of work restriction lamp, jury pump, driving engine connects, the upper arm linear transducer is installed on the upper arm and is used for detecting the telescopic location of insulation telescopic boom, the underarm linear transducer is installed on the underarm and is used for detecting down the telescopic location of telescopic boom, last underarm angle coder is installed in upper arm and following telescopic boom connecting portion and is used for detecting angle between upper arm and the underarm, following arm angle sensor is installed in the afterbody of underarm and is used for detecting the elevation angle angle of underarm and horizontal surface, turntable degreeof turn coder is installed in the turntable in-to-in brush and is used for detecting the rotating angle of turntable, the turntable control box is installed on the turntable, the turntable control box is provided with the turntable operating switch, turntable potential device handle, LCDs, controller, radio receiver, on the arm carriage travel switch hold-down arm carriage and be used for detecting underarm and whether reset, the supporting leg step switch is installed on the vehicle frame and is used for detecting whether carry out the supporting leg operation, four supporting leg ground connection is detected travel switch and is installed on four horizontal support legs respectively and is used for whether reliable ground of detection of vertical supporting leg, eight levels are stretched out and are detected the extended position that travel switch is installed on the vehicle frame and is used for detecting four horizontal support legs, controller is controlled 5-linked apportioning valve group and oil circuit transfer valve by pwm signal, 5-linked apportioning valve group direct control upper arm hoist cylinder, the upper arm telescopic oil cylinder, the underarm hoist cylinder, the underarm telescopic oil cylinder, the turntable rotary motor, the oil circuit transfer valve is used for controlling the supporting leg action and switches with the oil circuit that upper mechanism moves, engine starting flameout switch in controller and the turntable operating switch, the jury pump switch, the engine throttle automatic control switch, emergency stop switch, scope of work restriction cancellation switch connects, and turntable potential device handle is used for being implemented in the control of on the turntable upper mechanism being moved.
2, aerial platform intelligence control system according to claim 1 is characterized in that: described wireless launcher is provided with Remote Control Automatic Oil Switch, remote control jury pump switch, telemotor starting flameout switch, remote control emergency stop switch, remote control upper arm lifting handle, remote control upper arm telescoping handle, remote control underarm lifting handle, remote control underarm telescoping handle, remote control turntable rotary handle.
3, aerial platform intelligence control system according to claim 1, it is characterized in that: described turntable potential device handle comprises upper arm lifting handle, upper arm telescoping handle, underarm lifting handle, underarm telescoping handle, turntable rotary handle, and upper arm lifting handle, upper arm telescoping handle, underarm lifting handle, underarm telescoping handle, turntable rotary handle all are connected with controller.
4, aerial platform intelligence control system according to claim 1 is characterized in that: intelligence control system is determined upper mechanism effective action scope according to the particular location of horizontal support legs.
5, aerial platform intelligence control system according to claim 1 is characterized in that: intelligence control system is carried out auto-speed control at underarm, when telescopic boom, upper arm, insulation telescopic boom, turntable action are near desired location down.
6, aerial platform intelligence control system according to claim 1, it is characterized in that: described LCDs shows aerial platform job status comprehensively, comprise stretching out and ground state of arm lengths, the underarm elevation angle, upper arm length, the upper arm elevation angle, turntable degreeof turn, operation height, operation amplitude and horizontal support legs and vertical leg down, and when the system failure, show failure condition.
7, aerial platform intelligence control system according to claim 1; it is characterized in that: described controller adopts the TTC200 controller; controller adopts independently watchdog circuit monitor program operation; built-in cpu temperature measuring ability has the internal current feedback function of the pwm signal of the short-circuit protection of input/output port and self-diagnostic function and electromagnetic proportional valve.
8, a kind of band is the aerial platform of intelligence control system according to claim 1, it is characterized in that: be provided with the aerial platform intelligence control system, the insulation bucket, the insulation telescopic boom, upper arm, the upper arm hoist cylinder, following telescopic boom, underarm, the underarm hoist cylinder, turntable, the turntable control box, vertical leg, horizontal support legs, vehicle frame, the arm carriage, Engineering Lamp, system failure alarm lamp, scope of work restriction lamp, jury pump, driving engine, the upper arm telescopic oil cylinder, the underarm telescopic oil cylinder, insulation telescopic boom and the hinge joint of insulation bucket, insulation telescopic boom and upper arm flexibly connect, the upper arm telescopic oil cylinder is installed in the upper arm and the telescopic boom that is used for promoting insulating flexible, upper arm is connected with following telescopic boom head, following telescopic boom and underarm flexibly connect, the underarm telescopic oil cylinder is installed in the underarm and is used for promoting down the flexible of telescopic boom, the upper arm hoist cylinder is installed on the upper arm and with the connecting rod of following telescopic boom head and is connected, underarm fluctuating oil cylinder is installed on the turntable and with underarm and is connected, the turntable control box is installed on the turntable, turntable, the arm carriage is installed on the vehicle frame, driving engine drives Hydraulic Pump by power takeoff the car load hydraulic power is provided, four horizontal support legs and vehicle frame flexibly connect, each horizontal support legs and vertical leg flexible connection mounted thereto.
9, a kind of control method as aerial platform as described in the claim 8, it is characterized in that may further comprise the steps: the system parameter values among the Read Controller EEPROM, the system parameter assignment, the CAN bus initialization, the CAN data read, read incoming signal, sensor fault is judged, the car body Attitude Calculation, scope of work calculates, the responsiveness coefficient calculations, the handle signal conditioning, the system failure is judged, when existing, system failure situation enters emergency treatment mechanism, enter pwm signal after not having system failure situation or emergency treatment mechanism to finish and handle, control signal output, display data sends.
10, according to the control method of the described aerial platform of claim 9, it is characterized in that: in the CAN data read with read between the incoming signal to also have the intelligence control system debugging, the intelligence control system debugging may further comprise the steps: the online judgement of debugging software, if debugging software is online, then modify instruction that sends according to debugging software and monitor command are to system's execution parameter initialization, parameter current reads, and system parameter is revised, and monitoring data sends.
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