论文部分内容阅读
针对沥青水泥砂浆车工作之前应能迅速进入水平状态的要求,结合设备结构、液压和电控系统等的特点,设计一种精确简便的砂浆车自动调平算法。该算法首先根据PLC获得的双轴倾角传感器X轴和Y轴的值,推测出当前砂浆车的倾斜角度,进而推断出平台4个角的最高点和最低点,然后记忆并保持最高点的液压缸长度不变,控制另外3个液压缸伸出,达到向最高位追平的效果。当系统运行一段时间后,平台再次出现不平的情况时,仍然保持第一次记忆的点不动,控制另外3个液压缸的长度,使它们或伸或缩地向记忆点对齐。经样机试验证明,该算法操纵简单,调平时间短,调平精度高,协调性好,具有广泛的适应性,能够较好地实现平台的调平。
Aiming at the requirement that asphalt cement mortar should be able to enter the horizontal state quickly before working, a precise and convenient algorithm for automatic leveling of mortar car is designed based on the characteristics of equipment structure, hydraulic and electric control system. Based on the values of X-axis and Y-axis of the biaxial inclination sensor obtained by PLC, the algorithm estimates the current tilt angle of the mortar and then deduces the highest point and the lowest point of the four corners of the platform, and then memorizes and maintains the hydraulic pressure of the highest point Cylinder length unchanged, control the other three out of the hydraulic cylinder, to the highest level of tied effect. When the system is running for a period of time, the platform again appears uneven situation, still keep the first memory point does not move, control the length of the other three hydraulic cylinder so that they are stretched or contracted to the memory point alignment. The prototype test proves that the algorithm is easy to manipulate, the leveling time is short, the leveling accuracy is high, the coordination is good, has a wide range of adaptability, and can well realize the leveling of the platform.