CN106149672A - Prevent control system that hammer ram rocks and method and dynamic compaction machinery - Google Patents
Prevent control system that hammer ram rocks and method and dynamic compaction machinery Download PDFInfo
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- CN106149672A CN106149672A CN201510165592.7A CN201510165592A CN106149672A CN 106149672 A CN106149672 A CN 106149672A CN 201510165592 A CN201510165592 A CN 201510165592A CN 106149672 A CN106149672 A CN 106149672A
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- hammer ram
- dynamic compaction
- compaction machinery
- jib top
- axis acceleration
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Abstract
The embodiment of the invention discloses a kind of control system preventing hammer ram from rocking and method and dynamic compaction machinery, relate to technical field of engineering machinery, wherein, method includes: in the motor process of dynamic compaction machinery, it is judged that whether jib top is less than predeterminable range with the horizontal range of tamping point；If jib top is less than predeterminable range with the horizontal range of tamping point, it is judged that the most whether hammer ram lags behind the vertical curve at place, jib top, if it is, the movement velocity controlling dynamic compaction machinery reduces, if it does not, the movement velocity controlling dynamic compaction machinery increases.The embodiment of the present invention can reduce rocking of hammer ram.
Description
Technical field
The present invention relates to technical field of engineering machinery, a kind of control system preventing hammer ram from rocking
System and method and dynamic compaction machinery.
Background technology
The crampon of dynamic compaction machinery sling produce tamping energy hammer ram be referred to as band hammer.Dynamic compaction machinery is hammered into shape at band
When walking, revolution, luffing, jib, lifting mechanism and steel wire rope is relied on to provide moment to move hammer ram,
Be easy to cause hammer ram to rock seriously because velocity variations is too fast so that hammer ram easily collide machine and
Its instrument and equipment, especially when quickly location tamping point, hammer ram rock the machine so that being encountered or
Equipment impact force is bigger, and the probability that causing trouble occurs increases.It addition, the rocking of hammer ram
Surface stress and the steel wire rope stress that can make jib strengthen, and are easily damaged, thus reduce system
Reliability.And, when hammer ram rocks serious, it is accurately positioned tamping point and can waste the more time.
Therefore, it is necessary to propose a kind of can reduce the solution that hammer ram rocks as far as possible.
Summary of the invention
One purpose of the embodiment of the present invention is: reduce the rolling of hammer ram during dynamic compaction machinery moves
Dynamic.
According to an aspect of the present invention, it is provided that a kind of control system preventing hammer ram from rocking, including:
Positioner, in the motor process of dynamic compaction machinery, obtains the positional information of dynamic compaction machinery, and passes
It is defeated by controller；Inertial measuring unit, for measuring the 3-axis acceleration of hammer ram, and is transferred to control
Device processed；Controller, for obtaining jib top and tamping point according to the positional information calculation of dynamic compaction machinery
Horizontal range；3-axis acceleration according to hammer ram determines the pendulum angle of hammer ram, described pendulum angle
For the angle between the vertical curve at hammer ram and the line on jib top and place, jib top；At jib
When the horizontal range of top and tamping point is less than predeterminable range, according to 3-axis acceleration and the swing of hammer ram
Angle judges the most whether hammer ram lags behind the vertical curve at place, jib top, if it is,
The movement velocity controlling dynamic compaction machinery reduces, if it does not, the movement velocity controlling dynamic compaction machinery increases.
In one embodiment, described controller determines hammer ram at the 3-axis acceleration according to hammer ram
During pendulum angle, specifically for: the pendulum angle α of hammer ram is determined according to equation below:
Wherein, gx is x-axis acceleration, and gy is y-axis acceleration, and gz is z-axis acceleration.
In one embodiment, described controller, it is additionally operable to the movement velocity controlling dynamic compaction machinery and subtracts
Hour, it is judged that whether the pendulum angle of hammer ram is less than the first predetermined angle, if it is, control strong rammer
The motion of machine continues to decrease up to hammer ram and arrives the position of tamping point；Ram if it does not, perform described judgement
The most whether hammer lags behind the operation of the vertical curve at place, jib top.
In one embodiment, described controller, it is additionally operable to the pendulum angle at hammer ram and is more than second
Dynamic compaction machinery stop motion is controlled during predetermined angle.
In one embodiment, described positioner and inertial measuring unit all include wireless transmitter,
Described controller includes wireless receiver；Described positioner and inertial measuring unit and described control
Information is the most wirelessly transmitted between device.
In one embodiment, the motion of described dynamic compaction machinery includes travelling, turning round or luffing motion.
In one embodiment, described controller, it is additionally operable to the movement velocity controlling dynamic compaction machinery and subtracts
Little or when increasing, it is judged that whether the acceleration of dynamic compaction machinery is more than predetermined acceleration；If it is, control
The acceleration of dynamic compaction machinery reduces.
According to a further aspect in the invention, it is provided that a kind of dynamic compaction machinery, including any of the above-described embodiment institute
The control system preventing hammer ram from rocking stated.
According to another aspect of the invention, it is provided that a kind of control method preventing hammer ram from rocking, including:
In the motor process of dynamic compaction machinery, it is judged that whether jib top and the horizontal range of tamping point be less than default
Distance；If jib top is less than predeterminable range with the horizontal range of tamping point, it is judged that hammer ram is in motion
The vertical curve at place, jib top whether is lagged behind, if it is, control the motion of dynamic compaction machinery on direction
Speed reduces, if it does not, the movement velocity controlling dynamic compaction machinery increases.
In one embodiment, also include: obtain the positional information of dynamic compaction machinery in real time；According to strong rammer
The positional information on the positional information calculation jib top of machine；Positional information according to jib top and guarantor
The positional information of the tamping point deposited obtains the horizontal range on jib top and tamping point.
In one embodiment, described judge the most whether hammer ram lags behind jib top
The vertical curve at place includes: measure the 3-axis acceleration of hammer ram；3-axis acceleration according to hammer ram is true
Determining the pendulum angle of hammer ram, described pendulum angle is line and the jib top on hammer ram and jib top
Angle between the vertical curve at place；3-axis acceleration and pendulum angle according to hammer ram judge hammer ram
The most whether lag behind the vertical curve at place, jib top.
In one embodiment, the described 3-axis acceleration according to hammer ram determines the pendulum angle of hammer ram
Including: the pendulum angle α of hammer ram is determined according to equation below:
Wherein, gx is x-axis acceleration, and gy is y-axis acceleration, and gz is z-axis acceleration.
In one embodiment, also include: when the movement velocity controlling dynamic compaction machinery reduces, it is judged that
Whether the pendulum angle of hammer ram is less than the first predetermined angle, if it is, the motion controlling dynamic compaction machinery continues
The continuous hammer ram that decreases up to arrives the position of tamping point；If it does not, perform described judgement hammer ram in motion side
The most whether lag behind the operation of the vertical curve at place, jib top.
In one embodiment, also include: when the pendulum angle of hammer ram is more than the second predetermined angle
Control dynamic compaction machinery stop motion.
In one embodiment, the motion of described dynamic compaction machinery includes travelling, turning round or luffing motion.
In one embodiment, also include: when the movement velocity controlling dynamic compaction machinery is decreased or increased,
Judge that whether the acceleration of dynamic compaction machinery is more than predetermined acceleration；If greater than predetermined acceleration, then control
The acceleration of dynamic compaction machinery processed reduces.
In one embodiment, described if it is, the movement velocity controlling dynamic compaction machinery reduces, if
No, control dynamic compaction machinery movement velocity increase, including: if it is, and fall behind scope exceed pre-
If scope, the movement velocity controlling dynamic compaction machinery reduces；If it does not, and leading scope exceed default
Scope, the movement velocity controlling dynamic compaction machinery increases.
The embodiment of the present invention, when hammer ram falls behind the vertical curve at place, jib top, controls dynamic compaction machinery
Movement velocity reduces, and when hammer ram exceedes the vertical curve at place, jib top, controls the fortune of dynamic compaction machinery
Dynamic speed increases.So control so that hammer ram smoothly arrives above tamping point, subtract as much as possible
Rocking of few hammer ram, thus reduce jib surface stress and lineoutofservice signal pull, improve jib and steel
The service life of cord；It addition, reduce the probability of happening of fault, improve working performance.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will
The accompanying drawing used required in embodiment or description of the prior art is briefly described, it is clear that
Ground, the accompanying drawing in describing below is only some embodiments of the present invention, skill common for this area
From the point of view of art personnel, on the premise of not paying creative work, it is also possible to obtain according to these accompanying drawings
Obtain other accompanying drawing.
Fig. 1 present invention prevents the structural representation of one embodiment of control system that hammer ram rocks；
Fig. 2 is the schematic diagram of the pendulum angle calculating hammer ram；
Fig. 3 is the schematic diagram of dynamic compaction machinery band hammer running movement；
Fig. 4 is the schematic diagram of dynamic compaction machinery band hammer gyration；
Fig. 5 is the schematic diagram of dynamic compaction machinery band hammer luffing motion；
Fig. 6 present invention prevents the schematic flow sheet of one embodiment of control method that hammer ram rocks；
Fig. 7 present invention prevents the schematic flow sheet of one preferred embodiment of control method that hammer ram rocks.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, to the technical scheme in the embodiment of the present invention
It is clearly and completely described, it is clear that described embodiment is only that a part of the present invention is real
Execute example rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under not making creative work premise, broadly falls into this
The scope of invention protection.
Unless specifically stated otherwise, the parts illustrated the most in these embodiments and the phase of step
Layout, numerical expression and numerical value are not limited the scope of the invention.
Simultaneously, it should be appreciated that for the ease of describing, the chi of the various piece shown in accompanying drawing
Very little is not to draw according to actual proportionate relationship.
May not make in detail for technology, method and apparatus known to person of ordinary skill in the relevant
Thin discussion, but in the appropriate case, described technology, method and apparatus should be considered to authorize to be said
A part for bright book.
Shown here with in all examples discussed, any occurrence should be construed as merely
Exemplary rather than conduct limits.Therefore, other example of exemplary embodiment can have
There is different values.
It should also be noted that similar label and letter expression similar terms in following accompanying drawing, therefore,
The most a certain Xiang Yi accompanying drawing is defined, then need not it is carried out in accompanying drawing subsequently
Discussed further.
Fig. 1 is the structural representation of one embodiment of control system that the present invention prevents hammer ram from rocking.
As it is shown in figure 1, this system includes: positioner 101, inertial measuring unit 102 and control
Device 103.
Positioner 101, can be arranged on dynamic compaction machinery, is used in the motor process of dynamic compaction machinery,
Obtain the positional information of dynamic compaction machinery, and be transferred to controller 103.
Wherein, the motion of dynamic compaction machinery includes but not limited to: dynamic compaction machinery does running movement, gyration
Or luffing motion.Positioner can be such as the alignment system such as the Big Dipper, GPS.Non-as one
Limitative examples, can use DGPS (DGPS) to obtain the position of dynamic compaction machinery
Confidence ceases.
Inertial measuring unit 102, can be arranged on hammer ram, accelerates for obtaining three axles of hammer ram
Degree, and it is transferred to controller 103.
As a non-limiting example, the inertia such as MPU6050, LSM9DS0 can be used to survey
Amount unit obtains the pendulum angle of hammer ram in real time.
Controller 103, for obtaining jib top and tamping point according to the positional information calculation of dynamic compaction machinery
Horizontal range；3-axis acceleration according to hammer ram determines the pendulum angle of hammer ram, wherein, swings
Angle is the angle between the vertical curve at hammer ram and the line on jib top and place, jib top；?
When the horizontal range of jib top and tamping point is less than predeterminable range, according to the 3-axis acceleration of hammer ram and
Pendulum angle judges the most whether hammer ram lags behind the vertical curve at place, jib top, as
Fruit is, the movement velocity controlling dynamic compaction machinery reduces, if it does not, the movement velocity controlling dynamic compaction machinery increases
Greatly.
Wherein, controller 103 is obtaining jib top and rammer according to the positional information calculation of dynamic compaction machinery
During the horizontal range put, can first believe according to the position on the positional information calculation jib top of dynamic compaction machinery
Breath, then obtains jib top according to the positional information on jib top with the positional information of the tamping point of preservation
End and the horizontal range of tamping point.Believe in the position on the positional information calculation jib top according to dynamic compaction machinery
During breath, specifically can determine respectively according to the actual motion situation of dynamic compaction machinery.Such as, in strong rammer
When machine does running movement, can according to the positional information of dynamic compaction machinery, the angle of jib and horizontal plane,
And jib length computation obtains the positional information on jib top；The most such as, turn round at dynamic compaction machinery
During motion, can obtain according to the positional information of dynamic compaction machinery, angle of revolution and jib length computation
Positional information to jib top；Further for example, when dynamic compaction machinery does luffing motion, can be according to by force
The positional information of tamping machine, change angle, jib length computation obtain the positional information on jib top.
Additionally, above-mentioned predeterminable range can be the empirical value empirically determined according to operation.Controller
103 can be according to the 3-axis acceleration of hammer ram and pendulum angle according to the actual motion situation of dynamic compaction machinery
Judge the most whether hammer ram lags behind the vertical curve at place, jib top, hereinafter will be in detail
Thin description.
It addition, corresponding with motion conditions, when the movement velocity controlling dynamic compaction machinery increases/reduces,
The traveling speed of dynamic compaction machinery can be controlled respectively by controlling drive system for different motion conditions
Degree, speed of gyration or derricking speed increase/reduce.
The present embodiment, when hammer ram falls behind the vertical curve at place, jib top, controls the motion of dynamic compaction machinery
Speed reduces, and when hammer ram exceedes the vertical curve at place, jib top, controls the motion speed of dynamic compaction machinery
Degree increases.So control so that hammer ram smoothly arrives above tamping point, be reduced as far as ramming
Rocking of hammer, thus reduce jib surface stress and lineoutofservice signal pull, improve jib and steel wire rope
Service life；It addition, reduce the probability of happening of fault, improve working performance.
As a specific embodiment, controller 103 is judging the most whether hammer ram falls
After when the vertical curve at place, jib top, specifically for: if it is, and fall behind scope exceed
Preset range, the movement velocity just controlling dynamic compaction machinery reduces；If it does not, and leading scope exceed
Preset range, the movement velocity controlling dynamic compaction machinery increases.So, hammer ram rocks within the specific limits
Time be not controlled, when only the scope of rocking exceedes to a certain degree, just by controlling the fortune of dynamic compaction machinery
Dynamic speed is decreased or increased and reduces rocking of hammer ram.
Below in conjunction with Fig. 2 to determining the pendulum angle of hammer ram, and judge that hammer ram is in the movement direction
The process of the vertical curve whether lagging behind place, jib top is explained and illustrated.
As in figure 2 it is shown, gx is x-axis accekeration, gy is that vertical plane y-axis inwards is accelerated
Angle value (not shown), gz are z-axis accekerations, and g is acceleration of gravity.Pass through inertia measurement
After unit obtains gx, gy, gz, hammer ram pendulum angle can be calculated according to equation below and ram
The pendulum angle α of hammer, i.e. folder between z-axis and the z-axis of natural system of coordinates of Inertial Measurement Unit
Angle:
It is exemplified below and how the most whether to judge hammer ram under different motion conditions
Lag behind the vertical curve at place, jib top.
When dynamic compaction machinery does running movement or luffing motion, can big according to the positive and negative of gx and α
The little vertical curve judging the most whether hammer ram lags behind place, jib top.Such as,
Move forward or in the case of luffing motion at dynamic compaction machinery, when gx on the occasion of and time α is not 0,
Judge that the vertical curve at place, jib top led over by hammer ram；When gx is negative value and α is not 0,
Judge that hammer ram lags behind the vertical curve at place, jib top.It will be understood by those skilled in the art that when strong
In the case of tamping machine does luffing motion backward, when gx on the occasion of and time α is not 0, can sentence
Determine hammer ram and lag behind the vertical curve at place, jib top；When gx is negative value and α is not 0,
Can be determined that the vertical curve at place, jib top led over by hammer ram.
When dynamic compaction machinery does gyration, can according to the positive and negative of y-axis acceleration g y of hammer ram and
Pendulum angle judges the most whether hammer ram lags behind the vertical curve at place, jib top.Example
In the case of doing turning anticlockwise motion such as, dynamic compaction machinery, when gy on the occasion of and time α is not 0,
Judge that the vertical curve at place, jib top led over by hammer ram；When gy is negative value and α is not 0,
Judge that hammer ram lags behind the vertical curve at place, jib top.When dynamic compaction machinery does gyration clockwise
In the case of, it is determined that result is contrary with upper, does not repeats them here.
Next Fig. 3-Fig. 5 is combined to the control process preventing hammer ram from rocking in the case of different motion
Explain.
Fig. 3 is the schematic diagram of dynamic compaction machinery band hammer running movement.As it is shown on figure 3, A point is tamping point
Position, B point is to start to control the position on jib top when dynamic compaction machinery travel speed reduces (now
The horizontal range of jib top and tamping point is predeterminable range S), C point is that the speed of hammer ram is when being 0
Hammer ram exceedes the position on the jib top during vertical curve at place, jib top due to inertia, and D point is
The position on the jib top of the surface of tamping point A point.
When dynamic compaction machinery band hammer travels, the most first improve the travel speed of dynamic compaction machinery so that hammer ram
Pendulum angle is gradually increased, and when pendulum angle reaches certain value, can control dynamic compaction machinery generally
At the uniform velocity travel.During at the uniform velocity travelling, the pendulum angle of hammer ram can be considered essentially as constant.
Start to control dynamic compaction machinery travel speed to reduce when jib top arrives B point.Now, hammer ram falls behind
In the vertical curve at place, jib top, angle is α.When jib top arrives C point, hammer ram is led
Prior to the vertical curve at place, jib top, now control dynamic compaction machinery travel speed and increase so that jib
Top quickly arrives directly over hammer ram, thus reduces hammer ram and rock.Afterwards, then start to control strong rammer
Machine travel speed reduces.The most repeatedly so that when jib top arrives D point, hammer ram steadily reaches
The top of tamping point, hammer ram just stops waving.
Fig. 4 is the schematic diagram of dynamic compaction machinery band hammer gyration.B point subtracts for starting to control speed of gyration
The vertical curve at hour place, jib top and the intersection point of horizontal plane, C point is for controlling speed of gyration increase
Time place, jib top the intersection point of vertical curve and horizontal plane, D point is the position directly over tamping point.
When the hammer revolution of dynamic compaction machinery band, the most first improve the speed of gyration of dynamic compaction machinery so that hammer ram
Pendulum angle is gradually increased, and when pendulum angle reaches certain value, can control dynamic compaction machinery generally
At the uniform velocity gyration.During at the uniform velocity revolution, the pendulum angle of hammer ram can be considered essentially as
Constant.Start to control dynamic compaction machinery speed of gyration when the vertical curve at place, jib top arrives B point to subtract
Little.Now, hammer ram lags behind the vertical curve at place, jib top, and angle is α.When jib top
When the vertical curve at place arrives C point, the vertical curve at place, jib top led over by hammer ram, this time control
Dynamic compaction machinery speed of gyration processed increases so that jib top quickly arrives directly over hammer ram, thus reduces
Hammer ram rocks.Afterwards, then start to control dynamic compaction machinery speed of gyration and reduce.The most repeatedly so that ram
Hammer out surely reaches the position D point of the top of tamping point, and hammer ram just stops waving.
Fig. 5 is the schematic diagram of dynamic compaction machinery band hammer luffing motion.B point subtracts for starting to control derricking speed
The position (being equivalent to B point in Fig. 3) on hour jib top, C point increases for controlling derricking speed
Time jib top position (being equivalent to C point in Fig. 3), jib top directly over D point tamping point A point
The position (being equivalent to D point in Fig. 3) of end.
When dynamic compaction machinery band hammer does luffing range of cantilever support motion, the most first improve the derricking speed of jib, make
The pendulum angle obtaining hammer ram is gradually increased, and when pendulum angle reaches certain value, can control jib
The most at the uniform velocity luffing.During at the uniform velocity luffing, the pendulum angle of hammer ram substantially can regard
For constant.Start to control derricking speed to reduce when jib top arrives B point.Now, hammer ram falls
After in the vertical curve at place, jib top, angle is α.When jib top arrives C point, hammer ram
Lead over the vertical curve at place, jib top, now control derricking speed and increase so that jib top
Quickly arrive directly over hammer ram, thus reduce hammer ram and rock.Afterwards, then start to control dynamic compaction machinery row
Sail speed to reduce.The most repeatedly so that when jib top arrives D point, hammer ram steadily reaches tamping point
Top, hammer ram just stops waving.
In the present invention prevents another embodiment of control system that hammer ram rocks, controller 103,
It is additionally operable to when the movement velocity controlling dynamic compaction machinery reduces, it is judged that whether the pendulum angle of hammer ram is less than
First predetermined angle (is preferably arranged to less value), if it is, show that rocking of hammer ram is the least,
The motion that can control dynamic compaction machinery continues to decrease up to the position of hammer ram arrival tamping point；If it does not, table
Rocking of bright hammer ram is the biggest, performs to judge the most whether hammer ram lags behind jib top
The operation of the vertical curve at end place.
In the present invention prevents another embodiment of control system that hammer ram rocks, controller 103,
It is additionally operable to when the pendulum angle of hammer ram is more than the second predetermined angle control dynamic compaction machinery stop motion.
Wherein, the second predetermined angle could be arranged to ensure the maximum angle of safety.Pendulum when hammer ram
Dynamic angle may encounter miscellaneous equipment more than hammer ram during the second predetermined angle, thus causes dynamic compaction machinery
Break down, it addition, the surface stress of jib and steel wire rope stress can be made to strengthen, be easily damaged,
Thus reduce the reliability of system.At this point it is possible to by the emergency stop switch on dynamic compaction machinery or pass through
Radio remote control switch controls dynamic compaction machinery and shuts down.
In the present invention prevents another embodiment of control system that hammer ram rocks, positioner
101 and inertial measuring unit 102 all include that wireless transmitter, controller 103 include wireless receiving
Device；All by wireless between positioner 101 and inertial measuring unit 102 and controller 103
Mode transmits information.In the present embodiment, it is not necessary to can realize hammer ram is rocked by a large amount of wirings
Control.
In the present invention prevents the further embodiment of control system that hammer ram rocks, controller 103,
It is additionally operable to when the movement velocity controlling dynamic compaction machinery is decreased or increased, it is judged that the acceleration of dynamic compaction machinery is
No more than predetermined acceleration；If it is, the acceleration controlling dynamic compaction machinery reduces.So, Ke Yibao
Card dynamic compaction machinery is not result in the acute variation of speed when acceleration or deceleration moves, thus subtracts further
Rocking of little hammer ram.
The control system preventing hammer ram from rocking that the various embodiments described above of the present invention provide can be applied by force
In tamping machine.
In one embodiment of dynamic compaction machinery of the present invention, can include any of the above-described embodiment prevents rammer
The control system that hammer rocks.
In this specification, each embodiment all uses the mode gone forward one by one to describe, and each embodiment emphasis is said
Bright is all the difference with other embodiments, same or analogous part between each embodiment
Cross-reference.For embodiment of the method, owing to it is the most corresponding with system embodiment,
So describe is fairly simple, relevant part sees the part of system embodiment and illustrates.
Fig. 6 is the schematic flow sheet of one embodiment of control method that the present invention prevents hammer ram from rocking.
As shown in Figure 6, the method comprises the steps:
Step 602, in the motor process of dynamic compaction machinery, it is judged that the level of jib top and tamping point away from
From whether less than predeterminable range；It is to perform step 604.
Wherein, the motion of dynamic compaction machinery includes but not limited to travel, turn round or luffing motion.
Step 604, it is judged that the most whether hammer ram lags behind the vertical of place, jib top
Line；It is to perform step 606, no, perform step 608.
A kind of implementation therein can be according to the 3-axis acceleration of hammer ram and the pendulum angle of hammer ram
Judge the most whether to lag behind the vertical curve at place, jib top.
Step 606, the movement velocity controlling dynamic compaction machinery reduces.
Step 608, the movement velocity controlling dynamic compaction machinery increases.
The present embodiment, when hammer ram falls behind the vertical curve at place, jib top, controls the motion of dynamic compaction machinery
Speed reduces, and when hammer ram exceedes the vertical curve at place, jib top, controls the motion speed of dynamic compaction machinery
Degree increases.So control so that hammer ram smoothly arrives above tamping point, be reduced as far as ramming
Rocking of hammer, thus reduce jib surface stress and lineoutofservice signal pull, improve jib and steel wire rope
Service life；It addition, reduce the probability of happening of fault, improve working performance.
The present invention prevents in another embodiment of control method that hammer ram rocks, and also includes obtaining jib
The following steps of the horizontal range of top and tamping point:
Step S1, obtains the position letter of (such as by the way of being wirelessly transferred) dynamic compaction machinery in real time
Breath；Step S2, according to the positional information on the positional information calculation jib top of dynamic compaction machinery；Step
S3, according to the positional information of the positional information on jib top with the tamping point of preservation obtain jib top with
The horizontal range of tamping point.
As a specific embodiment, step 604 shown in Fig. 6 can be achieved in that
Measure the 3-axis acceleration of hammer ram；3-axis acceleration according to hammer ram determines the pendulum angle of hammer ram,
Pendulum angle is the angle between the vertical curve at hammer ram and the line on jib top and place, jib top；
3-axis acceleration and pendulum angle according to hammer ram judge the most whether hammer ram lags behind arm
The vertical curve at place, frame top.Wherein it is possible to determine the pendulum angle α of hammer ram according to equation below:
Wherein, gx is x-axis acceleration, and gy is y-axis acceleration, and gz is z-axis acceleration.
Implementing of the present embodiment is referred to above description, at this most not in repeat specification.
As another specific embodiment, in embodiment illustrated in fig. 6, judge hammer ram in step 604
The most whether lag behind in the vertical curve at place, jib top, if it is, and fall behind
Scope exceedes preset range, and the movement velocity just controlling dynamic compaction machinery reduces；If it does not, it is and leading
Scope exceedes preset range, and the movement velocity controlling dynamic compaction machinery increases.So, hammer ram is at certain model
It is not controlled when rocking in enclosing, when only the scope of rocking exceedes to a certain degree, just strong by controlling
The movement velocity of tamping machine is decreased or increased and reduces rocking of hammer ram.
The present invention prevents in another embodiment of control method that hammer ram rocks, it is also possible to including:
When controlling the movement velocity reduction of dynamic compaction machinery, it is judged that whether the pendulum angle of hammer ram is preset less than first
Angle, if it is, it is the least to show that hammer ram swings, the motion controlling dynamic compaction machinery continues to decrease up to rammer
Hammer arrives the position of tamping point；If it does not, it is bigger to show that hammer ram swings, perform to judge that hammer ram is in fortune
The operation of the vertical curve at place, jib top whether is lagged behind on dynamic direction.
The present invention prevents from, in another embodiment of control method that hammer ram rocks, also including: at hammer ram
Pendulum angle more than the second predetermined angle time control dynamic compaction machinery stop motion.Wherein, second preset
Angle could be arranged to ensure the maximum angle of safety.When the pendulum angle of hammer ram is preset more than second
During angle, hammer ram may encounter miscellaneous equipment, thus causes dynamic compaction machinery to break down, it addition, meeting
The surface stress of jib and steel wire rope stress are strengthened, are easily damaged, thus reduce system can
By property.At this point it is possible to by the emergency stop switch on dynamic compaction machinery or controlled by radio remote control switch
Dynamic compaction machinery is shut down.
The present invention prevents from, in the control method further embodiment that hammer ram rocks, also including: controlling
When the movement velocity of dynamic compaction machinery is decreased or increased, it is judged that whether the acceleration of dynamic compaction machinery adds more than presetting
Speed；If greater than predetermined acceleration, then the acceleration controlling dynamic compaction machinery reduces.So, permissible
Ensure that dynamic compaction machinery is not result in the acute variation of speed when acceleration or deceleration moves, thus further
Reduce rocking of hammer ram.
Fig. 7 is the flow process signal of one preferred embodiment of control method that the present invention prevents hammer ram from rocking
Figure.As it is shown in fig. 7, the method includes:
Step 702, it is judged that the most whether hammer ram lags behind the vertical of place, jib top
Line (such as, 3-axis acceleration and pendulum angle by hammer ram determine)；It is to perform step
704, no, perform step 706.
Step 704, the slight reduction traveling of dynamic compaction machinery, revolution or luffing movement velocity.
Step 710, whether pendulum angle α is more than or equal to the first predetermined angle α0；It is to return
Perform step 702；No, perform step 712.
Step 712, continues to reduce the traveling of dynamic compaction machinery, revolution or luffing movement velocity, until arriving
The position reaching tamping point stops.
Step 706, the slight increase traveling of dynamic compaction machinery, revolution or luffing movement velocity.
Step 710, it is judged that whether hammer ram is positioned at immediately below jib top (the most whether to be positioned at jib top
On the vertical curve at end place)；It is to perform step 704, no, return and perform step 706.
In the present embodiment, the traveling of dynamic compaction machinery, revolution or luffing movement velocity are slightly reduced or increased
Can control by controlling the acceleration of the traveling of dynamic compaction machinery, revolution or luffing motion.By such as
Upper control flow, it can be ensured that the position of hammer ram easy motion to tamping point, reduces rammer as much as possible
Rocking of hammer.
One of ordinary skill in the art will appreciate that: realize all or part of of said method embodiment
Step can be completed by the hardware that programmed instruction is relevant, and aforesaid program can be stored in a meter
In calculation machine read/write memory medium, this program upon execution, performs to include said method embodiment
Step；And aforesaid storage medium includes: ROM, RAM, magnetic disc or CD etc. are various can
To store the medium of program code.
Description of the invention is given for the sake of example and description, and is not exhaustively
Or it limit the invention to disclosed form.Many modifications and variations are for the common skill of this area
It is obvious for art personnel.Selecting and describing embodiment is the principle in order to the present invention is more preferably described
Apply with reality, and make those of ordinary skill in the art it will be appreciated that the present invention thus design is suitable
The various embodiments with various amendments in special-purpose.
Claims (17)
1. the control system preventing hammer ram from rocking, it is characterised in that including:
Positioner, in the motor process of dynamic compaction machinery, obtains the positional information of dynamic compaction machinery,
And it is transferred to controller；
Inertial measuring unit, for measuring the 3-axis acceleration of hammer ram, and is transferred to controller；
Controller, for obtaining the water on jib top and tamping point according to the positional information calculation of dynamic compaction machinery
Flat distance；3-axis acceleration according to hammer ram determines that the pendulum angle of hammer ram, described pendulum angle are
Angle between the vertical curve at hammer ram and the line on jib top and place, jib top；On jib top
When the horizontal range of end and tamping point is less than predeterminable range, according to 3-axis acceleration and the angle of oscillation of hammer ram
Degree judges the most whether hammer ram lags behind the vertical curve at place, jib top, if it is,
The movement velocity controlling dynamic compaction machinery reduces, if it does not, the movement velocity controlling dynamic compaction machinery increases.
System the most according to claim 1, it is characterised in that described controller is in basis
When the 3-axis acceleration of hammer ram determines the pendulum angle of hammer ram, specifically for:
The pendulum angle α of hammer ram is determined according to equation below:
Wherein, gx is x-axis acceleration, and gy is y-axis acceleration, and gz is z-axis acceleration.
System the most according to claim 1, it is characterised in that
Described controller, is additionally operable to when the movement velocity controlling dynamic compaction machinery reduces, it is judged that hammer ram
Whether pendulum angle is less than the first predetermined angle, if it is, the motion controlling dynamic compaction machinery continues to reduce
Until hammer ram arrives the position of tamping point；If it does not, perform described judgement hammer ram it is in the movement direction
The operation of the no vertical curve lagging behind place, jib top.
System the most according to claim 1, it is characterised in that
Described controller, is additionally operable to when the pendulum angle of hammer ram is more than the second predetermined angle control by force
Tamping machine stop motion.
System the most according to claim 1, it is characterised in that described positioner is with used
Property measurement apparatus all includes that wireless transmitter, described controller include wireless receiver；
Between described positioner and inertial measuring unit and described controller the most wirelessly
Transmission information.
System the most according to claim 1, it is characterised in that the motion of described dynamic compaction machinery
Including travelling, turn round or luffing motion.
7. according to the system described in claim 1-6 any one, it is characterised in that
Described controller, is additionally operable to when the movement velocity controlling dynamic compaction machinery is decreased or increased, it is judged that
Whether the acceleration of dynamic compaction machinery is more than predetermined acceleration；If it is, the acceleration controlling dynamic compaction machinery subtracts
Little.
8. a dynamic compaction machinery, it is characterised in that include described in claim 1-7 any one
Prevent the control system that hammer ram rocks.
9. the control method preventing hammer ram from rocking, it is characterised in that including:
In the motor process of dynamic compaction machinery, it is judged that whether jib top is less than with the horizontal range of tamping point
Predeterminable range；
If jib top is less than predeterminable range with the horizontal range of tamping point, it is judged that hammer ram is in motion side
The most whether lag behind the vertical curve at place, jib top；
If it is, the movement velocity controlling dynamic compaction machinery reduces, if it does not, control the motion of dynamic compaction machinery
Speed increases.
Method the most according to claim 9, it is characterised in that also include:
Obtain the positional information of dynamic compaction machinery in real time；
The positional information on the positional information calculation jib top according to dynamic compaction machinery；
The positional information of the tamping point of the positional information according to jib top and preservation obtain jib top with
The horizontal range of tamping point.
11. methods according to claim 9, it is characterised in that described judgement hammer ram is in fortune
The vertical curve whether lagging behind place, jib top on dynamic direction includes:
Measure the 3-axis acceleration of hammer ram；
3-axis acceleration according to hammer ram determines that the pendulum angle of hammer ram, described pendulum angle are hammer ram
And the angle between the vertical curve at the line on jib top and place, jib top；
3-axis acceleration and pendulum angle according to hammer ram judge the most whether hammer ram falls behind
Vertical curve in place, jib top.
12. methods according to claim 11, it is characterised in that described according to hammer ram
3-axis acceleration determines that the pendulum angle of hammer ram includes:
The pendulum angle α of hammer ram is determined according to equation below:
Wherein, gx is x-axis acceleration, and gy is y-axis acceleration, and gz is z-axis acceleration.
13. methods according to claim 11, it is characterised in that also include:
When the movement velocity controlling dynamic compaction machinery reduces, it is judged that whether the pendulum angle of hammer ram is less than the
One predetermined angle, if it is, the motion controlling dynamic compaction machinery continues to decrease up to hammer ram arrives tamping point
Position；If it does not, perform described to judge the most whether hammer ram lags behind jib top institute
The operation of vertical curve.
14. methods according to claim 11, it is characterised in that also include:
Dynamic compaction machinery stop motion is controlled when the pendulum angle of hammer ram is more than the second predetermined angle.
15. methods according to claim 9, it is characterised in that the motion of described dynamic compaction machinery
Including travelling, turn round or luffing motion.
16. according to the method described in claim 9-15 any one, it is characterised in that also wrap
Include:
When the movement velocity controlling dynamic compaction machinery is decreased or increased, it is judged that whether the acceleration of dynamic compaction machinery
More than predetermined acceleration；If greater than predetermined acceleration, then the acceleration controlling dynamic compaction machinery reduces.
17. methods according to claim 9, it is characterised in that described if it is, control
The movement velocity of dynamic compaction machinery reduces, if it does not, the movement velocity controlling dynamic compaction machinery increases, including:
If it is, and the scope that falls behind exceed preset range, the movement velocity controlling dynamic compaction machinery reduces；
If it does not, and leading scope exceed preset range, the movement velocity controlling dynamic compaction machinery increases.
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| CN201510165592.7A CN106149672B (en) | 2015-03-30 | 2015-03-30 | The control system and method and dynamic compaction machinery for preventing hammer ram from shaking |
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| CN201510165592.7A CN106149672B (en) | 2015-03-30 | 2015-03-30 | The control system and method and dynamic compaction machinery for preventing hammer ram from shaking |
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| CN115369850A (en) * | 2021-05-20 | 2022-11-22 | 湖南三一智能控制设备有限公司 | Rammer center positioning method and device and dynamic compaction machine |
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Also Published As
| Publication number | Publication date |
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| CN106149672B (en) | 2019-01-08 |
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