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CN-116122844-B - Control system and method of chain-cutter type continuous wall equipment and chain-cutter type continuous wall equipment

CN116122844BCN 116122844 BCN116122844 BCN 116122844BCN-116122844-B

Abstract

The invention discloses a control system and method of chain-cutter type continuous wall equipment, and chain-cutter type continuous wall equipment, wherein the control system firstly controls an electric proportional control valve to work with preset current under the transverse movement cutting working condition, then calculates the power of a cutting motor and a transverse pushing oil cylinder at the moment based on the working parameters of the cutting motor and the transverse pushing oil cylinder respectively, takes the sum of the cutting motor and the transverse pushing oil cylinder as the working power of the system, and the system working power is compared with the total power interval, and the cutting speed and the propelling speed are controlled according to the comparison result, so that the system working power is in the total power interval and the highest construction efficiency is obtained, closed-loop control is realized through power distribution, the control logic is simple and reliable, the risk of overpower is avoided, and the best construction efficiency is obtained.

Inventors

  • LI XIAOXING
  • ZENG QINGFENG
  • ZHANG YULIANG
  • FAN YAXIONG
  • YUAN TAO
  • BAI JINGHAO

Assignees

  • 中国铁建重工集团股份有限公司

Dates

Publication Date
20260505
Application Date
20221227

Claims (10)

  1. 1. A control system for a chain-knife continuous wall apparatus, comprising: A first pressure sensor (11) for detecting the outlet pressure of the second pump (4); a second pressure sensor (12) for detecting the A-port pressure of the first pump (2); a third pressure sensor (14) for detecting the B-port pressure of the first pump (2); A first rotational speed sensor (13) for detecting the rotational speed of the cutting motor (6); a speed sensor (15) for detecting the pushing speed of the horizontal pushing cylinder (8); The control device (10) is electrically connected with the first pressure sensor (11), the second pressure sensor (12), the third pressure sensor (14), the first rotating speed sensor (13) and the speed sensor (15) respectively, and is used for controlling the electric proportional control valve (3) of the first pump (2) to work with preset current under a transverse cutting working condition, calculating the power of the transverse pushing cylinder (8) based on the pushing speed of the transverse pushing cylinder (8) and the outlet pressure of the second pump (4), calculating the power of the cutting motor (6) based on the rotating speed of the cutting motor (6), the pressure of the opening A and the pressure of the opening B of the first pump (2), adding the power of the transverse pushing cylinder (8) and the power of the cutting motor (6) to obtain the system working power, comparing the system working power with a total power section, and controlling the cutting speed and the pushing speed according to the comparison result so that the system working power is in the total power section and the highest construction efficiency is obtained.
  2. 2. The control system of the chain cutter type continuous wall equipment according to claim 1, further comprising a second rotating speed sensor (16) electrically connected with the control device (10) and used for detecting the rotating speed of the traveling motor (9), wherein the control device (10) is further used for controlling the electric proportional multi-way valve (7) and the electric proportional control valve (3) of the first pump (2) to work at maximum current under a traversing return working condition, calculating to obtain the power of the traveling motor (9) based on the rotating speed of the traveling motor (9) and the outlet pressure of the second pump (4), calculating to obtain the power of the cutting motor (6) based on the rotating speed of the cutting motor (6), the A-port pressure and the B-port pressure of the first pump (2), adding the power of the traveling motor (9) and the power of the cutting motor (6) to obtain the system working power, comparing the system working power with a total power interval, and controlling the cutting speed and the traveling speed according to the comparison result to obtain the highest construction efficiency.
  3. 3. The control system of the chain cutter type continuous wall equipment according to claim 1, wherein under the transverse movement cutting working condition, if the working power of the system is in a total power interval, the control device (10) correspondingly controls the working currents of the electric proportional control valve (3) and the electric proportional multi-way valve (7) at the current cutting speed and the advancing speed; If the system working power is smaller than the total power interval, the control device (10) adopts an optimizing control strategy for preferentially adjusting the propulsion speed to adjust the cutting speed and the propulsion speed so as to adjust the system working power to be within the total power interval; If the system working power is larger than the total power interval, the control device (10) controls the working current of the electric proportional control valve (3) to be reduced until the system working power is smaller than the total power interval, and then the optimizing control strategy is adopted to adjust the cutting speed and the propelling speed so as to adjust the system working power to be within the total power interval.
  4. 4. The control system of a chain-knife continuous wall apparatus as claimed in claim 3, wherein the optimizing control strategy is specifically: The control device (10) firstly controls the propulsion speed to increase one propulsion step length, and then judges whether the system working power exceeds the total power interval at the moment; If the system working power is in the total power interval at this time, the control device (10) correspondingly controls the working current of the electric proportional multi-way valve (7) at the increased propulsion speed; if the system working power is still smaller than the total power interval at this time, the control device (10) controls the propulsion speed to continue to increase one propulsion step length, and the like until the system working power is adjusted to be within the total power interval; if the system working power is larger than the total power interval at this time, the control device (10) controls the cutting speed to reduce one cutting step length one by one until the system working power is adjusted to be within the total power interval.
  5. 5. The control system of a chain-cutter type continuous wall apparatus as claimed in claim 4, wherein after the control device (10) controls the advancing speed to be increased to the maximum advancing speed, if the system operating power is still smaller than the total power interval, the control device (10) controls the cutting speed to be increased one cutting step by one until the system operating power is adjusted to the total power interval or until the cutting speed is increased to the maximum cutting speed.
  6. 6. The control system of the chain-cutter type continuous wall equipment according to claim 2, wherein the control device (10) does not adjust if the system working power is smaller than or equal to the total power interval under the traversing return working condition; if the system working power is larger than the total power interval, the control device (10) controls the working current of the electric proportional control valve (3) to be reduced until the system working power is regulated to be within the total power interval.
  7. 7. The control system of the chain cutter type continuous wall equipment according to claim 1, wherein the preset working current of the electric proportional control valve (3) is set according to the geological condition of the construction rock stratum under the transverse moving cutting working condition.
  8. 8. A control method of a chain cutter type continuous wall device, adopting the control system as claimed in any one of claims 1 to 7, characterized by comprising the following contents: Under the transverse movement cutting working condition, controlling an electric proportional control valve (3) of the first pump (2) to work with preset current; The power of the transverse pushing oil cylinder (8) and the power of the cutting motor (6) are calculated respectively, and the power are added to obtain the working power of the system; And comparing the system working power with the total power interval, and controlling the cutting speed and the propelling speed according to the comparison result so that the system working power is in the total power interval and the highest construction efficiency is obtained.
  9. 9. The control method of a chain cutter type continuous wall apparatus as claimed in claim 8, further comprising: Under the traversing return working condition, the electric proportional multi-way valve (7) and the electric proportional control valve (3) of the first pump (2) are controlled to work at maximum current; the power of the walking motor (9) and the power of the cutting motor (6) are calculated respectively, and the power of the walking motor and the power of the cutting motor are added to obtain the working power of the system; And comparing the working power of the system with the total power interval, and controlling the cutting speed and the walking speed according to the comparison result to obtain the highest construction efficiency.
  10. 10. A chain-knife continuous wall apparatus employing the control system of any one of claims 1 to 7.

Description

Control system and method of chain-cutter type continuous wall equipment and chain-cutter type continuous wall equipment Technical Field The invention relates to the technical field of chain-cutter type underground continuous wall equipment, in particular to a control system and a control method of the chain-cutter type underground continuous wall equipment, and in addition, the invention particularly relates to the chain-cutter type continuous wall equipment adopting the control system. Background With the continuous upgrading of the construction scale of domestic cities, the ground space becomes saturated, and people start turning the eyes into the ground to seek new space for urban development. The chain cutter type continuous wall equipment is key equipment for TRD construction, has the characteristics of high wall forming efficiency, good wall forming precision, strong adaptability to complex geological conditions and construction conditions, good water stopping performance and the like, is suitable for deep foundation pit engineering and building envelope such as river dredging engineering, dam reinforcement engineering, high-rise building basements and the like, and is particularly suitable for deep foundation pit construction in urban dense building group areas. The equipment cutting construction is that a transverse moving oil cylinder drives a whole cutting mechanism (comprising a cutter box and a chain cutter) to do transverse pushing action, the cutting mechanism is pushed to move along a wall forming direction to realize cutting grooves until a preset wall forming design length (end point) is achieved, the process is called a cutting working condition for short, a traveling mechanism drives the whole cutting mechanism to move to the end point of the cutting grooves, at the moment, a transverse moving oil cylinder floats, a rod cavity is connected with a rodless cavity through oil, passive retraction is achieved, the process is called a return working condition for short, the cutting working condition and the return working condition form a complete cutting stroke, and the whole process acts the chain cutter to cut. Therefore, the cutting working condition relates to the combined action of the chain cutter cutting and the traversing oil cylinder, the return working condition relates to the combined action of the chain cutter cutting and the equipment walking, the cutting power required by the equipment is high due to the fact that geology is complex, the depth of a groove is deep, the walking power required by the equipment is high due to the fact that the total weight of the equipment is heavy, the propelling power required by the equipment is low due to the fact that the propelling speed is low, and the propelling power required by the equipment is low, namely the cutting power > the walking power > the propelling power of the chain cutter type continuous wall equipment. If the motor (engine) is not over-powered, the power setting (static setting) needs to meet the maximum power of the combined action, and the current motor power setting needs to meet the maximum cutting power plus the maximum walking power, but on one hand, the motor (engine) is large in appearance, the whole vehicle assembly space needs to be enlarged, on the other hand, the system power is smaller than the maximum power of the motor (engine) under the cutting working condition, and on the other hand, the system power is lower than the maximum power of the motor (engine) due to in-situ cutting under the return power, so that the motor power is underutilized. Therefore, on the premise of meeting the performance of the equipment, the overall size and weight of the whole machine are reduced by reducing the overall size of the motor (engine) as much as possible, and the full utilization of the power of the equipment can be realized by reducing the idle power of the equipment. However, if the power of the motor is reduced, the power setting (static setting) of the system is reduced proportionally if the power is not distributed, and the performance of the equipment is reduced proportionally, so that the construction efficiency is reduced, and the total power required by the compound action system is sometimes larger than the power which can be provided by the motor (engine) because of the reduction of the power, namely, the risk of overpower exists. Therefore, how to achieve a system power that does not exceed the motor (engine) power by power control and to achieve optimal construction efficiency by power distribution is a problem that needs to be solved at present. Disclosure of Invention The invention provides a control system and a control method of chain cutter type continuous wall equipment and the chain cutter type continuous wall equipment, which are used for solving the technical problems of how to realize that the system power does not exceed the motor power and the optimal construction efficiency under the condition of