CN119308201A - Road paver with screed leveling feedback control - Google Patents
Road paver with screed leveling feedback control Download PDFInfo
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- CN119308201A CN119308201A CN202410932049.4A CN202410932049A CN119308201A CN 119308201 A CN119308201 A CN 119308201A CN 202410932049 A CN202410932049 A CN 202410932049A CN 119308201 A CN119308201 A CN 119308201A
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- screed
- angle
- height
- attack
- controller
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- 238000000034 method Methods 0.000 claims abstract description 25
- 238000010409 ironing Methods 0.000 claims description 58
- 239000000463 material Substances 0.000 description 38
- 238000009434 installation Methods 0.000 description 12
- 238000005259 measurement Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000005056 compaction Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000010426 asphalt Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007480 spreading Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- URWAJWIAIPFPJE-YFMIWBNJSA-N sisomycin Chemical compound O1C[C@@](O)(C)[C@H](NC)[C@@H](O)[C@H]1O[C@@H]1[C@@H](O)[C@H](O[C@@H]2[C@@H](CC=C(CN)O2)N)[C@@H](N)C[C@H]1N URWAJWIAIPFPJE-YFMIWBNJSA-N 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000014509 gene expression Effects 0.000 description 1
- 238000007373 indentation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012804 iterative process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 239000000523 sample Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
- E01C19/4866—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ with solely non-vibratory or non-percussive pressing or smoothing means for consolidating or finishing
- E01C19/4873—Apparatus designed for railless operation
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/48—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ
- E01C19/4806—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ with solely rollers for consolidating or finishing
- E01C19/4826—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for laying-down the materials and consolidating them, or finishing the surface, e.g. slip forms therefor, forming kerbs or gutters in a continuous operation in situ with solely rollers for consolidating or finishing the materials being aggregate mixed with binders
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
- E01C2301/14—Extendable screeds
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Road Paving Machines (AREA)
Abstract
本发明涉及一种道路摊铺机(1)，包括牵引车(2)、至少一个牵引臂(4)、经由至少一个牵引臂(4)附接到牵引车(2)的牵引点(5)的熨平板组件(3)、适于调整牵引点(5)的位置(特别是高度)的调平缸(8)、适于调整熨平板组件(3)的接触压力的熨平板升降缸(10)、适于确定熨平板组件(3)的熨平高度(55)的第一测量装置(59)、适于确定熨平板组件(3)的攻角(14)的第二测量装置(61)以及适于控制调平缸(8)和熨平板升降缸(10)的反馈控制装置(50)。本发明还涉及一种用于反馈控制熨平板组件(3)的位置的方法以及反馈控制装置(50)用于反馈控制熨平板组件(3)的攻角(14)和熨平高度(55)的用途。
The invention relates to a road paver (1) comprising a tractor (2), at least one tractor arm (4), a screed assembly (3) attached to a traction point (5) of the tractor (2) via at least one tractor arm (4), a leveling cylinder (8) adapted to adjust the position, in particular the height, of the traction point (5), a screed lift cylinder (10) adapted to adjust the contact pressure of the screed assembly (3), a first measuring device (59) adapted to determine the screed height (55) of the screed assembly (3), a second measuring device (61) adapted to determine the angle of attack (14) of the screed assembly (3) and a feedback control device (50) adapted to control the leveling cylinder (8) and the screed lift cylinder (10). The invention also relates to a method for feedback controlling the position of the screed assembly (3) and the use of the feedback control device (50) for feedback controlling the angle of attack (14) and the screed height (55) of the screed assembly (3).
Description
Technical Field
The invention relates to the technical field of road pavers. In particular, the present invention relates to a road paver having a screed for compacting paving material and a method of controlling such a road paver.
Background
A method for determining a change in the angle of attack of a screed is known from DE 10 2021 107 447 A1. DE 19 647 a1 shows a method for controlling the ironing height of a screed. A method of controlling the paving thickness and quality of asphalt paving material is known from EP 2 366831b 1.
In the leveling feedback control known from the prior art, the ironing height of the screed is detected and adjusted by means of a leveling cylinder. The screed lifting cylinder is typically in a floating position during the paving process. In order to influence the static compaction, a constant pressure can be set on the rod side of the screed lifting cylinder. The bottom of the ironing board is inclined towards the roadbed. This inclination is called the angle of attack and is initially adjusted to a predetermined value by means of screed lifting cylinders or the like. The angle of attack influences the quality of the paving result, in particular the degree of compaction of the paving material and the resulting surface appearance. It is therefore advantageous to maintain a constant angle of attack during operation.
Changes in screed height, road paver installation speed, and/or paving material may all affect changes in screed angle of attack. Too large or too small an angle of attack may result in poor paving. In particular for road pavers with extended screed, a poor angle of attack may lead to a difference in screed height between the bottom screed and the extension, which may cause the road to be uneven in the lateral direction.
In the systems known from the prior art, the ironing height is continuously adjusted only by adjusting the leveling cylinder. But this means that the angle of attack is not constant, but is determined by the current position of the leveling cylinder, as well as the paving material properties and other environmental conditions. The angle of attack is defined by the position of the leveling cylinder and the layer thickness geometry.
Disclosure of Invention
The aim of the invention is to keep the angle of attack of the screed as constant as possible during operation, so that the paving quality is improved.
The invention can obviously improve the paving effect. By constantly checking and adjusting the angle of attack of the screed assembly, the longitudinal flatness of the paving material may be improved. The lateral flatness of the paving material can also be improved by the present invention when using an extension screed. Furthermore, the compaction effect can be improved by a constant angle of attack. The present invention may also improve process reliability because manual monitoring or manual readjustment of the angle of attack is not required. The system can automatically respond to changes in paving material, thereby reducing paving errors.
A first aspect of the present invention relates to a road paver having a tractor, at least one traction arm, a screed assembly, a leveling cylinder, a screed lifting cylinder, a first measuring device, a second measuring device, and a feedback control device. The screed assembly is attached to a traction point of the tractor via at least one traction arm. The leveling cylinder is used for adjusting the position, in particular the height, of the traction point. The screed lifting cylinder is used to adjust the contact pressure of the screed assembly. Contact pressure refers to the pressure exerted by the screed assembly (particularly due to its own weight) on the paving material. The contact pressure of the screed assembly may be from the screed assembly's dead weight and the screed lift cylinder force. The force from the screed lifting cylinder may create a loading or unloading effect. The first measuring device is adapted to determine the ironing height of the screed assembly. The second measurement device is adapted to determine an angle of attack of the screed assembly. The feedback control device is suitable for controlling the leveling cylinder and the screed lifting cylinder.
The screed assembly may be configured to form a road paver with a tractor. The screed assembly may be attached to a tractor. The screed assembly may be configured to be towed behind a tractor in a paving direction. The screed assembly may be configured to compact paving material, particularly asphalt paving material, on the subgrade. The screed assembly may be configured to level paving material, particularly asphalt paving material, on a subgrade.
The transverse direction is defined as the direction extending in a horizontal plane and perpendicular to the spreading direction. The paving direction is the direction along which the paver moves during paving. The lateral direction or width direction may be a direction parallel to the transverse direction.
The screed assembly may comprise a bottom screed and at least one extension, preferably two extensions. In the context of the present invention, the bottom screed is also referred to as the main screed. In the context of the present invention, the extension is also referred to as a secondary screed. The extensions may be arranged laterally in the lateral direction on the left and right side of the bottom screed. The extension may be arranged behind the bottom screed in the paving direction. Alternatively, the extension may also be arranged in front of the bottom screed in the paving direction.
The bottom screed may include a planing plate (PLANING SHEET) for contacting the bottom screed with the paving material. The extension may include a planing plate support and an extension planing plate. The extension planing plate may be configured to contact the paving material. The extension planing plate may be attached to the planing plate support so as to be tiltable about a tilting axis. The screed assembly may include a height adjustment device. The screed plate assembly may include a tilting device. The height adjustment means may be adapted to lower or raise the extension or extensions relative to the bottom screed plate. The height adjustment device may be configured to lower or raise the planing plate support relative to the bottom screed plate. The tilting means may be configured to change the tilting angle of the extension planing plate about the tilting axis. The tilt axis may extend in a lateral direction. The tilt axis may extend horizontally.
The screed height of the screed assembly may represent the vertical distance between the rear edge of the screed assembly (and in particular the rear edge of the screed plate of the screed assembly) and a reference point (e.g., a reference point on the subgrade). The screed height of the bottom screed may represent the vertical distance between the rear edge of the bottom screed (particularly the rear edge of the bottom screed planing plate) and a reference point, such as a reference point on a roadbed. The ironing height of the extension may represent the vertical distance between the rear edge of the extension, in particular the rear edge of the extension planing plate, and a reference point, for example a reference point on a roadbed. The term "rear edge" refers to the rearmost edge of the bottom screed or extension in the paving direction. The height of the rear edge or the ironing height determines the installation height of the paving material.
The angle of attack of the screed assembly may represent the inclination of the screed assembly, in particular the planing plate of the screed assembly, relative to the inclination of the subgrade. For horizontal foundations, the angle of attack of the screed assembly corresponds to the absolute inclination of the planing plate. The term "absolute inclination" means that the inclination is determined with respect to the horizontal plane. For an inclined subgrade, the angle of attack corresponds to the difference between the absolute inclination of the skiving plate and the absolute inclination of the subgrade.
The angle of attack of the bottom screed may represent the inclination of the bottom screed (in particular the bottom screed planing plate) with respect to the inclination of the subgrade. The angle of attack of the extension may represent the inclination of the extension (in particular the extension planing plate) with respect to the inclination of the subgrade.
The screed assembly may be rotatably attached to a traction point of the road paver, in particular a traction point of a tractor of the road paver, via at least one traction arm. The screed assembly may be rotatably attached to a traction point of the road paver, in particular a traction point of a tractor, via two traction arms. The trailing arm may be arranged on the side of the tractor. One traction arm may be disposed on each side of the tractor. The height of the traction point can be adjusted by a leveling cylinder. The paver may have two traction arms and two leveling cylinders. Each leveling cylinder may be assigned to a trailing arm. The leveling cylinders may be connected to the respective traction arms. The connection between the leveling cylinder and the trailing arm can be made directly or via an intermediate piece. The leveling cylinder and the traction arm may be arranged laterally on the road paver with respect to a lateral direction of the road paver. Each side of the road paver may have a traction arm and leveling cylinder. Features described in the further course of the application in relation to the leveling cylinders are also relevant to both leveling cylinders, even if not explicitly mentioned.
The screed assembly, in particular the bottom screed, may be connected to the tractor via a screed lift cylinder. The screed assembly, in particular the bottom screed, may be connected to the tractor via two screed lifting cylinders. A screed lift cylinder or cylinders may be used to vertically raise or lower the screed assembly. A screed lift cylinder or cylinders may be used to adjust the contact pressure of the screed assembly on the paving material. Even if not explicitly mentioned, the features described below in connection with the screed lifting cylinder apply to both screed lifting cylinders.
The screed lifting cylinder may be directly connected to the screed assembly or the bottom screed. The screed lifting cylinder may be indirectly connected to the screed assembly or the bottom screed. The screed lifting cylinder may be attached to the trailing arm, in particular to a rear region of the trailing arm.
The road paver may have a material hopper. The material hopper may be adapted to receive paving material. The material hopper may be arranged in front of the screed assembly in the paving direction.
The road paver may have a control device. The control device may be adapted to control the screed lifting cylinder. The control device may be adapted to control the leveling cylinder. The control device may be adapted to control the screed lifting cylinder and the leveling cylinder. The control means may be part of a feedback control means.
The feedback control device may have a first controller. The first controller may be adapted to control the leveling cylinder or cylinders based on the control deviation of the ironing height. The control deviation of the ironing height is the difference between the target value of the ironing height (e.g. the desired mounting height) and the actual value of the ironing height. The control deviation of the ironing height can be determined from the target value of the ironing height and the actual ironing height determined by the first measuring device. The target value of the ironing height may be specified by a manual input of the user. The target value of the ironing height may be specified or recommended by the control system, in particular in accordance with the paving material. The target value of the ironing height may be determined from the values stored in the previous construction measurements. The target value of the ironing height may be derived from the road construction plan. The target value of the ironing height may be manually entered. The target values may be taken directly from the digital planning data.
The feedback control device may have a second controller. The second controller may be adapted to control the screed lifting cylinder or cylinders based on the control deviation of the angle of attack. The control deviation of the angle of attack is the difference between the target value of the angle of attack (e.g. the desired angle of attack) and the actual value of the angle of attack. The control deviation of the angle of attack may be determined from the desired value of the angle of attack and the actual angle of attack determined by the second measuring device. The second controller may be adapted to calculate the required pressure in the screed lifting cylinder based on the determined actual angle of attack. The target value of the angle of attack may be specified by a manual input by the user. The target value of the angle of attack may be specified or suggested by the control system, in particular in accordance with the paving material. The target value of the angle of attack may be determined from values stored in previous construction measurements. The target value of the angle of attack may be selected to match the height setting of the extension. This allows for a good degree of compaction to be adjusted, thereby obtaining a good spreading pattern.
The feedback control device may have a first controller. The first controller may be adapted to control the leveling cylinder based on a control deviation of the ironing height. The feedback control device may have a second controller. The second controller may be adapted to control the screed lifting cylinder also based on a control deviation of the screed height.
The first controller may be a SISO controller (single input single output controller), such as a P controller (proportional controller), a PI controller (proportional integral controller), or a PID controller (proportional integral derivative controller). The first controller may be a robust controller, such as an H-infinity (H-infinity) controller. The second controller may be a SISO controller, such as a P controller, PI controller, or PID controller. The second controller may be a robust controller, such as an H-infinity (H-infinity) controller.
The feedback control device may have a multi-variable controller. The multivariable controller may be adapted to control the leveling cylinder and screed lifting cylinder based on the control deviation of the screed height and the control deviation of the angle of attack. Both feedback control variables, i.e. angle of attack and ironing height, can be controlled by one controller, i.e. a multivariable controller. In this way, the interaction between the two control variables (angle of attack and screed height) and the two drive variables (leveling cylinder and screed lifting cylinder) can be taken into account. The multivariable controller may also be referred to as a MIMO controller (multiple input multiple output controller). The multivariable controller may be an H infinity controller, an LQ controller, or an LQG controller.
In systems known from the prior art, the current installation speed is typically involved in feedback control. With the feedback control device according to the invention this is not necessary. The feedback control means, in particular the multivariable controller, may be adapted to not output any other control variables than the angle of attack and the ironing level. The feedback control means, in particular a multivariable controller, may be adapted to control the screed lifting cylinder and the leveling cylinder based solely on the angle of attack and the screed height, in particular based on a target/actual comparison of the angle of attack and a target/actual comparison of the screed height. The feedback control means, in particular a multivariable controller, may be adapted to control the screed lifting cylinder and the leveling cylinder based on only the measured values from the first and second measuring means. The feedback control means, in particular a multivariable controller, may be adapted to control the screed lifting cylinder and the leveling cylinder irrespective of the installation speed. The feedback control means may be adapted to select the control parameters in dependence of the installation speed. The feedback control means may be adapted to control the screed lifting cylinder and the leveling cylinder in dependence of the installation speed. The feedback control device may be adapted to apply a large controller magnification at high mounting speeds and a small controller magnification at low mounting speeds. The terms high, low, large, small should be understood in relation to each other.
The first measuring device may be a rangefinder, such as a laser rangefinder, a mechanical probe, or an acoustic rangefinder.
The second measuring device may have a first tilt sensor. The second measuring device may have a second tilt sensor. The second measuring device may have a first tilt sensor and a second tilt sensor. The first tilt sensor may be disposed on the screed assembly. The second tilt sensor may be arranged on the tractor.
The first tilt sensor may be adapted to determine a tilt angle of the screed assembly relative to a horizontal plane. The second inclination sensor may be adapted to determine an inclination angle of the tractor with respect to the horizontal plane. The second measuring device may be adapted to determine the angle of attack of the screed assembly from the angle of inclination of the screed assembly and the angle of inclination of the tractor.
The first inclination sensor may be adapted to determine an inclination angle of the bottom screed plate with respect to a horizontal plane. The first inclination sensor may be adapted to determine an inclination angle of the extension with respect to the horizontal plane. The inclination angle of the tractor may correspond to the inclination of the roadbed. Alternatively, the inclination of the subgrade or the inclination angle of the tractor may be determined from a digital terrain model (DIGITAL TERRAIN model). In this case, a second tilt sensor on the tractor is not necessary. The tilt angle may be calculated based on the tilt angle measured by the first tilt sensor and the tilt of the subgrade determined from the terrain model. A plurality of first tilt sensors may be attached to determine and control the tilt angle of the screed assembly at a plurality of points (e.g., at two extensions). A plurality of second inclination sensors may be attached such that the inclination angle of the towing vehicle may be determined from an average value of the second inclination sensors.
The second measuring device may have a tilt sensor attached to the bottom screed or the extension. The tilt sensor may be configured to determine a tilt angle of the bottom screed or extension relative to a horizontal plane. The control device of the road paver may be adapted to determine the inclination of the road bed based on a digital terrain model. The control means may be adapted to determine the angle of attack of the bottom screed based on the determined inclination angle of the bottom screed and the roadbed inclination. The control means may be adapted to determine the angle of attack of the extension based on the determined inclination angle of the extension and the inclination of the subgrade.
The second measuring device may have a rotation angle sensor. The rotation angle sensor may be arranged at a traction point of the tractor. The rotation angle sensor may be adapted to measure the inclination of the trailing arm relative to the inclination of the towing vehicle. The screed assembly may be rigidly connected to the traction arm. The angle of attack of the screed assembly may then be determined via the inclination of the trailing arm. The rotation angle measured at the traction point may correspond to the angle of attack.
The second measuring device may have a first rotation angle sensor on a first traction arm attached to one side of the tractor and a second rotation angle sensor on a second traction arm attached to the other side of the tractor. The angle of attack of the screed assembly may then be determined from the average of the first and second rotation angle sensors.
The feedback control means and/or the control means may be configured to filter environmental influences. The feedback control means and/or the control means may be configured to filter effects from vibrations and/or temperature fluctuations. Advanced signal processing methods such as a kalman filter or a state observer may be used to achieve this.
The screed assembly may have a bottom screed and at least one extension. The extension may be arranged to be at least partially offset from the bottom screed in a paving direction of the road paver. The extension may be arranged at least partly in front of or behind the bottom screed in the paving direction of the road paver. The extension may be arranged completely in front of or behind the bottom screed in the paving direction of the road paver. The bottom screed and the extension may have the same angle of attack. The extension may be laterally arranged next to the bottom screed relative to the transverse direction. The screed plate assembly may have two extensions. The extensions may be arranged on both sides of the bottom screed plate with respect to the transverse direction. The extension may be laterally telescopic so that the width of the screed plate assembly may be varied. The width of the screed assembly corresponds to the extension of the screed assembly in the transverse direction. The extension may have a vertical offset with respect to the bottom screed plate. The vertical offset may be adjusted by a height adjustment device. Due to the geometrical arrangement of the bottom screed and the extension, the vertical offset is optimal only at a specific angle of attack. If the angle of attack changes, the vertical offset must be adjusted. Otherwise, the bottom screed and the extension will have different screed heights. This can lead to indentations in the extension in the mounting layer and irregularities in the lateral direction. The screed assembly may also consist of only a bottom screed without an extension.
The screed lifting cylinder may have a pressure control device on the piston side. The screed lifting cylinder may be adjusted so that it allows the screed components to be released and loaded. This may correct for too small or too large an angle of attack. If the angle of attack is too small or too large, the feedback control device adjusts the angle of attack.
A second aspect of the invention relates to a method for feedback controlling a position of a screed assembly of a road paver. The screed assembly is attached (in particular by means of at least one traction arm) to a traction point of the road paver. The method includes determining a screed height of the screed assembly and determining an angle of attack of the screed assembly. The method further comprises adjusting the position (in particular the height) of the traction point based on the determined ironing height. The method also includes adjusting a contact pressure of the screed assembly based on the determined angle of attack.
Adjusting the position of the traction point may include adjusting the height, vertical position of the traction point.
The determination of the ironing height may be performed continuously. The determination of the angle of attack may be performed continuously. The determination of the ironing height and the determination of the angle of attack may be performed simultaneously. The determination of the ironing height and/or angle of attack may be made periodically.
The adjustment of the position of the traction point can be performed continuously. The adjustment of the contact pressure can be performed continuously. The adjustment of the position of the traction point and the adjustment of the contact pressure can be performed simultaneously. The adjustment of the position of the traction point and/or the adjustment of the contact pressure may be performed periodically.
The position of the traction point may be adjusted later than the contact pressure. For example, the ironing height may be determined first, and the position of the traction point may then be adjusted accordingly. The angle of attack may then be determined and the contact pressure adjusted accordingly. The ironing height can then be determined again and the position of the traction point adjusted. This iterative process may be repeated continuously.
The adjustment of the position, in particular the height, of the traction point can be carried out during operation of the road paver, in particular during installation of the paving material. The adjustment of the contact pressure can be carried out during operation of the road paver, in particular during installation of the paving material. Adjustment of the position, in particular the height, of the traction point and adjustment of the contact pressure can take place during operation of the road paver, in particular during installation of the paving material. The road paver is moved in the paving direction during installation of the paving material.
The adjustment of the position, in particular the height, of the traction point can be performed automatically, in particular by means of a feedback control device or a control device. The adjustment of the contact pressure can be carried out automatically, in particular by means of a feedback control or control device. The adjustment of the position, in particular the height, of the traction point and the adjustment of the control device can be performed automatically, in particular by means of a feedback control device or a control device.
The determined ironing height may be fed to a feedback control or control. The determined angle of attack may be fed to a feedback control or control. The determined ironing height and the determined angle of attack may be fed to a feedback control or control.
The feedback control means may have a general purpose multivariable controller for feedback controlling the ironing height and angle of attack. The multivariable controller may be an H infinity controller, an LQ controller (linear quadratic controller), or an LQG controller.
The feedback control device may have two independent controllers. The feedback control device may have a first controller for feedback controlling the ironing height. The feedback control device may have a second controller for feedback controlling the angle of attack.
The position (in particular the height) of the towing point can also be adjusted in dependence on the determined angle of attack. In addition, the contact pressure of the screed assembly may also be adjusted based on the determined screed height.
The position (in particular the height) of the traction point can be adjusted by means of leveling cylinders, in particular two leveling cylinders. The leveling cylinder may be attached to a tractor and a traction point of the road paver. The position of the traction point can be changed through the telescopic leveling cylinder. The screed assembly may be attached to the traction points by means of traction arms, in particular two traction arms. Thus, by telescoping the leveling cylinder or cylinders, the ironing height of the screed plate assembly may be changed.
The contact pressure of the screed assembly may be adjusted by means of the screed lifting cylinder, in particular two screed lifting cylinders. The screed lift cylinder may be attached to the screed assembly and the tractor of the road paver. The pressure on the screed assembly may be varied by telescoping the screed lift cylinder. The pressure control valve may be used to adjust (in particular regulate) the pressure in the screed lifting cylinder. The screed lifting cylinder may have a rod side and a piston side. The pressure control valve may be used to adjust (in particular regulate) the pressure on the rod side of the screed lifting cylinder. The screed lift cylinder may be used to vary the pressure on the screed assembly. A pressure control valve may be used to vary the pressure on the screed plate assembly. The screed lifting cylinder may be adapted to release the screed assembly and/or additionally load the screed assembly. The angle of attack of the screed assembly may be adjusted by telescoping the screed lift cylinder or cylinders. Higher contact pressures result in a greater angle of attack. Lower contact pressures result in a smaller angle of attack.
The screed lifting cylinder may have a pressure control mechanism on the piston side. A piston-side pressure control mechanism may be used to increase the angle of attack.
A third aspect of the invention relates to the use of a feedback control device for feedback controlling the angle of attack of a screed assembly of a road paver and for feedback controlling the screed height of the screed assembly.
The feedback control means may be adapted to feedback control the angle of attack and the ironing height during operation of the road paver, in particular during installation of the paving material. Feedback control may occur automatically. Feedback control may occur continuously. Feedback control may occur periodically.
The feedback control means may be adapted to receive and process measurements from the first measuring means for determining the ironing height and measurements from the second measuring means for determining the angle of attack. The feedback control means may perform feedback control based on the transmitted measured values of the ironing height and the angle of attack.
The feedback control device may be adapted to control the leveling cylinders (in particular the two leveling cylinders). The leveling cylinder may change the position (particularly the height) of a trailing arm connected to the screed plate assembly. The feedback control means may be adapted to vary the ironing height by controlling the leveling cylinder.
The feedback control means may be adapted to control the screed lifting cylinders (in particular the two screed lifting cylinders). The screed lift cylinder may change the contact pressure of the screed assembly against the paving material. The contact pressure may be used to adjust the angle of attack of the screed assembly. The feedback control means may be adapted to vary the contact pressure of the screed components by controlling the screed lifting cylinder, in particular a plurality of screed lifting cylinders. The feedback control means may be adapted to change the angle of attack of the screed assembly by controlling the screed lifting cylinder, in particular a plurality of screed lifting cylinders.
The feedback control device may have a multi-variable controller. The multivariable controller may be used to feedback control the angle of attack of the screed components and to feedback control the screed height of the screed components. The multi-variable controller may be adapted to use the determined angle of attack and the determined ironing height as input parameters. The multivariable controller may be adapted to control the leveling cylinder (in particular the plurality of leveling cylinders) and the screed lifting cylinder (in particular the plurality of screed lifting cylinders), in particular based on the determined screed height and the determined angle of attack.
The feedback control device may have a first controller and a second controller. The first controller may be used to feedback control the ironing height of the screed assembly. The second controller may be used to feedback control the angle of attack of the screed assembly. The first controller may be used to control the leveling cylinders (in particular the plurality of leveling cylinders). The second controller may be used to control the screed lifting cylinders (in particular the plurality of screed lifting cylinders).
The road paver according to the first aspect of the invention may be used together with the method steps of the method according to the second aspect of the invention. The method according to the second aspect of the invention may be performed with a road paver according to the first aspect of the invention. The use of the feedback control device according to the third aspect of the invention may be performed by the road paver according to the first aspect of the invention and/or by the method steps of the method according to the second aspect of the invention.
The expressions "first", "second", "third" and "fourth" are to be understood as being merely definitions of certain elements or components and do not necessarily imply a certain order of the components or elements. For example, the presence of a second component does not necessarily mean the presence of a first component, and vice versa.
Drawings
The present invention will be described in more detail with reference to examples.
Fig. 1 shows a schematic side view of a road paver with a screed assembly according to an embodiment of the invention.
Fig. 2 shows a schematic top view of a road paver with a screed assembly according to an embodiment of the present invention.
Figure 3 shows a schematic side view of the screed assembly and the tow arm in a first mounting position, in accordance with an embodiment of the present invention.
Figure 4 shows a schematic side view of the screed assembly and the traction arm in a second mounting position, in accordance with an embodiment of the present invention.
Figure 5 shows a schematic side view of the screed plate assembly and the tow arm in a third mounting position, in accordance with an embodiment of the present invention.
Figure 6 shows a feedback control circuit for feedback controlling the position of the screed assembly as known in the prior art.
Fig. 7 illustrates a feedback control circuit for feedback controlling the position of a screed assembly according to an exemplary embodiment of the present invention.
Fig. 8 illustrates a feedback control circuit for feedback controlling the position of a screed assembly according to an exemplary embodiment of the present invention.
Fig. 9 illustrates a feedback control circuit for feedback controlling the position of a screed assembly according to an exemplary embodiment of the present invention.
Detailed Description
Fig. 1 shows a road paver 1 according to an embodiment of the invention. The road paver 1 comprises a tractor 2 and a screed assembly 3. The screed assembly 3 is connected to the tractor 2 by means of two traction arms 4, each traction arm 4 extending laterally on the road paver 1. The traction arm 4 is pivotally connected to the tractor 2 at a traction point 5. The screed assembly 3 is arranged behind the tractor 2 with respect to the paving direction 100 and is towed behind the tractor 2 by the tow arm 4. A material hopper 6 for receiving paving material is arranged in a front region of the road paver 1. The paving material is transported to the rear by the material transport means of the tractor 2 against the paving direction 100 and is sent to the screed assembly 3. A lateral distribution device 7 may be provided at the rear area of the tractor 2, which distributes paving material in front of the screed assembly 3, orthogonal to the paving direction 100.
One leveling cylinder 8 is arranged on each side of the road paver 1. The leveling cylinders 8 are connected to the respective trailing arms 4 via intermediate pieces 9. The position (in particular the height) of the traction point 5 can be adjusted by means of a leveling cylinder 8. The screed lifting cylinder 10 is arranged in the rear region of the road paver 2. Screed lifting cylinders 10 are attached to the rear regions of the respective trailing arms 4. Alternatively, the screed lifting cylinder 10 may also be directly connected to the screed assembly 3. The screed lift cylinder 10 may be used to adjust the position (particularly the height and contact pressure) of the screed assembly 3.
Fig. 2 shows a top view of a road paver 1 according to an embodiment of the invention. The traction arm 4 is arranged at the side of the tractor 2. The screed assembly 3 includes a bottom screed 11 and two extensions 12. The extension 12 is arranged behind the bottom screed 11 in the paving direction 100. Alternatively, the extension 12 may be arranged in front of the bottom screed 11 in the paving direction 100. The extension 12 is arranged laterally against the bottom screed 11 in the transverse direction 200. The extension 12 may retract and extend in the lateral direction 200 such that the width of the screed assembly 3 varies. The width of the screed assembly 3 is the extension of the screed assembly 3 in the transverse direction 200. By fitting the widening on the extension, the width of the screed plate assembly can be increased.
Fig. 3 shows a schematic side view of the screed assembly 3 and the traction arm 4 in a first mounting situation on a flat roadbed 13. The extension 12 is arranged behind the bottom screed 11 in the paving direction 100. The extension 12 has the same angle of attack 14 as the bottom screed 11. The dashed line indicates the desired mounting height 15 of the finished paving material. The bottom screed 11 and the extension 12 are arranged offset in the vertical direction. The vertical offset 16 between the bottom screed 11 and the extension 12 is adjusted such that the extension height 18 corresponds to the bottom screed height 17. This is typically adjusted manually prior to installation.
Figure 4 shows the screed assembly 3 and the traction arm 4 in a second mounting condition. The traction point 5 is higher compared to fig. 3. This results in a greater angle of attack 14. The angle of attack 14 of the bottom screed 11 and the extension 12 remains the same. As can be seen from fig. 4, the bottom ironing height 17 corresponds to the desired mounting height 15. Since the extension 12 is arranged behind the bottom screed 11 in the spreading direction 100, the rear edge of the extension 12 sinks deeper than the rear edge of the bottom screed 11. Thus, the extension height 18 is less than the bottom ironing height 17. This results in a non-uniform finished paving material in the transverse direction.
Figure 5 shows the screed plate assembly 3 and the trailing arm 4 in a third mounting condition. The roadbed 13 has a roadbed inclination 19. Only the bottom screed 11 is shown in fig. 5. A leveling cylinder 8 is attached to the front region of the traction arm 4 for adjusting the position of the traction point 5. Attached to the rear region of the trailing arm 4 is a screed lift cylinder 10 for adjusting the contact pressure of the screed assembly 3 with the paving material. In the position of the screed assembly 3 shown in fig. 5, the bottom screed height 17 corresponds to the desired mounting height 15. The bottom screed 11 has an absolute bottom screed inclination 20. The absolute bottom screed inclination 20 is the inclination of the bottom screed 11 relative to the horizontal plane. The angle of attack 14 of the bottom screed 11 is calculated by subtracting the subgrade inclination 19 from the absolute bottom screed inclination 20.
Figure 6 shows a feedback control circuit known in the prior art with feedback control means 50 for feedback controlling the position of the screed assembly 3. Screed transfer behavior 51 is affected by screed lift cylinder pressure 52, roadbed height 53, and leveling cylinder position 54. Screed lift cylinder pressure 52 and roadbed height 53 are external input parameters. Another input parameter is the required mounting height 15. The screed height 55 and angle of attack 14 are determined from the screed lift cylinder pressure 52, the roadbed height 53 and the leveling cylinder position 54. The ironing height 55 is measured by a measuring device 56 and transmitted to a controller 57. The controller 57 compares the desired mounting height 15 with the measured ironing height 55 and, if necessary, changes the leveling cylinder position 54. The controller 57 reacts only to changes in the ironing height 55. The controller 57 is not responsive to changes in the angle of attack 14.
Fig. 7 shows a control circuit according to an exemplary embodiment of the invention with a feedback control device 50 for feedback controlling the position of the screed assembly 3. As shown in fig. 6, screed transfer behavior 51 is affected by screed lift cylinder pressure 52, roadbed height 53, and leveling cylinder position 54. In comparison with the control circuit shown in fig. 6, only the road bed height 53 is an external input parameter. The desired mounting height 15 and the desired angle of attack 58 are specified as target values. The target value for the mounting height 15 and/or the target value for the angle of attack 58 may be specified by manual input from a user. The target value of the mounting height 15 and/or the target value of the angle of attack 58 may be specified or suggested by the control system (in particular, depending on the paving material). The target value for the mounting height 15 and/or the target value for the angle of attack 58 may be determined based on values stored by previous construction measurements. The screed height 55 and angle of attack 14 of the screed assembly 3 are adjusted according to the screed lift cylinder pressure 52, the roadbed height 53, and the leveling cylinder position 54. The ironing height 55 of the screed assembly 3 is measured by means of a first measuring device 59 and transmitted to a first controller 60. The first controller 60 compares the desired mounting height 15 with the measured ironing height 55 and, if necessary, changes the leveling cylinder position 54. The angle of attack 14 of the screed assembly 3 is measured by means of a second measuring device 61 and transmitted to a second controller 62. The second controller 62 compares the desired angle of attack 58 with the measured angle of attack 14 and, if necessary, changes the screed lift cylinder pressure 52. The first controller 60 is responsive to changes in the ironing height 55 and the second controller 62 is responsive to changes in the angle of attack 14.
Fig. 8 shows a control circuit according to another exemplary embodiment of the invention with a feedback control device 50 for feedback controlling the position of the screed assembly 3. In contrast to the control circuit shown in fig. 7, the control circuit in fig. 8 has only the first measuring device 59. The first measuring device 59 measures the ironing height 55 of the screed assembly 3 and transmits it to the first controller 60 and the second controller 62. The first controller 60 compares the desired mounting height 15 with the measured ironing height 55 and, if necessary, changes the leveling cylinder position 54. The second controller 62 compares the desired mounting height 15 with the measured screed height 55 and, if necessary, changes the screed lift cylinder pressure 52.
Fig. 9 shows a control circuit according to another exemplary embodiment of the invention with a feedback control device 50 for feedback controlling the position of the screed assembly 3. In comparison with the control circuit shown in fig. 7, the control circuit in fig. 9 has a multivariable controller 63. The first measuring device 59 measures the ironing height 55 of the screed assembly 3 and transmits it to the multi-variable controller 63. The second measuring device 61 measures the angle of attack 14 of the screed assembly 3 and transmits it to the multi-variable controller 63. The multi-variable controller 63 compares the desired mounting height 15 with the measured ironing height 55 and uses this comparison to calculate a control deviation of the ironing height. The multi-variable controller 63 compares the desired angle of attack 58 with the measured angle of attack 14 and uses the comparison to calculate a control deviation of the angle of attack. Based on the control deviation of the screed height and the control deviation of the angle of attack, the multivariable controller 63 changes the screed lift cylinder pressure 52 and the leveling cylinder position 54 as necessary. The multivariable controller 63 may be a MIMO controller (multiple input multiple output controller).
Claims (18)
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| EP23185510.7A EP4491800A1 (en) | 2023-07-14 | 2023-07-14 | Road paver with a screed levelling control |
| EP23185510.7 | 2023-07-14 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN119308201A true CN119308201A (en) | 2025-01-14 |
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410932049.4A Pending CN119308201A (en) | 2023-07-14 | 2024-07-12 | Road paver with screed leveling feedback control |
| CN202421644186.XU Active CN223134915U (en) | 2023-07-14 | 2024-07-12 | Road paving machine |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202421644186.XU Active CN223134915U (en) | 2023-07-14 | 2024-07-12 | Road paving machine |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US20250019913A1 (en) |
| EP (1) | EP4491800A1 (en) |
| JP (1) | JP2025013238A (en) |
| CN (2) | CN119308201A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4303365A1 (en) * | 2022-07-04 | 2024-01-10 | Joseph Vögele AG | Road finisher and method for controlling the operation thereof |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19647150C2 (en) | 1996-11-14 | 2001-02-01 | Moba Mobile Automation Gmbh | Device and method for controlling the installation height of a road finisher |
| DE10025462A1 (en) * | 2000-05-23 | 2001-12-06 | Moba Mobile Automation Gmbh | Determination of layer thickness of final surface coat applied by surface finishing machine using inclination sensor |
| PL2366831T3 (en) | 2010-03-18 | 2015-07-31 | Joseph Voegele Ag | Method for controlling the process of applying a layer of road paving material and paver |
| US9045871B2 (en) * | 2012-12-27 | 2015-06-02 | Caterpillar Paving Products Inc. | Paving machine with operator directed saving and recall of machine operating parameters |
| US11306447B2 (en) | 2020-03-27 | 2022-04-19 | Caterpillar Paving Products Inc. | Methods and systems for determining an angle of attack and a cross slope of a paving machine |
-
2023
- 2023-07-14 EP EP23185510.7A patent/EP4491800A1/en active Pending
-
2024
- 2024-07-05 JP JP2024108666A patent/JP2025013238A/en active Pending
- 2024-07-12 CN CN202410932049.4A patent/CN119308201A/en active Pending
- 2024-07-12 CN CN202421644186.XU patent/CN223134915U/en active Active
- 2024-07-12 US US18/771,328 patent/US20250019913A1/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| EP4491800A1 (en) | 2025-01-15 |
| CN223134915U (en) | 2025-07-22 |
| JP2025013238A (en) | 2025-01-24 |
| US20250019913A1 (en) | 2025-01-16 |
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