公开(公告)号：EP2542726A1

公开(公告)日：2013-01-09

申请号：EP11750214.6

申请日：2011-03-05

申请人： Mikrofyn A/S

发明人： JØRGENSEN, Claus ,  KJAEGAARD, Lars

IPC分类号： E02F3/84

CPC分类号： E02F3/845 ,  E02F3/7609 ,  E02F3/847 ,  E02F9/265

摘要： Known systems for automatic height control of a dozer blade (302), which rotates about a line through pivot points (304) for supporting arms (303) when it changes its height use feedback and a reference from an absolute blade height measuring system (306). This only permits a slow operation. According to the invention the input from the slow absolute height sensor (306) is combined with an input from a fast gyroscope (307 or 308) that measures the instant rotation and recalculates it into a vertical height change using the length (309) of the supporting arms as the basis. The combination obtains the accuracy of the infrequent absolute height information and an increased speed of measurement resulting in a compensated height estimate that is input to a hydraulic control system of the feedback type. This improved height feedback enables much more aggressive control even though the hydraulic system has an unknown linearity and delay associated with it. The gyroscopic sensor forms an IMU (307 or 308) with one degree of freedom to compensate for the inevitable drawbacks of the absolute height sensor (306) in use with regard to delay, noise and update rate to obtain a frequent, time-correct height position with a reduced level of noise by means of a calculation based on both types of sensor output.

摘要翻译： 推土铲刀片的自动高度控制，来自慢绝对高度传感器的输入与来自陀螺仪的输入相结合，该陀螺仪测量瞬间旋转，并使用支撑臂的长度将其重新计算成垂直高度变化。 该组合获得绝对高度信息的精度和增加的测量速度，导致输入到反馈类型的液压控制系统的补偿高度估计。 即使液压系统具有与之相关的未知线性度和延迟，这也使得能够进行更积极的控制。 陀螺传感器形成具有一个自由度的IMU，以补偿绝对高度传感器关于延迟，噪声和更新速率的缺点，以通过计算获得具有降低的噪声水平的频繁的，时间正确的高度位置 基于两种类型的传感器输出。