CN102150504A - Method and device for intelligently controlling forward speed of tangential/longitudinal flow combine harvester - Google Patents
Method and device for intelligently controlling forward speed of tangential/longitudinal flow combine harvester Download PDFInfo
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- CN102150504A CN102150504A CN2011100821349A CN201110082134A CN102150504A CN 102150504 A CN102150504 A CN 102150504A CN 2011100821349 A CN2011100821349 A CN 2011100821349A CN 201110082134 A CN201110082134 A CN 201110082134A CN 102150504 A CN102150504 A CN 102150504A
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Abstract
The invention discloses a method and device for intelligently controlling the forward speed of a tangential/longitudinal flow combine harvester, belonging to the technical field of tangential/longitudinal flow combine harvesters in agricultural machinery. A control device comprises a manual/automatic switching system, a sensing system, a controller and an executing system, wherein the manual/automatic switching system comprises a double-pole double-throw switch (3) and a status indicator lamp; the sensing system comprises sensors for detecting the forward speed, the rotation speed of a tangential flow drum, the rotation speed of a longitudinal flow drum, the rotation speed of a feeding auger, the feeding amount, the loss amount and the like and conditioning circuits thereof; and all the working parameters of the tangential/longitudinal flow combine harvester are monitored by the sensing system, a speed control valve (4) is regulated by the controller and of a proportional valve amplifier (2) to automatically regulate the forward speed of the tangential/longitudinal flow combine harvester, and the working status of the unit is displayed through a liquid crystal display.
Description
Technical field
The present invention relates to the vertical stream combine of cutting of agricultural machinery technical field, particularly a kind of vertical stream combine pace intelligence control method and control device cut.
Background technology
The pace of cutting vertical stream combine is by the decision of factors such as cropping intensity, humidity, field soil situation, swath, and different field environment correspondences different best paces.The too fast meeting of pace makes the feed quantity of grain header excessive and transship, even causes ceding of Taiwan screw feeder, cuts, vertical stream roller, and defeated grain screw feeder stops up, thereby produces fault; Travel speed is slow excessively, and feed quantity is on the low side, and harvesting efficiency is low.At present, cut when indulging the stream combine operation, mainly rely on tractor driver's personal experience, avoid fault to guarantee operating efficiency as far as possible by adjusting travel speed.This operating type requires high to tractor driver's driving level, labour intensity is big, and fault rate is higher, and operating speed and operating efficiency are low.Development along with modern agricultural technology, control and the harvesting efficiency of cutting vertical stream combine are had higher requirement, simply, the control of unitary variant is difficult to satisfy and cuts vertical stream combine working control requirement, existing cutting on the vertical stream combine lacks the comprehensive monitoring of trouble point and the intelligence controlling device that effectively guarantees low fault high-efficient homework.
Summary of the invention
The present invention improves the operating efficiency of cutting vertical stream combine by to cutting the automatic control of vertical stream combine pace, reduces fault rate.
The technical solution adopted for the present invention to solve the technical problems is that the concrete steps of cutting vertical stream combine pace intelligence control method are as follows:
1, the module parameter in the setting controller, and start-up control device; Module parameter comprises threshold value of warning, alarm threshold value and the weight of monitoring points such as feed quantity, cut flow roller rotating speed, vertical stream roller rotating speed, defeated grain screw feeder rotating speed, loss amount, and normally travel velocity amplitude, deceleration value, acceleration figure.
2, controller is gathered the information of feed quantity, travel speed, cut flow roller rotating speed, vertical stream roller rotating speed, defeated grain screw feeder rotating speed, loss amount by sensor-based system; Information is handled, obtained the state value of each monitoring point, show each monitoring point state by LCD.
3, controller is handled the state value of each monitoring point by many information fusion gray prediction fuzzy control model and is merged; Each monitoring point state value merges by fuzzy control model after gray prediction is handled earlier.
4, controller is always exported by system
Select the control corresponding method; Vertical stream combine feed quantity is excessive when cutting, doing stopping alarm when any one rapid variation surpasses the setting boundary in cut flow roller rotating speed, vertical stream roller rotating speed or the defeated grain screw feeder rotating speed handles, this moment buzzer warning, LCD shows the trouble point, and the DAC output of implementation controller is reduced to 0 and made and cut vertical stream combine and quit work; Increase when cutting vertical stream combine feed quantity, loss amount increases, any one drops to 90% o'clock of optimum speed in cut flow roller rotating speed, vertical stream roller rotating speed or the defeated grain screw feeder rotating speed, doing slows down observes the adjustment operation, and employing reduces pace and reduces feed quantity, reduces live load, reach the minimizing rate of breakdown, LCD demonstrates the monitoring point that is lower than early warning value, and the DAC output voltage of implementation controller is pressed setting value and reduced, and makes to cut the reduction of vertical stream combine travel speed; When feed quantity, the stable not break bounds of loss amount, cut flow roller rotating speed, vertical stream roller rotating speed or defeated grain screw feeder rotating speed are all just often, in time increase pace, increase work efficiency, LCD shows each monitoring point duty, the DAC output voltage of implementation controller is pressed setting value and is raise, and makes to cut the lifting of vertical stream combine travel speed; When feed quantity, threshing cylinder, defeated grain screw feeder all are operated in optimum Working, control system did not keep present speed when loss amount exceeded standard, make unit be operated in optimum state, LCD shows each monitoring point duty, and the DAC output voltage of implementation controller keeps.
5, judge whether manually to control, if enter manual control, then cut vertical stream combine pace Based Intelligent Control and finish, display still shows its duty.If do not enter manual control, then return step 2, proceed Based Intelligent Control.
Cutting vertical stream combine pace intelligence controlling device is made up of hardware system and software systems.Hardware system is made up of manauto switched system, sensor-based system, controller, executive system, liquid crystal display systems.The manauto switched system is controlled by double-point double-throw switch; Sensing system is formed by measuring sensor such as travel speed, drum rotation speed, defeated grain screw feeder rotating speed, feed quantity, loss amount and modulate circuit thereof; Controller is made up of single-chip microcomputer and peripheral circuit thereof; Executive system is made up of operational amplification circuit and proportioning valve amplifier; Liquid crystal display systems shows the duty of cutting vertical stream combine in real time, finishes sound and light of alarm simultaneously.Monitor cutting vertical each running parameter of stream combine by sensor-based system, realize cutting vertical automatic adjustment of flowing the combine pace by controller and proportioning valve amplifier governing speed control valve, show the duty of unit simultaneously by liquid crystal display; Software systems mainly are made up of signal detection module, many signal fused gray prediction fuzzy control model and pace control module etc.
The invention has the beneficial effects as follows, on the basis of cutting the existing hydraulic pressure buncher of vertical stream combine manual governing mechanism, added the pace intelligence controlling device, cutting vertical stream combine working state signal by the sensing system collection enters singlechip controller and carries out many signal fused gray prediction fuzzy control model and handle, select the control corresponding method, the work of driving executive system, thereby realize cutting vertical stream combine pace Based Intelligent Control, show the unit duty simultaneously in real time, in time carry out sounding and lighting alarm when running into fault.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is an operation principle block diagram of cutting vertical stream combine pace intelligence controlling device.
Fig. 2 is for cutting vertical stream combine pace intelligent controller gray prediction fuzzy control model schematic diagram.
Fig. 3 is for cutting vertical stream combine pace intelligent controller manauto integrated circuit schematic diagram.
Fig. 4 is for cutting vertical stream combine pace intelligence control method flow chart.
Fig. 5 is a gray prediction module flow chart.
Fig. 6 is for cutting vertical stream combine pace intelligent controller hardware circuit diagram.
Among the figure, 1, electric control handle, 2, the proportioning valve amplifier, 3, double-point double-throw switch, 4, speed control valve.
Embodiment
As shown in Figure 1, the hardware system of cutting vertical stream combine pace intelligence controlling device is made up of manauto switched system, sensor-based system, controller, executive system, liquid crystal display and automatic alarm system.
Sensor-based system is formed by being installed on the sensor of cutting each monitoring position on the vertical stream combine, comprise the Hall speed probe that is installed in cut flow roller, vertical stream roller, defeated grain screw feeder and the driving wheel rotating shaft, be installed on feed quantity sensor and the loss amount sensor that is installed on delivery chute in the rotating shaft of ceding of Taiwan screw feeder.The input of the output termination controller of sensor-based system.Controller inside is comprising implementation controller and display controller, the output termination liquid crystal display systems of display controller, liquid crystal display systems has state to show and sound and light of alarm, the input of the output termination proportioning valve amplifier 2 of implementation controller can carry out data communication between implementation controller and the display controller.The output of proportioning valve amplifier 2 inserts the free end of double-point double-throw switch 3, the common port of double-point double-throw switch 3 links to each other with the speed control valve 4 of cutting vertical stream combine, the free termination electric control handle 1 of another of double-point double-throw switch 3 is realized automanual switching by double-point double-throw switch 3.Manually control is by electric control handle 1 direct control rate control valve 4 as shown in Figure 3, and control drives proportioning valve amplifier 2 control rate control valves 4 by the implementation controller output voltage automatically.Speed control valve 4 is the ratio two-way valve, according to the circulating direction and the flow size of sense of current and big or small control valve.When manually controlling, double-point double-throw switch 3 is communicated with speed control valve 4 with electric control handle 1.Electric control handle 1 is electric ratio output, no-voltage output when handle places meta, and pushing ratio output forward voltage before handle is when the handle post-tensioning is exported backward voltage in proportion, by the output voltage control rate control valve 4 of handle.When controlling automatically, double-point double-throw switch 3 is communicated with speed control coil two ends with proportioning valve amplifier 2.This moment, handle lost efficacy, and cut the speed of vertical stream combine and was controlled by controller fully.The function of proportioning valve amplifier 2 be with the voltage linear of controller output be converted into current drives speed control valve 4, must demarcate it before use.Regulate output current by the MIN knob, when making controller Comparative Examples valve amplifier 2 input minimum voltage values, proportioning valve amplifier 2 output currents are 0; Regulate output current by the MAX knob, when making controller Comparative Examples valve amplifier 2 input maximum voltage value, proportioning valve amplifier 2 output currents just in time can make the pace maximum of cutting vertical stream combine.After proportioning valve amplifier 2 was adjusted and finished, the magnitude of voltage that only needs change input VI was the pace that controlled is cut vertical stream combine.The magnitude of voltage of input VI is produced by the DAC module in the implementation controller.
As shown in Figure 4, of the present invention cutting indulged stream combine intelligence control method, and its concrete steps are:
Module parameter in step 1, the setting controller, and start-up control device.Module parameter comprises threshold value of warning, alarm threshold value and the weight of monitoring points such as feed quantity, cut flow roller rotating speed, vertical stream roller rotating speed, defeated grain screw feeder rotating speed, loss amount, and normally travel velocity amplitude, deceleration value, acceleration figure etc.
Step 2, controller are gathered the information of feed quantity, travel speed, cut flow roller rotating speed, vertical stream roller rotating speed, defeated grain screw feeder rotating speed, loss amount by sensor-based system.Information is handled, obtained the state value of each monitoring point, show each monitoring point state by LCD.
Gray prediction module flow process as shown in Figure 5, the original ordered series of numbers of cut flow roller rotating speed is obtained by control system sampling, its length is general
〉=4, do not lose accuracy again in order to simplify calculating, among the design
=4.The each sampling of control system obtains the cut flow roller rotating speed
, can get original number and classify as:
The sampling period of system is 0.5 second, and cereal is about 1.5 seconds through the time that inclined transporter arrives cut flow roller, and the response time of hydraulic continuously variable transmission is about 1 second, so the step number of selected prediction
=5.
Because drum rotation speed all be on the occasion of, do not need regularization to handle.Original ordered series of numbers is carried out accumulation process, and then the generation ordered series of numbers that obtains adding up:
Background value
:
Obtain matrix
And data vector
:
Try to achieve matrix
Commentaries on classics order matrix
For:
Define four calculating parameters:
Then try to achieve:
And then can in the hope of:
So development coefficient
For:
The grey input
For:
After obtaining above parameter, just can be in the hope of the predicted value of cut flow roller after 2.5 seconds
Compare by predicted value and setting value at last, draw deviate as output
Other gray prediction controllers are selected sampling length and step-length according to actual conditions, obtain output respectively
, be output as according to each gray prediction controller of above design
, its to the matching degree of system in addition different weights be
, system always is output as
, set up Fusion Model:
In the formula 1,
,
Output valve and coupling weight for the cut flow roller fuzzy control model;
,
Output valve and coupling weight for the feed quantity fuzzy control model;
Step 4, controller are always exported by system
Select the control corresponding method.Vertical stream combine feed quantity is excessive when cutting, doing stopping alarm when any one rapid variation surpasses the setting boundary in cut flow roller rotating speed, vertical stream roller rotating speed or the defeated grain screw feeder rotating speed handles, this moment buzzer warning, LCD shows the trouble point, and the DAC output of implementation controller is reduced to 0 and made and cut vertical stream combine and quit work; Increase when cutting vertical stream combine feed quantity, loss amount increases, any one drops to 90% o'clock of optimum speed in cut flow roller rotating speed, vertical stream roller rotating speed or the defeated grain screw feeder rotating speed, doing slows down observes the adjustment operation, and employing reduces pace and reduces feed quantity, reduces live load, reach the minimizing rate of breakdown, LCD demonstrates the monitoring point that is lower than early warning value, and the DAC output voltage of implementation controller is pressed setting value and reduced, and makes to cut the reduction of vertical stream combine travel speed; When feed quantity, the stable not break bounds of loss amount, cut flow roller rotating speed, vertical stream roller rotating speed or defeated grain screw feeder rotating speed are all just often, in time increase pace, increase work efficiency, LCD shows each monitoring point duty, the DAC output voltage of implementation controller is pressed setting value and is raise, and makes to cut the lifting of vertical stream combine travel speed; When feed quantity, threshing cylinder, defeated grain screw feeder all are operated in optimum Working, control system did not keep present speed when loss amount exceeded standard, make unit be operated in optimum state, LCD shows each monitoring point duty, and the DAC output voltage of implementation controller keeps.
Step 5, judge whether manually to control, if enter manual control, then cut vertical stream combine pace Based Intelligent Control and finish, display still shows its duty.If do not enter manual control, then return step 2, proceed Based Intelligent Control.
Claims (2)
1. cut vertical stream combine pace intelligence control method for one kind, it is characterized in that concrete steps are as follows:
Module parameter in step 1, the setting controller, and start-up control device; Module parameter comprises threshold value of warning, alarm threshold value and the weight of monitoring points such as feed quantity, cut flow roller rotating speed, vertical stream roller rotating speed, defeated grain screw feeder rotating speed, loss amount, and normally travel velocity amplitude, deceleration value, acceleration figure;
Step 2, controller are gathered the information of feed quantity, travel speed, cut flow roller rotating speed, vertical stream roller rotating speed, defeated grain screw feeder rotating speed, loss amount by sensor-based system; Information is handled, obtained the state value of each monitoring point, show each monitoring point state by LCD;
Step 3, controller are handled the state value of each monitoring point by many information fusion gray prediction fuzzy control model and are merged; Each monitoring point state value merges by fuzzy control model after gray prediction is handled earlier;
Step 4, controller are always exported by system
Select the control corresponding method; Vertical stream combine feed quantity is excessive when cutting, doing stopping alarm when any one rapid variation surpasses the setting boundary in cut flow roller rotating speed, vertical stream roller rotating speed or the defeated grain screw feeder rotating speed handles, this moment buzzer warning, LCD shows the trouble point, and the DAC output of implementation controller is reduced to 0 and made and cut vertical stream combine and quit work; Increase when cutting vertical stream combine feed quantity, loss amount increases, any one drops to 90% o'clock of optimum speed in cut flow roller rotating speed, vertical stream roller rotating speed or the defeated grain screw feeder rotating speed, doing slows down observes the adjustment operation, and employing reduces pace and reduces feed quantity, reduces live load, reach the minimizing rate of breakdown, LCD demonstrates the monitoring point that is lower than early warning value, and the DAC output voltage of implementation controller is pressed setting value and reduced, and makes to cut the reduction of vertical stream combine travel speed; When feed quantity, the stable not break bounds of loss amount, cut flow roller rotating speed, vertical stream roller rotating speed or defeated grain screw feeder rotating speed are all just often, in time increase pace, increase work efficiency, LCD shows each monitoring point duty, the DAC output voltage of implementation controller is pressed setting value and is raise, and makes to cut the lifting of vertical stream combine travel speed; When feed quantity, threshing cylinder, defeated grain screw feeder all are operated in optimum Working, control system did not keep present speed when loss amount exceeded standard, make unit be operated in optimum state, LCD shows each monitoring point duty, and the DAC output voltage of implementation controller keeps;
Step 5, judge whether manually to control, if enter manual control, then cut vertical stream combine pace Based Intelligent Control and finish, display still shows its duty; If do not enter manual control, then return step 2, proceed Based Intelligent Control.
2. implement the described control device of cutting vertical stream combine pace intelligence control method of claim 1, it is characterized in that, comprise manauto switched system, sensor-based system, controller, executive system; Sensor-based system comprises the Hall speed probe that is installed in cut flow roller, vertical stream roller, defeated grain screw feeder and the driving wheel rotating shaft, is installed on feed quantity sensor and the loss amount sensor that is installed on delivery chute in the rotating shaft of ceding of Taiwan screw feeder; The input of the output termination controller of sensor-based system; Controller comprises implementation controller and display controller, and the output termination liquid crystal display systems of display controller, liquid crystal display systems have state to show and the sounding and lighting alarm demonstration; The input of the output termination proportioning valve amplifier (2) of implementation controller carries out data communication between implementation controller and the display controller; The output of proportioning valve amplifier (2) inserts the free end of double-point double-throw switch (3), the common port of double-point double-throw switch (3) links to each other with the speed control valve (4) of cutting vertical stream combine, the free termination electric control handle of another of double-point double-throw switch (3) (1) is by the switching of double-point double-throw switch (3) automatic or manual; Manually control is by the direct control rate control valve (4) of electric control handle (1), and control drives proportioning valve amplifier (2) control rate control valve (4) by the implementation controller output voltage automatically; Speed control valve (4) is the ratio two-way valve, according to the circulating direction and the flow size of sense of current and big or small control valve; When manually controlling, double-point double-throw switch (3) is communicated with speed control valve (4) with electric control handle (1); Electric control handle (1) is electric ratio output, no-voltage output when handle places meta, and pushing ratio output forward voltage before handle is when the handle post-tensioning is exported backward voltage in proportion, by the output voltage control rate control valve (4) of handle; When controlling automatically, double-point double-throw switch (3) is communicated with speed control coil two ends with proportioning valve amplifier (2), cuts the speed of vertical stream combine and is controlled by controller fully.
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Cited By (11)
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| CN102696337A (en) * | 2012-06-19 | 2012-10-03 | 中国农业大学 | Multi-objective control interference resistance optimization method for combine harvesters |
| CN102929146A (en) * | 2012-10-24 | 2013-02-13 | 江苏大学 | Device and method for realizing model reference adaptive control on operation speed of combine harvester |
| CN103081641A (en) * | 2013-01-16 | 2013-05-08 | 江苏大学 | Tangential-axial combined harvester fault diagnosis method and device thereof |
| CN103503630A (en) * | 2012-06-18 | 2014-01-15 | 井关农机株式会社 | Combine |
| CN105532177A (en) * | 2016-02-22 | 2016-05-04 | 农业部南京农业机械化研究所 | Rotating speed detection device for roller of longitudinal axial-flow harvester |
| CN106198885A (en) * | 2016-08-10 | 2016-12-07 | 江苏大学 | A kind of Combine Harvester Grain water content on-line testing device and method |
| CN106527514A (en) * | 2015-09-10 | 2017-03-22 | 迪尔公司 | Harvester fan speed control based on yield |
| CN108450154A (en) * | 2018-04-28 | 2018-08-28 | 江苏大学 | A kind of perpendicular cut of rape divides standing grain device cutting frequency control device and application method |
| CN110050570A (en) * | 2018-05-22 | 2019-07-26 | 农业部南京农业机械化研究所 | The control mechanism and method that combine harvester forward speed steadily switches |
| CN111802060A (en) * | 2019-04-10 | 2020-10-23 | 迪尔公司 | Work machine control using real-time models |
| CN114488887A (en) * | 2022-01-13 | 2022-05-13 | 第一拖拉机股份有限公司 | Automatic anti-jamming control device and control method for grain harvester |
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| CN103503630A (en) * | 2012-06-18 | 2014-01-15 | 井关农机株式会社 | Combine |
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| CN102929146A (en) * | 2012-10-24 | 2013-02-13 | 江苏大学 | Device and method for realizing model reference adaptive control on operation speed of combine harvester |
| CN102929146B (en) * | 2012-10-24 | 2015-06-10 | 江苏大学 | Device and method for realizing model reference adaptive control on operation speed of combine harvester |
| CN103081641A (en) * | 2013-01-16 | 2013-05-08 | 江苏大学 | Tangential-axial combined harvester fault diagnosis method and device thereof |
| CN106527514A (en) * | 2015-09-10 | 2017-03-22 | 迪尔公司 | Harvester fan speed control based on yield |
| CN105532177A (en) * | 2016-02-22 | 2016-05-04 | 农业部南京农业机械化研究所 | Rotating speed detection device for roller of longitudinal axial-flow harvester |
| CN106198885A (en) * | 2016-08-10 | 2016-12-07 | 江苏大学 | A kind of Combine Harvester Grain water content on-line testing device and method |
| CN106198885B (en) * | 2016-08-10 | 2019-04-30 | 江苏大学 | A kind of Combine Harvester Grain water content on-line testing device and method |
| CN108450154A (en) * | 2018-04-28 | 2018-08-28 | 江苏大学 | A kind of perpendicular cut of rape divides standing grain device cutting frequency control device and application method |
| CN108450154B (en) * | 2018-04-28 | 2024-04-09 | 江苏大学 | Cutting frequency control device of rape vertical cutting seedling dividing device and use method |
| CN110050570A (en) * | 2018-05-22 | 2019-07-26 | 农业部南京农业机械化研究所 | The control mechanism and method that combine harvester forward speed steadily switches |
| CN111802060A (en) * | 2019-04-10 | 2020-10-23 | 迪尔公司 | Work machine control using real-time models |
| CN111802060B (en) * | 2019-04-10 | 2023-10-13 | 迪尔公司 | Work machine control using real-time models |
| CN114488887A (en) * | 2022-01-13 | 2022-05-13 | 第一拖拉机股份有限公司 | Automatic anti-jamming control device and control method for grain harvester |
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Application publication date: 20110817 Assignee: Wuxi Combine Harvester Co.,Ltd. Assignor: Jiangsu University Contract record no.: 2013320000134 Denomination of invention: Method and device for intelligently controlling forward speed of tangential/longitudinal flow combine harvester License type: Exclusive License Record date: 20130318 |
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Application publication date: 20110817 |