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 PDF

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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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speed
controller
control
longitudinal flow
cutting
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李耀明
陈进
郑世宇
吕世杰
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Jiangsu University
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Jiangsu University
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Abstract

本发明公开了一种切纵流联合收割机前进速度智能控制方法及控制装置，属于农业机械的切纵流联合收割机技术领域。控制装置包括手动-自动切换系统、传感系统、控制器、执行系统，手动-自动切换系统由双刀双掷开关（3）和状态指示灯组成；传感器系统是由检测前进速度、切流滚筒转速、纵流滚筒转速、输粮搅龙转速、喂入量、损失量等传感器及其调理电路组成；通过传感系统对切纵流联合收割机各工作参数进行监测，通过控制器和比例阀放大器（2）调节速度控制阀（4）来实现切纵流联合收割机前进速度的自动调整，同时通过液晶屏显示机组的工作状态。

Figure 201110082134

The invention discloses an intelligent control method and a control device for the forward speed of a cutting and longitudinal flow combine harvester, belonging to the technical field of cutting and longitudinal flow combine harvesters of agricultural machinery. The control device includes a manual-automatic switching system, a sensor system, a controller, and an execution system. The manual-automatic switching system consists of a double-pole double-throw switch (3) and a status indicator light; Rotation speed, vertical flow drum speed, grain delivery auger speed, feeding amount, loss amount and other sensors and their conditioning circuits; through the sensor system, the working parameters of the cutting longitudinal flow combine are monitored, and through the controller and proportional valve The amplifier (2) adjusts the speed control valve (4) to realize the automatic adjustment of the forward speed of the longitudinal flow combine harvester, and at the same time displays the working status of the unit through the LCD screen.

Figure 201110082134

Description

Cut vertical stream combine pace intelligence control method and control device
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
Figure 2011100821349100002DEST_PATH_IMAGE001
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.
Step 3, controller are handled the state value of each monitoring point by many information fusion gray prediction fuzzy control model and are merged.As shown in Figure 2, each monitoring point state value merges by fuzzy control model after gray prediction is handled earlier.The design process that is designed to a plurality of controllers of example explanation with cut flow roller rotating speed gray prediction fuzzy control model.
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
Figure 278056DEST_PATH_IMAGE002
=4.The each sampling of control system obtains the cut flow roller rotating speed
Figure 2011100821349100002DEST_PATH_IMAGE003
, 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
Figure 2011100821349100002DEST_PATH_IMAGE005
=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:
Figure 270468DEST_PATH_IMAGE006
Background value
Figure 2011100821349100002DEST_PATH_IMAGE007
:
Figure 201515DEST_PATH_IMAGE008
Obtain matrix
Figure 2011100821349100002DEST_PATH_IMAGE009
And data vector
Figure 142795DEST_PATH_IMAGE010
:
Figure 2011100821349100002DEST_PATH_IMAGE011
Figure 817490DEST_PATH_IMAGE012
Try to achieve matrix
Figure 548334DEST_PATH_IMAGE009
Commentaries on classics order matrix
Figure 2011100821349100002DEST_PATH_IMAGE013
For:
Figure 978178DEST_PATH_IMAGE014
Define four calculating parameters:
Then try to achieve:
Figure 157487DEST_PATH_IMAGE016
Figure DEST_PATH_IMAGE017
And then can in the hope of:
Figure 619561DEST_PATH_IMAGE018
So development coefficient
Figure DEST_PATH_IMAGE019
For:
Figure 200715DEST_PATH_IMAGE020
The grey input
Figure DEST_PATH_IMAGE021
For:
Figure 722832DEST_PATH_IMAGE022
After obtaining above parameter, just can be in the hope of the predicted value of cut flow roller after 2.5 seconds
Figure DEST_PATH_IMAGE023
Figure 389437DEST_PATH_IMAGE024
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
Figure 655202DEST_PATH_IMAGE026
, be output as according to each gray prediction controller of above design
Figure 153180DEST_PATH_IMAGE026
, its to the matching degree of system in addition different weights be
Figure DEST_PATH_IMAGE027
, system always is output as
Figure 862510DEST_PATH_IMAGE001
, set up Fusion Model:
Figure 3028DEST_PATH_IMAGE028
(1)
In the formula 1,
,
Figure 823217DEST_PATH_IMAGE030
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;
Figure DEST_PATH_IMAGE033
,
Figure 242883DEST_PATH_IMAGE034
Output valve and coupling weight for vertical stream roller fuzzy control model;
Figure DEST_PATH_IMAGE035
,
Figure 867768DEST_PATH_IMAGE036
Output valve and coupling weight for defeated grain screw feeder fuzzy control model;
Figure DEST_PATH_IMAGE037
, Output valve and coupling weight for the loss amount fuzzy control model.
Step 4, controller are always exported by system
Figure 698638DEST_PATH_IMAGE001
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)

1.一种切纵流联合收割机前进速度智能控制方法，其特征在于，具体步骤如下：1. A method for intelligent control of forward speed of a longitudinal flow combine harvester, characterized in that, the specific steps are as follows: 步骤1、设定控制器中的模块参数，并启动控制器；模块参数包括喂入量、切流滚筒转速、纵流滚筒转速、输粮搅龙转速、损失量等监测点的预警阈值、报警阈值与权重，以及正常行驶速度值、减速值、加速值；Step 1. Set the module parameters in the controller, and start the controller; the module parameters include the feed rate, the speed of the cut-off drum, the speed of the longitudinal-flow drum, the speed of the grain delivery auger, the amount of loss, and the warning thresholds and alarms of the monitoring points. Thresholds and weights, as well as normal driving speed values, deceleration values, acceleration values; 步骤2、控制器通过传感系统采集喂入量、行驶速度、切流滚筒转速、纵流滚筒转速、输粮搅龙转速、损失量的信息；对信息进行处理，得到各监测点的状态值，通过液晶显示器显示各监测点状态；Step 2. The controller collects the information of feeding amount, driving speed, rotational speed of cutting flow drum, rotational speed of longitudinal flow drum, rotational speed of grain conveying auger, and loss through the sensor system; processes the information to obtain the status value of each monitoring point , display the status of each monitoring point through the liquid crystal display; 步骤3、控制器通过多信息融合灰色预测模糊控制模块对各监测点的状态值进行处理与融合；各监测点状态值先经灰色预测处理后通过模糊控制模块进行融合；Step 3, the controller processes and fuses the state values of each monitoring point through the multi-information fusion gray prediction fuzzy control module; the state values of each monitoring point are first processed by gray prediction and then fused through the fuzzy control module;     步骤4、控制器通过系统总输出                                               
Figure 2011100821349100001DEST_PATH_IMAGE002
选择相应的控制方法；当切纵流联合收割机喂入量过大，切流滚筒转速、纵流滚筒转速或输粮搅龙转速中任意一急剧变化超过设定界限时做停机报警处理，此时蜂鸣器报警，液晶显示器显示故障点，执行控制器的DAC输出降为0使切纵流联合收割机停止工作；当切纵流联合收割机喂入量增大，损失量增加，切流滚筒转速、纵流滚筒转速或输粮搅龙转速中任意一个下降到最佳转速的90%时，做减速观察调整操作，采用降低前进速度来减少喂入量，降低工作负荷，达到减少故障发生率，液晶显示器显示出低于预警值的监测点，执行控制器的DAC输出电压按设定值降低，使切纵流联合收割机行驶速度降低；当喂入量、损失量稳定不超界，切流滚筒转速、纵流滚筒转速或输粮搅龙转速均正常时，及时增加前进速度，提高工作效率，液晶显示器显示各监测点工作状态，执行控制器的DAC输出电压按设定值升高，使切纵流联合收割机行驶速度提升；当喂入量、脱粒滚筒、输粮搅龙都工作在最佳工作状态，损失量未超标时控制系统保持当前速度，使机组工作在最佳状态，液晶显示器显示各监测点工作状态，执行控制器的DAC输出电压保持；Step 4. The controller passes the total output of the system
Figure 2011100821349100001DEST_PATH_IMAGE002
Select the corresponding control method; when the feeding volume of the cutting and longitudinal flow combine harvester is too large, and any one of the speed of the cutting flow drum, the speed of the longitudinal flow drum or the speed of the grain transporting auger changes sharply beyond the set limit, it will stop and alarm. When the buzzer alarms, the LCD displays the fault point, and the DAC output of the executive controller drops to 0 to stop the cutting longitudinal flow combine harvester; when the cutting longitudinal flow combine When any one of the rotating speed of the drum, the rotating speed of the longitudinal flow drum or the rotating speed of the grain conveying auger drops to 90% of the optimal rotating speed, do the deceleration observation and adjustment operation, and use the reduced forward speed to reduce the feeding amount, reduce the workload, and reduce the occurrence of failures rate, the liquid crystal display shows a monitoring point lower than the warning value, and the DAC output voltage of the executive controller is reduced according to the set value, so that the driving speed of the longitudinal flow combine harvester is reduced; when the feeding amount and the loss amount are stable and do not exceed the limit, When the rotational speed of cutting flow drum, vertical flow drum or grain conveying auger is normal, increase the forward speed in time to improve work efficiency. The liquid crystal display will display the working status of each monitoring point, and the DAC output voltage of the executive controller will increase according to the set value. , to increase the driving speed of the cutting and longitudinal flow combine harvester; when the feeding amount, threshing drum, and grain conveying auger are all working in the best working state, and the loss is not exceeded, the control system maintains the current speed, so that the unit works in the best state , the liquid crystal display shows the working status of each monitoring point, and the DAC output voltage of the executive controller is maintained;     步骤5、判断是否进行手动控制，若进入手动控制，则切纵流联合收割机前进速度智能控制结束，显示器依旧显示其工作状态；若不进入手动控制，则返回步骤2，继续进行智能控制。Step 5. Determine whether manual control is performed. If manual control is entered, the intelligent control of the forward speed of the longitudinal flow combine harvester ends, and the display still shows its working status; if manual control is not entered, return to step 2 and continue intelligent control. 2.实施权利要求1所述的切纵流联合收割机前进速度智能控制方法的控制装置，其特征在于，包括手动-自动切换系统、传感系统、控制器、执行系统；传感系统包括安装于切流滚筒、纵流滚筒、输粮搅龙和主动轮转轴上的霍尔转速传感器，安装于割台搅龙转轴上的喂入量传感器和安装于输送槽的损失量传感器；传感系统的输出端接控制器的输入端；控制器包括执行控制器与显示控制器，显示控制器的输出端接液晶显示系统，液晶显示系统有状态显示与声光报警显示；执行控制器的输出端接比例阀放大器（2）的输入端，执行控制器与显示控制器之间进行数据通讯；比例阀放大器（2）的输出端接入双刀双掷开关（3）的自由端，双刀双掷开关（3）的公共端与切纵流联合收割机的速度控制阀（4）相连，双刀双掷开关（3）的另一个自由端接电控手柄（1），通过双刀双掷开关（3）自动或手动的切换；手动控制由电控手柄（1）直接控制速度控制阀（4），自动控制由执行控制器输出电压驱动比例阀放大器（2）控制速度控制阀（4）；速度控制阀（4）为比例双向阀，根据电流的方向与大小控制阀的流通方向与流量大小；手动控制时，双刀双掷开关（3）将速度控制阀（4）与电控手柄（1）连通；电控手柄（1）为电比例输出，手柄置于中位时无电压输出，当手柄前推按比例输出正向电压，当手柄后拉按比例输出反向电压，通过手柄的输出电压控制速度控制阀（4）；自动控制时，双刀双掷开关（3）将速度控制线圈两端与比例阀放大器（2）连通，切纵流联合收割机的速度完全由控制器控制。2. implement the control device of claim 1 described cutting vertical flow combine harvester advance speed intelligent control method, it is characterized in that, comprise manual-automatic switching system, sensing system, controller, executive system; Sensing system comprises installation The Hall speed sensor on the tangential flow drum, longitudinal flow drum, grain conveying auger and driving wheel shaft, the feed amount sensor installed on the header auger shaft and the loss sensor installed on the conveying trough; sensor system The output terminal of the controller is connected to the input terminal of the controller; the controller includes an executive controller and a display controller, and the output terminal of the display controller is connected to the liquid crystal display system, and the liquid crystal display system has status display and sound and light alarm display; the output terminal of the executive controller Connect to the input terminal of the proportional valve amplifier (2) for data communication between the executive controller and the display controller; The common end of the throw switch (3) is connected to the speed control valve (4) of the longitudinal flow combine harvester, and the other free end of the double-pole double-throw switch (3) is connected to the electric control handle (1). The switch (3) switches between automatic and manual; the electric control handle (1) directly controls the speed control valve (4) in manual control, and the output voltage of the executive controller drives the proportional valve amplifier (2) to control the speed control valve (4) in automatic control ;The speed control valve (4) is a proportional two-way valve, which controls the flow direction and flow rate of the valve according to the direction and size of the current; during manual control, the double pole double throw switch (3) connects the speed control valve (4) with the electric control handle (1) Connected; the electric control handle (1) is an electric proportional output. When the handle is placed in the middle position, there is no voltage output. When the handle is pushed forward, the positive voltage will be output proportionally. When the handle is pulled back, the reverse voltage will be output proportionally. Through the handle The output voltage controls the speed control valve (4); during automatic control, the double-pole double-throw switch (3) connects both ends of the speed control coil with the proportional valve amplifier (2), and the speed of the longitudinal flow combine harvester is completely controlled by the controller. control.
CN2011100821349A 2011-04-01 2011-04-01 Method and device for intelligently controlling forward speed of tangential/longitudinal flow combine harvester Pending CN102150504A (en)

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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 Device and method for online detection of grain moisture content in combine harvester
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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