CN102165863A - Suspension control system of tractor - Google Patents
Suspension control system of tractor Download PDFInfo
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- CN102165863A CN102165863A CN2010106208772A CN201010620877A CN102165863A CN 102165863 A CN102165863 A CN 102165863A CN 2010106208772 A CN2010106208772 A CN 2010106208772A CN 201010620877 A CN201010620877 A CN 201010620877A CN 102165863 A CN102165863 A CN 102165863A
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Abstract
The invention discloses a suspension control system of a tractor, which comprises a parameter input unit, a controller, a feedback unit and an action unit, wherein the parameter input unit transmits input parameters to the controller, the output of the controller is transmitted to the action unit and the feedback unit, and the output of the feedback unit is transmitted to the input of the controller. The suspension control system of the tractor can conduct closed loop control on position, force and height according to specified target parameters, and realize comprehensive control and automatic control of multi-parameter adjustment according to different working condition requirements, is easy to realize remote control and multi-point control, can take factors such as power loss, engine performance and the like of the system into consideration, and improves the dynamic performance of the system and the response capacity in the actual working condition.
Description
Technical field
The present invention relates to the automatic control technology field, more particularly, relate to a kind of tractor hanging control system.
Background technology
At present, the user is when using tractor to plow operation, and operating personnel regulate the cantilever in the tractor hanging control system, and then realizes the adjusting to plough tool position, the control tilling depth.After the operation of plowing is finished, regulate cantilever to improve plough tool position, avoid damaging the plough tool.The user reuses tractor and plows when operating, and also needs the manual adjustment cantilever, reduces plough tool position, the operation of plowing.
In summary, the user needs repeatedly the cantilever in the manual adjustment tractor hanging control system when using tractor repeatedly to plow operation, and then realize the adjusting of plough tool position is controlled tilling depth, therefore, increase labor intensity of operating personnel, reduced operating efficiency.
Summary of the invention
In view of this, the invention provides a kind of tractor hanging control system, can carry out the closed-loop control of position, power and height by given target component, according to different working condition requirements, realize Comprehensive Control and control automatically that multi-parameter is regulated, be easy to realize the control of remote control and multiple spot.
In order to address the above problem, the existing scheme that proposes is as follows:
A kind of tractor hanging control system, comprise, parameter input unit, controller, feedback unit and motor unit, described parameter input unit sends the parameter of input to described controller, described controller output is sent to described motor unit and feedback unit, and the output of feedback unit is sent to the input of described controller;
Described controller comprises three closed-loop systems, and one is to be the regulating system of object with the position, and one is to be the regulating system of object with power, also has one to be to be main object with the position, is the regulating system of secondary object with the reaction sensitivity of resistance; If depth-first, real-time depth value and setting value need be compared in the entire work process of tractor, master controller is according to comparative result, and the power output coupling of control engine is implemented tractive force, thereby guarantees the uniformity of tilling depth; If with efficiency comes first, system guarantees that in running engine optimisation uses and tractive force is constant, thereby guarantees that engine is stable, the suitable adjustment degree of depth; And if take all factors into consideration, by setting, controller is all handled the value of depth transducer and power sensor, compares with setting value then, under the situation that preferentially guarantees tractive force, guarantee plough deeply, only when the change resistance is bigger, just sacrifice stable change of engine and plough deeply.
Preferably, in above-mentioned liquid hanging control system, described parameter input unit comprises: hoisting depth setting, speed setting, set positions, synthetic setting and mode are selected.
Preferably, in above-mentioned liquid hanging control system, described mode is selected to comprise: the depth-first pattern, the efficiency comes first pattern is taken all factors into consideration pattern.
Preferably, in above-mentioned liquid hanging control system, described feedback unit comprises: position sensor and pulling force sensor.
Preferably, in above-mentioned liquid hanging control system, described motor unit comprises: rising magnetic valve, decline magnetic valve and indicator lamp, according to the output result of controller to rising and the decline magnetic valve is controlled.
Preferably, indicator lamp comprises rise and fall indicator lamp, malfunction indicator lamp shown in.
From above-mentioned technical scheme as can be seen, tractor hanging control system disclosed by the invention, the closed-loop control of adopting multi-parameter to regulate, requirement according to different operating modes, the realization multiple spot is controlled, and can take all factors into consideration the power attenuation of system, factors such as engine performance, improved the dynamic property of system, with the responding ability in the actual condition, realized automatic adjusting, therefore, reduce labor intensity of operating personnel, improved operating efficiency.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art, to do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below, apparently, accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the block diagram of a kind of tractor hanging control system disclosed by the invention;
Fig. 2 is the schematic diagram of position adjustments control of the present invention;
Fig. 3 regulates the schematic diagram of control for resistance of the present invention;
Fig. 4 regulates the schematic diagram of control for speed of the present invention;
Fig. 5 is the schematic diagram of comprehensive adjustment control of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that is obtained under the creative work prerequisite.
See also Fig. 1, Fig. 1 is a tractor hanging control system structural representation disclosed by the invention, comprises parameter input unit, controller, feedback unit and motor unit.
Parameter input unit sends the parameter of input to controller, the action of the output control action unit of controller, and as the input of feedback unit, the output of feedback unit is sent to the input of controller.
Parameter input unit comprises: hoisting depth setting, speed setting, set positions, synthetic setting and mode are selected, set positions is to ploughing dark setting, it is to the setting of plough speed down that speed is set, the hoisting depth setting is the setting to lifting position, synthetic setting is the synthetic setting that the power position is mixed, described mode is selected to comprise: the depth-first pattern, the efficiency comes first pattern is taken all factors into consideration pattern.Mode selects to have four gears, is respectively to go up raise-position, decline position, position of rest, the selection of plough position down fast.
Feedback unit comprises: position sensor and pulling force sensor.
Motor unit comprises; Rising magnetic valve, decline magnetic valve and indicator lamp, according to the output result of controller to rising and the decline magnetic valve is controlled.Indicator lamp comprises: rise and fall indicator lamp, malfunction indicator lamp.
Controller of the present invention comprises three closed-loop systems, and one is to be the regulating system of object with the position, and one is to be the regulating system of object with power, also has one to be to be main object with the position, is the regulating system of secondary object with the reaction sensitivity of resistance.Preestablish the arable land degree of depth in actual the use, preferential in the course of work according to different operating mode consideration depth-first or operating efficiency.Different operating modes need to consider different considerations in system's design, if depth-first, entire work process at tractor need compare real-time depth value and setting value, has pre-designed program in the master controller, according to comparative result, the power output coupling of control engine is implemented tractive force, thereby guarantees the uniformity of tilling depth.If with efficiency comes first, system guarantees that in running engine optimisation uses and tractive force is constant, thereby guarantees that engine is stable, the suitable adjustment degree of depth.And if take all factors into consideration, by setting, controller is all handled the value of depth transducer and power sensor, compares with setting value then, under the situation that preferentially guarantees tractive force, guarantee plough as far as possible deeply, only when the change resistance is bigger, just sacrifice stable change of engine and plough deeply.
Position adjustments is meant by the control crank change farm implements of hydraulic lift hitch and the relative position of tractor regulates depth of implements.This relative position remains unchanged in the operation process, does not have to regulate automatically the effect of depth of implements.Because tilling depth is certain, the variation of resistance that can't adapted soil makes walking resistance excessive, engine misses.Fig. 2 is the schematic diagram of position adjustments control of the present invention, and the degree of depth is given to be the dark setting of plough, puts the value that the sensor collection returns with the plough deep-seated and comes the magnetic valve that rises and descend is carried out the control of power on/off as deviation, keeps the steady state value of the degree of depth.
Resistance is regulated and is meant when farm implements tractive resistance in the operation process changes, and regulates depth of implements automatically by hydraulic lift hitch, with the tractive resistance of keeping in balance.But drag energy is regulated hanging position according to the variation of the resistance of soil, but when the variation of the resistance of soil is big, can make the tilling depth variation greatly.Fig. 3 is that resistance of the present invention regulates the schematic diagram of control, and speed is given to be to set by speed, with the voltage of PWM output as deviation, recently realize the opening degree of electromagnetic proportional valve by regulating the PWM duty, thereby realize the speed that plough rises and descends.
Speed is regulated and is meant adjusting plough rise and fall speed, to satisfy different rate requests.Carry out speed by control crank and set, regulate by the voltage feedback.Fig. 4 regulates the schematic diagram of control for speed of the present invention, it is only to consider pulling force that pulling force is set, the value that controller is returned pulling force setting value and pulling force sensor collection compares, and comes the magnetic valve that rises and descend is carried out power on/off control, the constancy of confining force as deviation.
Comprehensive adjustment is that resistance is regulated and the position adjustments acting in conjunction, to regulate the operation tilling depth.It is the adjusting to sensitivity, that is, much relatively variation pulling force are adjusted change in depth, has both prevented the excessive variation of the plough degree of depth, and the pulling force that makes again can not make engine misses in certain value.Fig. 5 is that handle is ploughed dark and pulling force carries out comprehensive consideration for the schematic diagram synthetic setting of comprehensive adjustment control of the present invention, under the prerequisite that the degree of depth keeps, come power is regulated, but when power change greatly or when exceeding the power that engine wants to bear, reduce pulling force by adjusting the degree of depth, guarantee to work normally.
Hoisting depth adopts open loop to control, and hoisting depth is just determined to rise by control PWM break-make, just stops as long as collection returns highly to be higher than setting value.
From above-mentioned technical scheme as can be seen, tractor hanging control system disclosed by the invention, the closed-loop control of adopting multi-parameter to regulate, requirement according to different operating modes, the realization multiple spot is controlled, and can take all factors into consideration the power attenuation of system, factors such as engine performance, improved the dynamic property of system, with the responding ability in the actual condition, realized automatic adjusting, therefore, reduce labor intensity of operating personnel, improved operating efficiency.。
Each embodiment adopts the mode of going forward one by one to describe in this specification, and what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined herein General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments.Therefore, the present invention will can not be restricted to these embodiment shown in this article, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (6)
1. tractor hanging control system, comprise, parameter input unit, controller, feedback unit and motor unit, described parameter input unit sends the parameter of input to described controller, described controller output is sent to described motor unit and feedback unit, and the output of feedback unit is sent to the input of described controller; It is characterized in that,
Described controller comprises three closed-loop systems, and one is to be the regulating system of object with the position, and one is to be the regulating system of object with power, also has one to be to be main object with the position, is the regulating system of secondary object with the reaction sensitivity of resistance; If depth-first, real-time depth value and setting value need be compared in the entire work process of tractor, master controller is according to comparative result, and the power output coupling of control engine is implemented tractive force, thereby guarantees the uniformity of tilling depth; If with efficiency comes first, system guarantees that in running engine optimisation uses and tractive force is constant, thereby guarantees that engine is stable, the suitable adjustment degree of depth; And if take all factors into consideration, by setting, controller is all handled the value of depth transducer and power sensor, compares with setting value then, under the situation that preferentially guarantees tractive force, guarantee plough deeply, only when the change resistance is bigger, just sacrifice stable change of engine and plough deeply.
2. tractor hanging control system according to claim 1 is characterized in that, described parameter input unit comprises: hoisting depth setting, speed setting, set positions, synthetic setting and mode are selected.
3. tractor hanging control system according to claim 2 is characterized in that, described mode is selected to comprise: the depth-first pattern, the efficiency comes first pattern is taken all factors into consideration pattern.
4. tractor hanging control system according to claim 1 is characterized in that, described feedback unit comprises: position sensor and pulling force sensor.
5. tractor hanging control system according to claim 1 is characterized in that, described motor unit comprises: rising magnetic valve, decline magnetic valve and indicator lamp, according to the output result of controller to rising and the decline magnetic valve is controlled.
6. tractor hanging control system according to claim 5 is characterized in that, shown in indicator lamp comprise rise and fall indicator lamp, malfunction indicator lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106208772A CN102165863A (en) | 2010-12-31 | 2010-12-31 | Suspension control system of tractor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010106208772A CN102165863A (en) | 2010-12-31 | 2010-12-31 | Suspension control system of tractor |
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| CN102165863A true CN102165863A (en) | 2011-08-31 |
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| CN2010106208772A Pending CN102165863A (en) | 2010-12-31 | 2010-12-31 | Suspension control system of tractor |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323160A (en) * | 2012-03-19 | 2013-09-25 | 现代农装科技股份有限公司 | Suspension device for hooking agricultural implement |
| CN104756628A (en) * | 2015-04-28 | 2015-07-08 | 李惠远 | Working height adjusting and control system and method for rotary tillage tool of rotary cultivator |
| CN105027718A (en) * | 2015-08-11 | 2015-11-11 | 青岛国润电子有限公司 | Device for automatically adjusting and balancing tractor rear-suspension through electric control |
| CN105052286A (en) * | 2015-07-24 | 2015-11-18 | 李惠远 | Intelligent protection control system and method of universal joint and gearbox of rotary cultivator |
| CN106717212A (en) * | 2016-11-27 | 2017-05-31 | 雷沃重工股份有限公司 | Tractor equipment management control method |
| CN108430208A (en) * | 2015-12-17 | 2018-08-21 | Ls美创有限公司 | The control method of the articulated device of agriculture working vehicle and agriculture working vehicle |
| CN109121510A (en) * | 2018-08-28 | 2019-01-04 | 徐寒斌 | A kind of traction control system |
| CN115004893A (en) * | 2022-05-20 | 2022-09-06 | 河南科技大学 | Self-adaptive control system and control method for electric suspension of tractor |
| CN115633554A (en) * | 2022-10-26 | 2023-01-24 | 河南科技大学 | Suspension control system and tilling depth control method for electric tractor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201072894Y (en) * | 2007-06-22 | 2008-06-18 | 福田雷沃国际重工股份有限公司 | Plowing depth raiser for tractor |
| CN101249921A (en) * | 2008-03-28 | 2008-08-27 | 广州广日电梯工业有限公司 | Intellectual braking control method and system thereof |
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2010
- 2010-12-31 CN CN2010106208772A patent/CN102165863A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201072894Y (en) * | 2007-06-22 | 2008-06-18 | 福田雷沃国际重工股份有限公司 | Plowing depth raiser for tractor |
| CN101249921A (en) * | 2008-03-28 | 2008-08-27 | 广州广日电梯工业有限公司 | Intellectual braking control method and system thereof |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323160A (en) * | 2012-03-19 | 2013-09-25 | 现代农装科技股份有限公司 | Suspension device for hooking agricultural implement |
| CN104756628A (en) * | 2015-04-28 | 2015-07-08 | 李惠远 | Working height adjusting and control system and method for rotary tillage tool of rotary cultivator |
| CN105052286A (en) * | 2015-07-24 | 2015-11-18 | 李惠远 | Intelligent protection control system and method of universal joint and gearbox of rotary cultivator |
| CN105052286B (en) * | 2015-07-24 | 2016-10-12 | 李惠远 | The intelligent protection control system of rotary cultivator universal joint and change speed gear box and method |
| CN105027718A (en) * | 2015-08-11 | 2015-11-11 | 青岛国润电子有限公司 | Device for automatically adjusting and balancing tractor rear-suspension through electric control |
| CN108430208A (en) * | 2015-12-17 | 2018-08-21 | Ls美创有限公司 | The control method of the articulated device of agriculture working vehicle and agriculture working vehicle |
| CN106717212A (en) * | 2016-11-27 | 2017-05-31 | 雷沃重工股份有限公司 | Tractor equipment management control method |
| CN109121510A (en) * | 2018-08-28 | 2019-01-04 | 徐寒斌 | A kind of traction control system |
| CN115004893A (en) * | 2022-05-20 | 2022-09-06 | 河南科技大学 | Self-adaptive control system and control method for electric suspension of tractor |
| CN115004893B (en) * | 2022-05-20 | 2024-02-06 | 河南科技大学 | Electric suspension self-adaptive control system and control method for tractor |
| CN115633554A (en) * | 2022-10-26 | 2023-01-24 | 河南科技大学 | Suspension control system and tilling depth control method for electric tractor |
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Address after: The 9 floor No. 3255 ship building 201206 Shanghai city Yangpu District Zhoujiazui Road Applicant after: Fin control (Shanghai) Limited by Share Ltd Address before: 201206, T15-6, building 999, Jinqiao Ning Road, six, Shanghai, Pudong New Area Applicant before: Shanghai Pal-Fin Auto Control Technology Co., Ltd. |
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Application publication date: 20110831 |