CN102934563A - Combine harvester control device and method - Google Patents
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Abstract
一种联合收割机控制装置，其包括有负荷反馈控制装置、提供动力的发动机、第一传动装置、行走机构、第二传动装置和传输带，所述发动机的输出轴通过第一传动装置和行走机构的驱动轮轴连接，其特征在于：所述行走机构的驱动轮轴通过第二传动装置和传输带主动轮轴连接；所述负荷反馈控制装置包括模糊控制模块、PID控制模块、检测脱粒滚筒转速的第一检测元件以及检测脱粒滚筒负荷转矩的第二检测元件，模糊控制模块通过第一检测元件构成滚筒转速控制回路，PID控制模块通过第二检测元件构成滚筒负荷转矩控制回路。本发明联合收割机在传统联合收割机的基础上，使联合收割机传输带的动力由行走机构传递，消除传输带这一纯滞后环节，大大改善控制的性能。同时，通过检测脱粒滚筒的负荷转矩来构成滚筒负荷转矩控制回路，从而提高滚筒转速控制系统的动态性能，进而提高联合收割机的工作状态稳定性和收割效率。
A combine harvester control device, which includes a load feedback control device, a powered engine, a first transmission device, a traveling mechanism, a second transmission device and a transmission belt, the output shaft of the engine passes through the first transmission device and the travel The driving wheel shaft of the mechanism is connected, and it is characterized in that: the driving wheel shaft of the traveling mechanism is connected with the driving wheel shaft of the transmission belt through the second transmission device; A detection element and a second detection element for detecting the load torque of the threshing drum, the fuzzy control module forms a drum speed control loop through the first detection element, and the PID control module forms a drum load torque control loop through the second detection element. The combine harvester of the present invention is based on the traditional combine harvester, the power of the combine harvester transmission belt is transmitted by the running mechanism, the pure lag link of the transmission belt is eliminated, and the control performance is greatly improved. At the same time, the drum load torque control loop is formed by detecting the load torque of the threshing drum, thereby improving the dynamic performance of the drum speed control system, thereby improving the working state stability and harvesting efficiency of the combine harvester.
Description
the
技术领域 technical field
本发明涉及农业机械领域，具体地说，涉及一种联合收割机控制装置及控制方法。 The invention relates to the field of agricultural machinery, in particular to a combine harvester control device and control method.
the
背景技术 Background technique
目前，联合收割机正朝着自动化、高效率的方向发展。联合收割机的收割效率与其作业负荷相关,作业负荷的波动直接影响联合收割机的工作状态稳定性和收割效率。行驶速度过快会使脱粒滚筒因为喂入量过大而过载，使脱粒滚筒转速下降而降低脱粒质量，甚至造成脱粒滚筒和输粮搅龙堵塞，从而产生停机故障；而行驶速度过慢，负荷偏低，作业效率低下；因此要求在联合收割机作业时对负荷进行实时调控，从而使联合收割机能高质量、高效率地作业。目前，大部分联合收割机作业时，依靠操作人员的个人经验，通过调整行驶速度改变喂入量来调节负荷。这种作业方式对操作人员驾驶水平要求高，且劳动强度大，难以降低故障率，作业速度和作业效率低。也有一些联合收割机针对脱粒滚筒转速和夹带损失量等信息采用各种控制方法来自动调整行驶速度，调节割台的作物收割量，使进入滚筒的作物喂入量保持合适的水平，从而保证滚筒转速处于比较好的作业状态。目前，联合收割机的结构从控制的角度而言，尚存在一些不足：首先，在传统的联合收割机上，由于传输带的传输速度不受联合收割机行走速度的影响，在系统结构上表现为一个大时间常数的纯滞后环节，即脱粒滚筒的喂入量不会随行驶速度的变化而立刻变化，而需要经过一段时间的延时，滚筒的喂入量才会变化，从而增加了控制的难度，严重影响控制的效果。若传送带的传输速度能受联合收割机行走速度的控制，则就能消除该纯滞后环节，或将其转化为一个小时间常数的纯滞后环节，这样就会大大改善控制的性能；其次，现有联合收割机往往只针对脱粒滚筒转速等信息，采用控制方法来调整行驶速度，实现作业负荷的稳定，实际上，由于脱粒滚筒的转动惯性，当脱粒滚筒转速下降时，脱粒滚筒的作业负荷早已超标，即滚筒由发动机提供的主动转矩早已小于负荷转矩，即使立刻调整行驶速度，脱粒滚筒和输粮搅龙仍可能堵塞造成故障。 At present, combine harvesters are developing towards automation and high efficiency. The harvesting efficiency of the combine harvester is related to its operating load, and the fluctuation of the operating load directly affects the working state stability and harvesting efficiency of the combine harvester. If the driving speed is too fast, the threshing drum will be overloaded due to the excessive feeding amount, the speed of the threshing drum will drop and the threshing quality will be reduced, and even the threshing drum and the grain conveying auger will be blocked, resulting in shutdown failure; Therefore, it is required to adjust the load in real time when the combine harvester is working, so that the combine harvester can work with high quality and high efficiency. At present, when most combine harvesters are working, they rely on the personal experience of the operator to adjust the load by adjusting the driving speed and changing the feeding amount. This operation method requires high driving skills of the operator, and is labor-intensive. It is difficult to reduce the failure rate, and the operation speed and efficiency are low. There are also some combine harvesters that use various control methods to automatically adjust the driving speed according to the information such as the rotational speed of the threshing drum and the amount of entrainment loss, and adjust the harvesting volume of the crops on the header to keep the amount of crops fed into the drum at an appropriate level. The speed is in a relatively good working state. At present, the structure of the combine harvester still has some deficiencies from the control point of view: First, on the traditional combine harvester, since the transmission speed of the conveyor belt is not affected by the walking speed of the combine harvester, the system structure is expressed as A pure hysteresis link with a large time constant, that is, the feeding amount of the threshing drum will not change immediately with the change of driving speed, but it will take a period of delay before the feeding amount of the drum will change, thus increasing the control. Difficulty seriously affects the effect of control. If the transmission speed of the conveyor belt can be controlled by the walking speed of the combine harvester, the pure lag link can be eliminated, or it can be transformed into a pure lag link with a small time constant, which will greatly improve the performance of the control; secondly, now Some combine harvesters often only use control methods to adjust the driving speed based on the information such as the rotational speed of the threshing drum, so as to realize the stability of the operating load. Exceeding the standard, that is, the active torque provided by the engine of the drum is already smaller than the load torque. Even if the driving speed is adjusted immediately, the threshing drum and the grain conveying auger may still be blocked and cause failure.
因此，很有必要对现有技术进行改进以克服现有技术之缺陷。 Therefore, it is necessary to improve the prior art to overcome the defects of the prior art.
the
发明内容 Contents of the invention
本发明的主要目的在于提供一种联合收割机控制装置及控制方法，通过改进设计使传输带的传输速度直接受联合收割机行走机构速度的控制来消除传输带这一纯滞后环节，进一步，通过检测脱粒滚筒的负荷转矩来尽早反映脱粒滚筒的负荷情况，从而提高联合收割机的控制性能，进而提高联合收割机的工作效率，降低故障率。 The main purpose of the present invention is to provide a kind of combine harvester control device and control method, to eliminate the pure hysteresis link of the transmission belt by improving the design so that the transmission speed of the transmission belt is directly controlled by the speed of the combine harvester walking mechanism, further, by Detect the load torque of the threshing drum to reflect the load of the threshing drum as early as possible, thereby improving the control performance of the combine harvester, thereby improving the working efficiency of the combine harvester and reducing the failure rate.
本发明采用如下技术方案：一种联合收割机控制装置，其包括有负荷反馈控制装置、提供动力的发动机、第一传动装置、行走机构、第二传动装置和传输带，所述发动机的输出轴通过第一传动装置和行走机构的驱动轮轴连接，所述行走机构的驱动轮轴又通过第二传动装置和传输带主动轮轴连接。 The present invention adopts the following technical solutions: a combine harvester control device, which includes a load feedback control device, a powered engine, a first transmission device, a walking mechanism, a second transmission device and a transmission belt, the output shaft of the engine The driving wheel shaft of the traveling mechanism is connected through the first transmission device, and the driving wheel shaft of the traveling mechanism is connected with the driving wheel shaft of the transmission belt through the second transmission device.
作为本发明的进一步改进，所述负荷反馈控制装置包括模糊控制模块、PID控制模块、检测脱粒滚筒转速的第一检测元件以及检测脱粒滚筒负荷转矩的第二检测元件，所述模糊控制模块用于将第一检测元件得到的滚筒转速与滚筒转速给定值进行比较，然后通过模糊控制算法确定滚筒负荷转矩给定值；所述PID控制模块用于将第二检测元件得到的滚筒负荷转矩与滚筒负荷转矩给定值进行比较，然后通过PID控制算法控制行走机构前进速度。 As a further improvement of the present invention, the load feedback control device includes a fuzzy control module, a PID control module, a first detection element for detecting the rotational speed of the threshing drum, and a second detection element for detecting the load torque of the threshing drum, and the fuzzy control module uses The drum speed obtained by the first detection element is compared with the given value of the drum speed, and then the given value of the drum load torque is determined by a fuzzy control algorithm; the PID control module is used to transfer the drum load obtained by the second detection element to The torque is compared with the given value of the drum load torque, and then the forward speed of the traveling mechanism is controlled through the PID control algorithm.
本发明还采取如下技术方案：一种联合收割机控制方法，其采取如下控制步骤： The present invention also takes following technical scheme: a kind of combine harvester control method, it takes following control steps:
将负荷反馈控制装置主程序进行系统初始化； Initialize the main program of the load feedback control device;
调用数据采集子程序，并调用判断报警子程序，进行数据采集和故障判断，若有故障则报警，若无故障则调用滚筒转速控制子程序，将滚筒转速与滚筒转速给定值进行比较后，通过模糊控制算法确定滚筒负荷转矩给定值； Call the data acquisition subroutine, and call the judgment and alarm subroutine for data acquisition and fault judgment. If there is a fault, the alarm will be called. If there is no fault, the drum speed control subroutine will be called. After comparing the drum speed with the given value of the drum speed, Determine the given value of drum load torque through fuzzy control algorithm;
再调用滚筒转矩控制子程序，将滚筒负荷转矩与滚筒负荷转矩给定值进行比较后，通过PID控制算法对行走机构前进速度进行合理调控，从而完成联合收割机的负荷反馈控制。 Then call the drum torque control subroutine, compare the drum load torque with the given value of the drum load torque, and use the PID control algorithm to reasonably regulate the forward speed of the traveling mechanism, thus completing the load feedback control of the combine harvester.
本发明具有如下有益效果：在传统联合收割机上，改变传送带的动力传递，使联合收割机传输带的动力由联合收割机行走机构传递，从而消除传输带这一纯滞后环节，或转化为一个小时间常数的纯滞后环节，即联合收割机行走机构的速度一改变马上就能改变进入脱粒滚筒的负荷量，这样就会大大改善控制的性能。同时，通过检测脱粒滚筒的负荷转矩来尽早反映脱粒滚筒的负荷情况，可以构成滚筒负荷转矩控制回路，从而提高滚筒转速控制系统的动态控制性能，使脱粒滚筒工作在最佳工作状态，提高联合收割机的工作状态稳定性和收割效率。 The invention has the following beneficial effects: on the traditional combine harvester, the power transmission of the conveyor belt is changed, so that the power of the conveyor belt of the combine harvester is transmitted by the walking mechanism of the combine harvester, thereby eliminating the pure lagging link of the conveyor belt, or converting it into a small The pure lag link of the time constant, that is, the speed of the combine harvester traveling mechanism can change the load entering the threshing drum immediately, which will greatly improve the performance of the control. At the same time, by detecting the load torque of the threshing drum to reflect the load of the threshing drum as soon as possible, the drum load torque control loop can be formed, thereby improving the dynamic control performance of the drum speed control system, making the threshing drum work in the best working state, improving The working state stability and harvesting efficiency of the combine harvester.
the
附图说明 Description of drawings
附图1为本发明联合收割机控制装置的部分动力传动示意图；
Accompanying
附图2为本发明联合收割机控制装置的结构框图。
Accompanying
附图3为本发明联合收割机控制装置的主程序流程图。
Accompanying
图中：1.发动机； 2.液压无级变速器；3.变速箱；4.行走机构驱动轮轴；5.传输带主动轮轴 In the figure: 1. Engine; 2. Hydraulic CVT; 3. Gearbox; 4. Drive axle of traveling mechanism; 5. Driving axle of transmission belt
具体实施方式 Detailed ways
下面结合附图和具体实施方式对本发明联合收割机控制装置及控制方法作进一步的说明。 The combine harvester control device and control method of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
请参照图1所示，本发明联合收割机控制装置包括有提供动力的发动机1，第一传动装置、行走机构、第二传动装置和传输带，发动机1的输出轴通过第一传动装置和行走机构驱动轮轴4连接，行走机构驱动轮轴4又通过第二传动装置和传输带主动轮轴5连接，所述第一传动装置包括传动带和用于调节行走机构前进速度的调速器，调速器包括液压无级变速器2和变速箱3，所述发动机1的输出轴通过传动带、液压无级变速器2和变速箱3把动力传给行走机构驱动轮轴4，该行走机构驱动轮轴4又通过第二传动装置将动力直接传递给传输带主动轮轴5。本发明中的液压无级变速器2用于无级调速，其能够很方便地实现行走机构驱动轮轴4前进速度的调整，而行走机构驱动轮轴4前进速度的变化又直接带动传输带主动轮轴5传输速度的变化。在本发明中，传输带的传输速度的变化通过行走机构的调节控制，从而在系统结构上消除传输带这一纯滞后环节或者转化为一个小时间常数的纯滞后环节，进而使得脱粒喂筒的喂入量随行驶速度的变化而立刻变化，从而大大改善控制性能。
Please refer to shown in Fig. 1, the combine harvester control device of the present invention includes the
请参照图2所示，本发明联合收割机控制装置中还包括负荷反馈控制装置，负荷反馈控制装置包括模糊控制模块、PID控制模块、检测脱粒滚筒转速的第一检测元件以及检测脱粒滚筒负荷转矩的第二检测元件。模糊控制模块用于将第一检测元件检测到的滚筒转速与滚筒转速给定值进行比较，然后通过模糊控制算法确定滚筒负荷转矩给定值；PID控制模块用于将第二检测元件检测到的滚筒负荷转矩与滚筒负荷转矩给定值进行比较，然后通过PID控制算法调控行走机构前进速度。在行走机构的行走速度和割台高度、幅宽及作物状态等的复合作用下，作物通过传输带输送给脱粒滚筒。作用在收割机脱粒滚筒上的合成转矩等于发动机通过皮带提供给滚筒的主动转矩减去作物等负荷作用在滚筒上的负载转矩。因为脱粒滚筒负荷转矩能更准确的反映联合收割机滚筒喂入量的大小，并比脱粒滚筒转速提前反映脱粒滚筒的负荷情况，因此通过检测到的脱粒滚筒负荷转矩构成滚筒负荷转矩控制回路，可以用来提高滚筒转速控制系统的动态控制性能，以便更好地保证脱粒滚筒工作在最佳工作状态。 Please refer to shown in Fig. 2, in the combine harvester control device of the present invention, also comprise load feedback control device, load feedback control device comprises fuzzy control module, PID control module, detects the first detection element of threshing drum rotating speed and detects threshing drum load rotation speed. Moment of the second detection element. The fuzzy control module is used to compare the drum speed detected by the first detection element with the given value of the drum speed, and then determine the given value of the drum load torque through the fuzzy control algorithm; the PID control module is used to detect the second detection element The load torque of the drum is compared with the given value of the load torque of the drum, and then the forward speed of the traveling mechanism is regulated through the PID control algorithm. Under the combined effect of the walking speed of the traveling mechanism, the height of the header, the width and the state of the crops, the crops are transported to the threshing drum through the conveyor belt. The resultant torque acting on the threshing drum of the harvester is equal to the active torque provided by the engine to the drum through the belt minus the load torque of crops and other loads acting on the drum. Because the load torque of the threshing drum can more accurately reflect the feeding amount of the combine harvester drum, and reflect the load of the threshing drum earlier than the rotating speed of the threshing drum, the detected load torque of the threshing drum constitutes the drum load torque control The circuit can be used to improve the dynamic control performance of the drum speed control system, so as to better ensure that the threshing drum works in the best working state.
请参照图3所示，其为本发明联合收割机控制装置的主程序流程图，本发明中的负荷反馈控制装置主程序进行系统初始化后，首先调用数据采集子程序，并调用判断报警子程序，进行数据采集和故障判断，若有故障则报警，若无故障则调用滚筒转速控制子程序，将滚筒转速与滚筒转速给定值进行比较后，通过模糊控制算法确定滚筒负荷转矩给定值； Please refer to shown in Fig. 3, it is the main program flow chart of combine harvester control device of the present invention, after the load feedback control device main program among the present invention carries out system initialization, at first call data acquisition subroutine, and call judgment alarm subroutine , for data collection and fault judgment, if there is a fault, it will alarm, if there is no fault, call the drum speed control subroutine, compare the drum speed with the given value of the drum speed, and determine the given value of the drum load torque through the fuzzy control algorithm ;
再调用滚筒转矩控制子程序，将滚筒负荷转矩与滚筒负荷转矩给定值进行比较后，通过PID控制算法对行走机构前进速度进行合理调控，从而完成联合收割机的负荷反馈控制。 Then call the drum torque control subroutine, compare the drum load torque with the given value of the drum load torque, and use the PID control algorithm to reasonably regulate the forward speed of the traveling mechanism, thus completing the load feedback control of the combine harvester.
采用本发明联合收割机控制装置，传输带的传输速度的变化通过行走机构的调节控制，从而在系统结构上消除传输带这一纯滞后环节或者转化为一个小时间常数的纯滞后环节，进而使得脱粒喂筒的喂入量随行驶速度的变化而立刻变化，从而大大改善控制性能。同时，通过检测脱粒滚筒的负荷转矩来尽早反映脱粒滚筒的负荷情况，可以构成滚筒转矩控制回路，从而提高滚筒转速控制系统的动态控制性能，使脱粒滚筒工作在最佳工作状态，进而提高联合收割机的工作效率，降低故障率。 By adopting the combine harvester control device of the present invention, the change of the transmission speed of the transmission belt is controlled by the adjustment of the walking mechanism, thereby eliminating the pure hysteresis link of the transmission belt in the system structure or converting it into a pure hysteresis link with a small time constant, and then making The feeding rate of the threshing feeding cylinder changes instantly with the change of driving speed, which greatly improves the control performance. At the same time, by detecting the load torque of the threshing drum to reflect the load of the threshing drum as soon as possible, the drum torque control loop can be formed, thereby improving the dynamic control performance of the drum speed control system, making the threshing drum work in the best working state, and then improving Improve the work efficiency of the combine harvester and reduce the failure rate.
以上，详细说明了本发明的优选实施例，但本发明要求保护的权利范围并不限于此，利用了本发明的基本概念，所属技术领域的技术人员进行的各种变形以及改善，仍属于本发明请求的权利范围。 Above, the preferred embodiments of the present invention have been described in detail, but the scope of rights claimed in the present invention is not limited thereto, and the various deformations and improvements made by those skilled in the art still belong to this invention by using the basic concepts of the present invention. The scope of rights claimed by the invention.
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