CN102934563A - Combine harvester control device and method - Google Patents

Combine harvester control device and method Download PDF

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Publication number
CN102934563A
CN102934563A CN2012104058799A CN201210405879A CN102934563A CN 102934563 A CN102934563 A CN 102934563A CN 2012104058799 A CN2012104058799 A CN 2012104058799A CN 201210405879 A CN201210405879 A CN 201210405879A CN 102934563 A CN102934563 A CN 102934563A
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China
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control
load torque
control device
combine
combine harvester
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CN102934563B (en
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赵德安
李菊
秦云
张军
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Yangzhou (Jiangdu) New Energy Automobile Industry Research Institute of Jiangsu University
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Jiangsu University
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Abstract

The invention discloses a combine harvester control device and method. The combine harvester control device comprises a load feedback control device, an engine for supplying power, a first transmission device, a walking mechanism, a second transmission device and a transmission band, wherein an output shaft of the engine is connected with a driving sprocket axle of the walking mechanism through the first transmission device. The combine harvester control device is characterized in that the driving sprocket axle of the walking mechanism is connected with a drive sprocket axle of the transmission band through the second transmission device; the load feedback control device comprises a fuzzy control module, a PID (Proportion Integration Differentiation) control module, a first detection element for detecting the rotating speed of a threshing cylinder, and a second detection element for detecting the load torque of the threshing cylinder; the fuzzy control module forms a roller rotating speed control loop by virtue of the first detection element; and the PID control module forms a roller load torque control loop by virtue of the second detection element. According to the invention, on the basis of the conventional combine harvester, the combine harvester control device allows the power of the transmission band of a combine harvester is transmitted by the walking mechanism, and a pure lag link of the conventional transmission band is eliminated, thereby improving control performance greatly. Meanwhile, the roller load torque control loop is formed by the detection on the load torque of the threshing roller, thereby improving the dynamic performance of a roller rotating speed control system, and further improving the work state stability and the harvesting efficiency of the combine harvester.

Description

A kind of combine control device and control method
 
Technical field
The present invention relates to agricultural mechanical field, specifically, relate to a kind of combine control device and control method.
 
Background technology
At present, combine is just towards automation, high efficiency future development.The harvesting efficiency of combine is relevant with its working load, and the fluctuation of working load directly affects stability under working conditions and the harvesting efficiency of combine.The too fast meeting of travel speed makes threshing cylinder transship because feed quantity is excessive, the threshing cylinder rotating speed is descended and reduction threshing quality, even causes threshing cylinder and defeated grain screw feeder to stop up, thereby produce machine halt trouble; And travel speed is excessively slow, loads on the low side, and operating efficiency is low; Therefore require when combine operation, load to be carried out real-time monitoring, thereby make combining function high-quality, expeditiously operation.At present, during most of combine operation, rely on operating personnel's personal experience, regulate load by adjusting travel speed change feed quantity.This operating type requires high to operating personnel's driving ability, and labour intensity is large, is difficult to reduce trouble, and operating speed and operating efficiency are low.Also there are some combines to adopt various control methods automatically to adjust travel speed for information such as threshing cylinder rotating speed and entrainment loss amounts, regulate the crop harvesting amount of the ceding of Taiwan, make the crop feed quantity that enters cylinder keep suitable level, thereby guarantee that drum rotation speed is in reasonable job state.At present, the structure of combine is from the angle of control, remain in some shortcomings: at first, on traditional combine, because the transmission speed of transport tape is not subjected to the impact of Walking Velocity on Combine, show as the pure lag system of a large time constant in system architecture, the feed quantity that is threshing cylinder can not change at once with the variation of the speed of travelling, and need to be through time-delay after a while, the feed quantity of cylinder just can change, thereby increased the difficulty of control, had a strong impact on the effect of control.If the transmission speed of conveyer belt can be subjected to the control of Walking Velocity on Combine, then just can eliminate this pure lag system, or be translated into the pure lag system of constant between hour, will greatly improve like this performance of control; Secondly, existing combine is often only for information such as threshing cylinder rotating speeds, adopt control method to adjust travel speed, realize the stable of working load, in fact, because the rotator inertia of threshing cylinder, when the threshing cylinder rotating speed descended, the working load of threshing cylinder exceeded standard already, and namely the active torque that provided by engine of cylinder is already less than load torque, even adjust at once travel speed, threshing cylinder and defeated grain screw feeder still may stop up and cause fault.
Therefore, the necessary defective of prior art being improved to overcome prior art.
 
Summary of the invention
Main purpose of the present invention is to provide a kind of combine control device and control method, make the transmission speed of transport tape directly be subjected to the control of combine running gear speed to eliminate this pure lag system of transport tape by improving design, further, the load condition that reflects as early as possible threshing cylinder by the load torque that detects threshing cylinder, thereby improve the control performance of combine, and then the operating efficiency of raising combine, reduce trouble.
The present invention adopts following technical scheme: a kind of combine control device, it includes the feedback loading control device, the engine of power is provided, the first transmission device, running gear, the second transmission device and transport tape, the output shaft of described engine is connected live axle by the first transmission device and is connected with running gear, the live axle of described running gear is connected with the transport tape drive sprocket axle by the second transmission device again.
As a further improvement on the present invention, described feedback loading control device comprises the first detecting element of fuzzy control model, pid control module, detection threshing cylinder rotating speed and the second detecting element that detects the threshing cylinder load torque, drum rotation speed and drum rotation speed set-point that described fuzzy control model is used for the first detecting element is obtained compare, and then determine cylinder load torque set-point by FUZZY ALGORITHMS FOR CONTROL; Cylinder load torque and cylinder load torque set-point that described pid control module is used for the second detecting element is obtained compare, then by pid control algorithm control running gear pace.
The present invention also takes following technical scheme: a kind of combine control method, and it takes following control step:
Feedback loading control device main program is carried out system initialization;
Calling data gathers subprogram, and call and judge the warning subprogram, carrying out data acquisition and fault judges, if fault is arranged then reports to the police, if fault-free is then called drum rotation speed control subprogram, after drum rotation speed and drum rotation speed set-point compared, determine cylinder load torque set-point by FUZZY ALGORITHMS FOR CONTROL;
Call again cylinder torque control subprogram, after cylinder load torque and cylinder load torque set-point are compared, by pid control algorithm the running gear pace is carried out Reasonable Regulation And Control, thereby the feedback loading of finishing combine is controlled.
The present invention has following beneficial effect: on traditional combine, change the transmission of power of conveyer belt, make the power of combine transport tape by the transmission of combine running gear, thereby eliminate this pure lag system of transport tape, or be converted into the pure lag system of constant between hour, the speed that is the combine running gear can change the load that enters threshing cylinder once changing, and will greatly improve like this performance of control at once.Simultaneously, the load condition that reflects as early as possible threshing cylinder by the load torque that detects threshing cylinder, can consist of cylinder load torque control loop, thereby improve the dynamic control performance of drum rotation speed control system, make threshing cylinder be operated in optimum Working, improve stability under working conditions and the harvesting efficiency of combine.
 
Description of drawings
Accompanying drawing 1 is the part power transmission schematic diagram of combine control device of the present invention;
Accompanying drawing 2 is the structured flowchart of combine control device of the present invention.
Accompanying drawing 3 is the main program flow chart of combine control device of the present invention.
Among the figure: 1. engine; 2. hydraulic continuously variable transmission; 3. gearbox; 4. running gear live axle; 5. transport tape drive sprocket axle
Embodiment
Below in conjunction with the drawings and specific embodiments combine control device of the present invention and control method are further described.
Please refer to shown in Figure 1, combine control device of the present invention includes the engine 1 that power is provided, the first transmission device, running gear, the second transmission device and transport tape, the output shaft of engine 1 is connected connection by the first transmission device with the running gear live axle, running gear live axle 4 is connected connection by the second transmission device again with the transport tape drive sprocket axle, described the first transmission device comprises driving-belt and is used for regulating the speed regulator of running gear pace, speed regulator comprises hydraulic continuously variable transmission 2 and gearbox 3, the output shaft of described engine 1 passes through driving-belt, hydraulic continuously variable transmission 2 and gearbox 3 are passed to running gear live axle 4 to power, and this running gear live axle 4 is directly passed to transport tape drive sprocket axle 5 by the second transmission device with power again.Hydraulic continuously variable transmission 2 among the present invention is used for stepless speed regulation, it can realize the adjustment of running gear live axle 4 paces easily, and the variation of running gear live axle 4 paces directly drives the variation of transport tape drive sprocket axle 5 transmission speeds.In the present invention, the variation of the transmission speed of transport tape is by the adjusting control of running gear, thereby eliminate this pure lag system of transport tape or be converted into the pure lag system of constant between hour in system architecture, and then so that feed quantity at once variation with the variation of the speed of travelling of cylinder is fed in threshing, thereby greatly improve control performance.
Please refer to shown in Figure 2, also comprise the feedback loading control device in the combine control device of the present invention, the feedback loading control device comprises the first detecting element of fuzzy control model, pid control module, detection threshing cylinder rotating speed and the second detecting element that detects the threshing cylinder load torque.Drum rotation speed and drum rotation speed set-point that fuzzy control model is used for the first detecting element is detected compare, and then determine cylinder load torque set-point by FUZZY ALGORITHMS FOR CONTROL; Cylinder load torque and cylinder load torque set-point that pid control module is used for the second detecting element is detected compare, then by pid control algorithm regulation and control running gear pace.Under the compound action of the speed of travel of running gear and ceding of Taiwan height, fabric width and crop state etc., crop flows to threshing cylinder by transport tape.Acting on synthetic torque on the harvester threshing drum equals active torque that engine offers cylinder by belt and deducts the loads such as crop and act on load torque on the cylinder.Because the threshing cylinder load torque can reflect the size of cylinder of combine harvester feed quantity more accurately, and reflect in advance the load condition of threshing cylinder than threshing cylinder rotating speed, therefore consist of cylinder load torque control loop by the threshing cylinder load torque that detects, can be used for improving the dynamic control performance of drum rotation speed control system, guarantee that better threshing cylinder is operated in optimum Working.
Please refer to shown in Figure 3, it is for the main program flow chart of combine control device of the present invention, after feedback loading control device main program among the present invention carries out system initialization, at first calling data gathers subprogram, and calls and judge the warning subprogram, carries out data acquisition and fault and judges, if fault is arranged then reports to the police, if fault-free is then called drum rotation speed control subprogram, after drum rotation speed and drum rotation speed set-point compared, determine cylinder load torque set-point by FUZZY ALGORITHMS FOR CONTROL;
Call again cylinder torque control subprogram, after cylinder load torque and cylinder load torque set-point are compared, by pid control algorithm the running gear pace is carried out Reasonable Regulation And Control, thereby the feedback loading of finishing combine is controlled.
Adopt combine control device of the present invention, the variation of the transmission speed of transport tape is by the adjusting control of running gear, thereby eliminate this pure lag system of transport tape or be converted into the pure lag system of constant between hour in system architecture, and then so that feed quantity at once variation with the variation of the speed of travelling of cylinder is fed in threshing, thereby greatly improve control performance.Simultaneously, the load condition that reflects as early as possible threshing cylinder by the load torque that detects threshing cylinder, can consist of the cylinder torque control loop, thereby improve the dynamic control performance of drum rotation speed control system, make threshing cylinder be operated in optimum Working, and then the operating efficiency of raising combine, reduce trouble.
Above; describe the preferred embodiments of the present invention in detail, but the claimed interest field of the present invention is not limited to this, has utilized basic conception of the present invention; various distortion and improvement that the person of ordinary skill in the field carries out still belong to the interest field of request of the present invention.

Claims (3)

1. combine control device, it includes the feedback loading control device, the engine of power is provided, the first transmission device, running gear, the second transmission device and transport tape, the output shaft of described engine is connected live axle by the first transmission device and is connected with running gear, it is characterized in that: the live axle of described running gear is connected with the transport tape drive sprocket axle by the second transmission device.
2. the control device of combine according to claim 1, it is characterized in that: described feedback loading control device comprises the first detecting element of fuzzy control model, pid control module, detection threshing cylinder rotating speed and the second detecting element that detects the threshing cylinder load torque, drum rotation speed and drum rotation speed set-point that described fuzzy control model is used for the first detecting element is obtained compare, and then determine cylinder load torque set-point by FUZZY ALGORITHMS FOR CONTROL; Cylinder load torque and cylinder load torque set-point that described pid control module is used for the second detecting element is obtained compare, then by pid control algorithm control running gear pace.
3. the control method of a combine, it is characterized in that: it takes following control step:
Feedback loading control device main program is carried out system initialization;
Calling data gathers subprogram, and call and judge the warning subprogram, carrying out data acquisition and fault judges, if fault is arranged then reports to the police, if fault-free is then called drum rotation speed control subprogram, after drum rotation speed and drum rotation speed set-point compared, determine cylinder load torque set-point by FUZZY ALGORITHMS FOR CONTROL;
Call again cylinder torque control subprogram, after cylinder load torque and cylinder load torque set-point are compared, by pid control algorithm the running gear pace is carried out Reasonable Regulation And Control, thereby the feedback loading of finishing combine is controlled.
CN201210405879.9A 2012-10-23 2012-10-23 A kind of combine control device and control method Active CN102934563B (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104142674B (en) * 2013-10-21 2017-01-25 江苏大学 Multi-input fault diagnosis method for combined harvester
CN107155533A (en) * 2017-06-15 2017-09-15 农业部南京农业机械化研究所 A kind of combined harvester threshing cylinder driving control system and 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
CN110301230A (en) * 2019-07-29 2019-10-08 中国农业大学 A kind of combined harvester threshing cylinder fault simulation monitoring system and method
CN110476583A (en) * 2019-08-09 2019-11-22 山东省农业机械科学研究院 Picker for tuber crops operating speed adaptive control system and method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3606742A (en) * 1969-04-05 1971-09-21 Franz Wieneke Arrangement for the automatic control of the threshing process on combine harvesters
CN87103115A (en) * 1987-04-30 1988-02-10 中国农业机械化科学研究院 Combine with the tractor with small four wheels assembly
CN2091525U (en) * 1991-01-11 1992-01-01 石志武 Small-size combine
CN2530436Y (en) * 2002-03-07 2003-01-15 杨友义 Self-propelled grain combine
CN101653069A (en) * 2009-09-15 2010-02-24 江苏大学 Load feedback automatic control device for combined harvester and control method
CN203057868U (en) * 2012-10-23 2013-07-17 江苏大学 Control device of combine-harvester

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3606742A (en) * 1969-04-05 1971-09-21 Franz Wieneke Arrangement for the automatic control of the threshing process on combine harvesters
CN87103115A (en) * 1987-04-30 1988-02-10 中国农业机械化科学研究院 Combine with the tractor with small four wheels assembly
CN2091525U (en) * 1991-01-11 1992-01-01 石志武 Small-size combine
CN2530436Y (en) * 2002-03-07 2003-01-15 杨友义 Self-propelled grain combine
CN101653069A (en) * 2009-09-15 2010-02-24 江苏大学 Load feedback automatic control device for combined harvester and control method
CN203057868U (en) * 2012-10-23 2013-07-17 江苏大学 Control device of combine-harvester

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104142674B (en) * 2013-10-21 2017-01-25 江苏大学 Multi-input fault diagnosis method for combined harvester
CN107155533A (en) * 2017-06-15 2017-09-15 农业部南京农业机械化研究所 A kind of combined harvester threshing cylinder driving control system and 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
CN110301230A (en) * 2019-07-29 2019-10-08 中国农业大学 A kind of combined harvester threshing cylinder fault simulation monitoring system and method
CN110301230B (en) * 2019-07-29 2023-05-23 中国农业大学 Threshing cylinder fault simulation monitoring system and method for combine harvester
CN110476583A (en) * 2019-08-09 2019-11-22 山东省农业机械科学研究院 Picker for tuber crops operating speed adaptive control system and method

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Effective date of registration: 20171117

Address after: 212100 Zhenjiang City, Jiangsu province Dantu District Tan Kwai Road No. 1

Patentee after: JIANGSU HUIZHI INTELLECTUAL PROPERTY SERVICES CO., LTD.

Address before: Zhenjiang City, Jiangsu Province, 212013 Jingkou District Road No. 301

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Effective date of registration: 20191217

Address after: 225200 No. 88 Wenchang East Road, Jiangdu District, Yangzhou, Jiangsu.

Patentee after: Yangzhou (Jiangdu) New Energy Automobile Industry Research Institute of Jiangsu University

Address before: 212100 Zhenjiang City, Jiangsu province Dantu District Tan Kwai Road No. 1

Patentee before: JIANGSU HUIZHI INTELLECTUAL PROPERTY SERVICES CO., LTD.

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