CN103529867A - Graded-response load feedback control system for orchard ditchers and control method - Google Patents
Graded-response load feedback control system for orchard ditchers and control method Download PDFInfo
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- CN103529867A CN103529867A CN201310491313.7A CN201310491313A CN103529867A CN 103529867 A CN103529867 A CN 103529867A CN 201310491313 A CN201310491313 A CN 201310491313A CN 103529867 A CN103529867 A CN 103529867A
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Abstract
The invention discloses a graded-response load feedback control system for orchard ditchers and a control method. The graded-response load feedback control system for orchard ditchers is added on a speed regulation actuator and an HST hydraulic stepless speed change system of a ditcher. The rotational speed of a ditcher shaft is monitored in real time by a speed sensor, a controller differentially computes a filtered rotational speed signal ns to obtain the real-time acceleration a of the ditcher shaft, and if a is less than an acceleration threshold a0, then time sampling is triggered. If load change time t is less than a time threshold t0 when the rotational speed ns reaches 0.6n0, which indicates that load is sharply increased, then an electromagnetic clutch is rapidly released, at the same time, an electromagnetic brake rapidly performs braking, and an alarm system gives the alarm; and if t is greater than t0, then the advancing speed of the ditcher is automatically regulated, so that ditching load is decreased to an optimal state. The invention realizes the graded-response load feedback control of the operation of the orchard ditcher, effectively decreases the fault rate of the ditcher, increases the efficiency of operation, and is applicable to the operation of orchard ditchers.
Description
Technical field
The invention belongs to agricultural equipment field, be specifically related to ditching machine response at different level feedback loading control technique.
Background technology
During orchard furrowing operation, edaphic condition variation due to orchard, weeds are wound around even the factors such as stone stops and cause trench digging load to increase gradually even suddenly sharply to increase, and existing ditching machine cannot perception trench digging load change, more cannot be to being wound around due to weeds, stop up to wait the cumulative and stone of the load causing to stop that the load causing sharply becomes the different situations such as large and distinguishes, and then according to the variation of load with change degree sharply and carry out adjustment initiatively, therefore usually cause the blade of machine, drive disk assembly is engine failure even, cause shutdown maintenance rate high, operating efficiency is greatly affected.Patent CN101653069, CN201263315 have proposed feedback loading regulation device and the control method of united reaper, but above-mentioned patent is only for the variation of feed quantity, proposition regulates by the fusion of united reaper different parts monitoring information being carried out to the speed of travel of harvester, to avoid the too low problem of ceding of Taiwan obstruction or efficiency; Patent CN102155033B has proposed load feedback speed control method of driving system of hydrostatic bulldozer, but it only carries out the adjustment of oil inlet quantity and variable output pump, variable displacement motor discharge capacity according to the working oil path oil pressure of monitoring and engine speed, and then keep the desirable speed of a motor vehicle of dozer.Above-mentioned patent is showed no the automatic distinguishing of load change degree and response at different level pattern and control method related content targetedly.
Summary of the invention
The object of the present invention is to provide garden ditching machine response at different level feedback loading regulation device and control method, realize the response at different level feedback loading regulation and control of orchard furrowing machine operation, effectively reduce the failure rate of ditching machine, improve the operating efficiency of ditching machine.
In order to solve above technical matters, the present invention is by automatic distinguishing and the classification action response of ditching operation load change degree, and concrete technical scheme is as follows:
Garden ditching machine response at different level feedback loading regulation device, is characterized in that: motor driver (15), electromagnetic brake (17), speed of travel sensor (19), electromagnetic clutch (20), trench digging speed pickup (22), controller (23), warning system (24) and two relays (25), consist of; Electromagnetic brake (17) is installed between HST hydraulic stepless speed change system and propel driving shaft (18), and speed of travel sensor (19) is installed on propel driving shaft (18); Electromagnetic clutch (20) is installed between speed reduction unit (14) and plough axle (21), and trench digging speed pickup (22) is installed on plough axle (21); The transducing signal of speed of travel sensor (19) and trench digging speed pickup (22) is access controller (23) respectively, warning system (24) is picked out by controller (23) with two relays (25), control system (23) is controlled the rotation of motor (9) and is stopped by motor driver (15), and then by speed governing topworks (16), the pace of ditching machine is adjusted; Control system (23) is controlled the Engage and disengage of electromagnetic clutch (20) by a relay (25), control braking and the disengaging of electromagnetic brake (17) by another relay (25).
Control method to described a kind of garden ditching machine response at different level feedback loading regulation device, is characterized in that comprising the following steps:
Step 1, by the rotating speed of trench digging speed pickup (22) Real-Time Monitoring plough axle (21), and by tach signal n
sinput control device (23);
Step 2, utilizes the tach signal n of controller (23) to plough axle (21)
scarry out filtering;
If n
s/ n
0>=0.6, the load change of ditching, in controlled range, is not done regulation and control response;
If n<sub TranNum="80">s</sub>/ n<sub TranNum="81">0</sub><0.6, according to rotation speed n<sub TranNum="82">s</sub>reach 0.6n<sub TranNum="83">0</sub>time time-sampling number determine load change time t;
If t<t<sub TranNum="87">0</sub>, show that load sharply increases, there is the barriers such as ratchel in the place ahead, and controller (23) is given an order, and electromagnetic clutch (20) is separated rapidly, makes plough axle (21) no longer include power input; Simultaneously electromagnetic brake (17) rapidly braking make ditching machine stop advancing, warning system (24) is sent warning, the prompting driver inspection of getting off;
If t>=t
0, show that load is because casting does not freely wait and causes load to continue to increase, controller (23) is given an order, and motor (9) rotates, and automatically adjusts the pace of ditching machine, and the load that makes to ditch drops to optimum condition.
Described optimum condition is the fastest ditching operation state under engine (13) power condition.
Described orchard is any in apple orchard, peach garden, ,Zao garden, vineyard, orange garden.
The present invention has beneficial effect.The present invention is by additional ditching machine response at different level feedback loading regulation device in the HST of ditching machine hydraulic pressure stepless speed-changing system and speed governing topworks, and carry out the automatic distinguishing of load change degree and targetedly response at different level control, realize the low fault high-efficient homework operation of ditching machine, principle is simple and reliable, installation cost is low and simple and compact for structure, meets the practical application needs of orchard operation condition.
Accompanying drawing explanation
Tu1Wei speed governing topworks structural representation;
Fig. 2 is ditching machine response at different level feedback loading regulation device structure connection diagram;
Fig. 3 is response at different level pattern and control flow schematic diagram.
In figure: 1. handle, 2. movable stand, 3. bolt, 4. friction disc, 5. pad, 6. nut, 7. pull bar, 8. double rolling key clutch, 9. motor, 10.HST hydraulic stepless speed change system, 11. connecting rods, 12. forks, 13. engines, 14. speed reduction units, 15. motor driver ，16. speed governing topworkies, 17. electromagnetic brakes, 18. propel driving shafts, 19. speed of travel sensors, 20. electromagnetic clutchs, 21. plough axles, 22. trench digging speed pickups, 23. controllers, 24. warning systems, 25. relays.
Embodiment
Below in conjunction with accompanying drawing, concrete technical scheme of the present invention is described in further details.
The present embodiment be take apple orchard as example.
As shown in Figure 1, speed governing topworks 16 is comprised of manual governing clamp mechanism and automatic speed regulation clamp mechanism, and manual governing clamp mechanism comprises handle 1, movable stand 2, bolt 3, friction disc 4, pad 5, nut 6, pull bar 7, fork 12 and connecting rod 11; Automatic speed regulation clamp mechanism comprises double rolling key clutch 8, fork 12 and connecting rod 11 and motor 9.Handle 1 is hinged with movable stand 2, and movable stand 2 is hinged by bolt 3, friction disc 4, pad 5, nut 6 and bearing; Pull bar 7 is hinged with movable stand 2 and fork 12 one end respectively, and fork 12 other ends and connecting rod 11 are hinged; Fork 12 is connected by double rolling key clutch 8 and motor 9, and double rolling key clutch 8 is all bolted on bearing with motor 9.When tractor driver handles ditching machine operation, by pulling handle 1, make movable stand 2 around the hinged center rotating of itself and bearing, by pull bar 7, pull fork 12 around axis swing, thereby through connecting rod 11, drive the HST hydraulic pressure stepless speed-changing system 10 of ditching machine, realize the manual adjustment of ditching machine pace.At fork 12 and 9, motor, double rolling key clutch 8 is installed, is guaranteed that when motor 9 active movement, fork 12 also synchronously rotates, and adjusts the pace of ditching machine automatically; And when tractor driver pulls handle 1 and makes fork 12 active movement, motor 9 can not move, thereby guarantees under automatic speed regulation state thereupon, control crank 1 manual governing is still effective, the conflict that manual/auto speed governing is switched and do not produced the two arbitrarily.
As shown in Figure 2, ditching machine response at different level feedback loading regulation device of the present invention is additional in above-mentioned speed governing topworks 16, motor driver 15, electromagnetic brake 17, speed of travel sensor 19, electromagnetic clutch 20, trench digging speed pickup 22, controller 23, warning system 24 and two relays 25, consists of.Electromagnetic brake 17 is installed between HST hydraulic stepless speed change system 10 and propel driving shaft 18, and speed of travel sensor 19 is installed on propel driving shaft 18; Electromagnetic clutch 20 is installed between speed reduction unit 14 and plough axle 21, and trench digging speed pickup 22 is installed on plough axle 21; The transducing signal of speed of travel sensor 19 and trench digging speed pickup 22 is access controller 23 respectively, warning system 24 and two relays 25 are picked out by controller 23, and control system 23 is controlled the rotation of motor 9 by motor driver 15 respectively and stopped, passing through braking and the disengaging that a relay 25 is controlled the Engage and disengage of electromagnetic clutchs 20, controlled electromagnetic brake 17 by another relay 25.
According to the pattern of response at different level shown in Fig. 3 and control flow, control method is elaborated below:
(1) by the rotating speed of trench digging speed pickup 22 Real-Time Monitoring plough axles 21, and by tach signal n
sinput control device 23;
(2) the tach signal n of 23 pairs of plough axles 21 of controller
scarry out filtering;
(3) 23 couples of filtered tach signal n of controller<sub TranNum="109">s</sub>carry out differential calculation △ n<sub TranNum="110">s</sub>/ △ t, obtains the real time acceleration a of plough axle 21, as a<acceleration rate threshold 5rad/s<sup TranNum="111">2</sup>, show that the load trend that gathers way is obvious, triggered time sampling;
(4) the stabilized (steady-state) speed n of plough axle 21<sub TranNum="113">0</sub>for 300rpm, as filtered tach signal n<sub TranNum="114">s</sub>>=180rpm, the load change of ditching, in controlled range, is not done regulation and control response; Work as n<sub TranNum="115">s</sub><180rpm, according to rotation speed n<sub TranNum="116">s</sub>time-sampling number while reaching 0.6n0 is determined load change time t;
(5) as load change time t < time threshold 0.2s, showing that load sharply increases, there is the barriers such as ratchel in the place ahead, and controller 23 is given an order, and electromagnetic clutch 20 is separated rapidly, makes plough axle 21 no longer include power input; Simultaneously electromagnetic brake 17 rapidly braking make ditching machine stop advancing, warning system 24 is sent warning, the prompting driver inspection of getting off;
(6) as t >=0.2s, show that load is because casting does not freely wait and causes load to continue to increase, controller 23 is given an order, and motor 9 rotates, and automatically adjusts the pace of ditching machine, and the load that makes to ditch drops to optimum condition.
Claims (3)
1. garden ditching machine response at different level feedback loading regulation device, is characterized in that: motor driver (15), electromagnetic brake (17), speed of travel sensor (19), electromagnetic clutch (20), trench digging speed pickup (22), controller (23), warning system (24) and two relays (25), consist of; Electromagnetic brake (17) is installed between HST hydraulic stepless speed change system (10) and propel driving shaft (18), and speed of travel sensor (19) is installed on propel driving shaft (18); Electromagnetic clutch (20) is installed between speed reduction unit (14) and plough axle (21), and trench digging speed pickup (22) is installed on plough axle (21); The transducing signal of speed of travel sensor (19) and trench digging speed pickup (22) is access controller (23) respectively, warning system (24) is picked out by controller (23) with two relays (25), control system (23) is controlled the rotation of motor (9) and is stopped by motor driver (15), and then by speed governing topworks (16), the pace of ditching machine is adjusted; Control system (23) is controlled the Engage and disengage of electromagnetic clutch (20) by a relay (25), control braking and the disengaging of electromagnetic brake (17) by another relay (25).
2. the control method of pair garden ditching machine response at different level feedback loading regulation device claimed in claim 1, is characterized in that comprising the following steps:
Step 1, by the rotating speed of trench digging speed pickup (22) Real-Time Monitoring plough axle (21), and by tach signal n
sinput control device (23);
Step 2, utilizes the tach signal n of controller (23) to plough axle (21)
scarry out filtering;
Step 3, by controller (23) to filtered tach signal n<sub TranNum="129">s</sub>carry out differential calculation △ n<sub TranNum="130">s</sub>/ △ t, obtains the real time acceleration a of plough axle (21), and by real time acceleration a and acceleration rate threshold a<sub TranNum="131">0</sub>compare, if a<a<sub TranNum="132">0</sub>, show that the load trend that gathers way is obvious, triggered time sampling;
Step 4, by filtered tach signal n
sstabilized (steady-state) speed n with plough axle (21)
0compare, to judge whether trench digging load change reaches the degree that need regulate and control:
If n
s/ n
0>=0.6, the load change of ditching, in controlled range, is not done regulation and control response;
If n<sub TranNum="140">s</sub>/ n<sub TranNum="141">0</sub><0.6, according to rotation speed n<sub TranNum="142">s</sub>reach 0.6n<sub TranNum="143">0</sub>time time-sampling number determine load change time t;
Step 5, by load change time t and time threshold t
0relatively, to monitor the sharply degree of trench digging load change:
If t<t<sub TranNum="147">0</sub>, show that load sharply increases, there is the barriers such as ratchel in the place ahead, and controller (23) is given an order, and electromagnetic clutch (20) is separated rapidly, makes plough axle (21) no longer include power input; Simultaneously electromagnetic brake (17) rapidly braking make ditching machine stop advancing, warning system (24) is sent warning, the prompting driver inspection of getting off;
If t>=t
0, show that load is because casting does not freely wait and causes load to continue to increase, controller (23) is given an order, and motor (9) rotates, and automatically adjusts the pace of ditching machine, and the load that makes to ditch drops to optimum condition.
3. the control method of garden ditching machine response at different level feedback loading regulation device as claimed in claim 2, is characterized in that: described optimum condition is the fastest ditching operation state under engine (13) power condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491313.7A CN103529867B (en) | 2013-10-18 | 2013-10-18 | Garden ditching machine response at different level feedback loading regulation device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310491313.7A CN103529867B (en) | 2013-10-18 | 2013-10-18 | Garden ditching machine response at different level feedback loading regulation device and control method |
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| Publication Number | Publication Date |
|---|---|
| CN103529867A true CN103529867A (en) | 2014-01-22 |
| CN103529867B CN103529867B (en) | 2016-01-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310491313.7A Expired - Fee Related CN103529867B (en) | 2013-10-18 | 2013-10-18 | Garden ditching machine response at different level feedback loading regulation device and control method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109005770A (en) * | 2018-07-19 | 2018-12-18 | 合肥艾派特知识产权运营有限公司 | A kind of seeder based on big data |
| CN110154084A (en) * | 2018-02-14 | 2019-08-23 | 欧姆龙株式会社 | Sensor unit, control method and recording medium |
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|---|---|---|---|---|
| JPH04255485A (en) * | 1991-01-10 | 1992-09-10 | Yaskawa Electric Corp | Method of suppressing torsional vibration in motor speed control system |
| JPH10201274A (en) * | 1997-01-08 | 1998-07-31 | Nissan Motor Co Ltd | Speed controller for rotary machine |
| CN201263315Y (en) * | 2008-08-22 | 2009-07-01 | 江苏大学 | Combine-harvester manual-automatic integrated loading-back speed-regulating device |
| CN101653069A (en) * | 2009-09-15 | 2010-02-24 | 江苏大学 | Load feedback automatic control device for combined harvester and control method |
| CN102155033A (en) * | 2011-04-01 | 2011-08-17 | 山推工程机械股份有限公司 | Load feedback speed control method of driving system of hydrostatic bulldozer |
-
2013
- 2013-10-18 CN CN201310491313.7A patent/CN103529867B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04255485A (en) * | 1991-01-10 | 1992-09-10 | Yaskawa Electric Corp | Method of suppressing torsional vibration in motor speed control system |
| JPH10201274A (en) * | 1997-01-08 | 1998-07-31 | Nissan Motor Co Ltd | Speed controller for rotary machine |
| CN201263315Y (en) * | 2008-08-22 | 2009-07-01 | 江苏大学 | Combine-harvester manual-automatic integrated loading-back speed-regulating device |
| CN101653069A (en) * | 2009-09-15 | 2010-02-24 | 江苏大学 | Load feedback automatic control device for combined harvester and control method |
| CN102155033A (en) * | 2011-04-01 | 2011-08-17 | 山推工程机械股份有限公司 | Load feedback speed control method of driving system of hydrostatic bulldozer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110154084A (en) * | 2018-02-14 | 2019-08-23 | 欧姆龙株式会社 | Sensor unit, control method and recording medium |
| US11318627B2 (en) | 2018-02-14 | 2022-05-03 | Omron Corporation | Sensor unit, control method, and recording medium |
| CN109005770A (en) * | 2018-07-19 | 2018-12-18 | 合肥艾派特知识产权运营有限公司 | A kind of seeder based on big data |
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| CN103529867B (en) | 2016-01-20 |
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