CN103529867B - Garden ditching machine response at different level feedback loading regulation device and control method - Google Patents
Garden ditching machine response at different level feedback loading regulation device and control method Download PDFInfo
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- CN103529867B CN103529867B CN201310491313.7A CN201310491313A CN103529867B CN 103529867 B CN103529867 B CN 103529867B CN 201310491313 A CN201310491313 A CN 201310491313A CN 103529867 B CN103529867 B CN 103529867B
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Abstract
The invention discloses garden ditching machine response at different level feedback loading regulation device and control method, ditching machine response at different level feedback loading regulation device is additional on speed governing topworks and ditching machine HST hydraulic pressure stepless speed-changing system.By the rotating speed of speed pickup Real-Time Monitoring plough axle, controller is to filtered tach signal n
scarry out differential calculation and obtain its real time acceleration a, as a is less than acceleration rate threshold a
0then triggered time sampling.As rotating speed n
sreach 0.6n
0time load change time t be less than time threshold t
0, show that load sharply increases, then electromagnetic clutch is separated rapidly that simultaneously electromagnetic brake is braked rapidly, warning system sends warning; As t is greater than t
0then automatically adjust the pace of ditching machine, make trench digging load drop to optimum condition.The present invention realizes the response at different level feedback loading regulation and control of orchard furrowing machine operation, effectively reduces the failure rate of ditching machine, improves operating efficiency, can be applicable to the ditching machine operation in orchard.
Description
Technical field
The invention belongs to field of agricultural equipment, be specifically related to ditching machine response at different level feedback loading control technique.
Background technology
During orchard furrowing operation, because the edaphic condition in orchard changes, weeds are wound around the factors such as even stone stop and cause trench digging load to increase gradually and sharply increase even suddenly, and existing ditching machine cannot perception trench digging load change, more cannot be wound around due to weeds, the load that cause such as blocking cumulative and stone stops that the load caused sharply becomes the different situations such as greatly and distinguishes, and then according to the change of load with change sharply degree and carry out adjustment initiatively, therefore the blade of machine is usually caused, drive disk assembly is engine failure even, cause shutdown maintenance rate high, operating efficiency is greatly affected.Patent CN101653069, CN201263315 propose feedback loading regulation device and the control method of united reaper, but above-mentioned patent is only for the change of feed quantity, the speed of travel proposed by carrying out harvester to the fusion of united reaper different parts monitoring information regulates, to avoid ceding of Taiwan blocking or the too low problem of efficiency; Patent CN102155033B proposes 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 keeps the desirable speed of a motor vehicle of dozer.Above-mentioned patent is showed no automatic distinguishing and response at different level pattern and the control method related content targetedly of load change degree.
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 passes through 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: be made up of 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); 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 access controller (23) respectively of speed of travel sensor (19) and trench digging speed pickup (22), warning system (24) and two relays (25) are picked out by controller (23), controller (23) controls rotation and the stopping of motor (9) by motor driver (15), and then is adjusted by speed governing topworks (16) pace to ditching machine; Controller (23) controls the Engage and disengage of electromagnetic clutch (20) by a relay (25), is controlled braking and the disengaging of electromagnetic brake (17) by another relay (25).
To the control method of described a kind of garden ditching machine response at different level feedback loading regulation device, it is characterized in that comprising the following steps:
Step one, 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 controller (23) to the tach signal n of plough axle (21)
scarry out filtering;
Step 3, by controller (23) to filtered tach signal n
scarry out differential calculation △ n
s/ △ t, obtains the real time acceleration a of plough axle (21), and by real time acceleration a and acceleration rate threshold a
0compare, if a<a
0, show that load gathers way trend obviously, then triggered time sampling;
Step 4, by filtered tach signal n
swith the stabilized (steady-state) speed n of plough axle (21)
0compare, to judge whether trench digging load change reaches the degree need carrying out regulating and controlling:
If n
s/ n
0>=0.6, then load change of ditching, in controlled range, does not do regulation and control response;
If n
s/ n
0<0.6, then according to rotating speed n
sreach 0.6n
0time time-sampling number determination 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
0, showing that load sharply increases, there is the barriers such as ratchel in front, then 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) sends warning, and prompting driver gets off inspection;
If t>=t
0, show that load causes load to continue to increase because casting is smooth etc., then controller (23) is given an order, and motor (9) rotates, and the pace of adjustment ditching machine, makes trench digging load drop to optimum condition automatically.
Described optimum condition is the fastest ditching operation state under engine (13) power condition.
Described orchard is any one in apple orchard, peach garden, vineyard, Zao Yuan, orange garden.
The present invention has beneficial effect.The present invention is by ditching machine response at different level feedback loading regulation device additional on the HST hydraulic pressure stepless speed-changing system and speed governing topworks of ditching machine, and carry out automatic distinguishing and the response at different level control targetedly of load change degree, the low fault high-efficient homework realizing ditching machine runs, 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
Fig. 1 is speed governing topworks structural representation;
Fig. 2 is ditching machine response at different level feedback loading regulation device anatomical connectivity schematic 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 drivers, 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 is for apple orchard.
As shown in Figure 1, speed governing topworks 16 is made up 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 respectively with movable stand 2 and fork 12 one end hinged, fork 12 other end and connecting rod 11 hinged; Fork 12 is connected by double rolling key clutch 8 and motor 9, and double rolling key clutch 8 and motor 9 are all bolted on bearing.When tractor driver handles ditching machine operation, by pulling handle 1, making movable stand 2 around the hinged center rotating of itself and bearing, pulling fork 12 around axis swing by pull bar 7, thus the HST hydraulic pressure stepless speed-changing system 10 of ditching machine is driven through connecting rod 11, realize the manual adjustment of ditching machine pace.Double rolling key clutch 8 is installed between fork 12 and motor 9, ensures when motor 9 active movement, fork 12 also synchronous axial system, automatically the pace of adjustment ditching machine; And tractor driver pull handle 1 make fork 12 active movement time, motor 9 can not move thereupon, thus ensures under automatic speed regulation state, and control crank 1 manual governing is still effective, manual/auto speed governing any switching laws and do not produce the two conflict.
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, is made up of 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.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 access controller 23 respectively of speed of travel sensor 19 and trench digging speed pickup 22, warning system 24 and two relays 25 are picked out by controller 23, and controller 23 is controlled the rotation of motor 9 and stopping respectively by motor driver 15, is controlled the Engage and disengage of electromagnetic clutch 20 by a relay 25, controlled braking and the disengaging of electromagnetic brake 17 by another relay 25.
Response at different level pattern and control flow according to Fig. 3 below, is described in detail to control method:
(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;
(2) the tach signal n of controller 23 pairs of plough axles 21
scarry out filtering;
(3) controller 23 is to filtered tach signal n
scarry out differential calculation △ n
s/ △ t, obtains the real time acceleration a of plough axle 21, as a< acceleration rate threshold 5rad/s
2, show that load gathers way trend obviously, then triggered time sampling;
(4) the stabilized (steady-state) speed n of plough axle 21
0for 300rpm, as filtered tach signal n
s>=180rpm, then load change of ditching, in controlled range, does not do regulation and control response; Work as n
s<180rpm, then according to rotating speed n
sreach 0.6n
0time time-sampling number determination load change time t;
(5) when the load is varied between t< time threshold 0.2s, showing that load sharply increases, there is the barriers such as ratchel in front, then controller 23 is given an order, and electromagnetic clutch 20 is separated rapidly, make plough axle 21 no longer include power input; Simultaneously electromagnetic brake 17 rapidly braking make ditching machine stop advancing, warning system 24 sends warning, and prompting driver gets off inspection;
(6) as t >=0.2s, show that load causes load to continue to increase because casting is smooth etc., then controller 23 is given an order, and motor 9 rotates, and the pace of adjustment ditching machine, makes trench digging load drop to optimum condition automatically.
Claims (3)
1. garden ditching machine response at different level feedback loading regulation device, is characterized in that: be made up of 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); 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 access controller (23) respectively of speed of travel sensor (19) and trench digging speed pickup (22), warning system (24) and two relays (25) are picked out by controller (23), controller (23) controls rotation and the stopping of motor (9) by motor driver (15), and then is adjusted by speed governing topworks (16) pace to ditching machine; Controller (23) controls the Engage and disengage of electromagnetic clutch (20) by a relay (25), is controlled 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 according to claim 1, is characterized in that comprising the following steps:
Step one, 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 controller (23) to the tach signal n of plough axle (21)
scarry out filtering;
Step 3, by controller (23) to filtered tach signal n
scarry out differential calculation △ n
s/ △ t, obtains the real time acceleration a of plough axle (21), and by real time acceleration a and acceleration rate threshold a
0compare, if a<a
0, show that load gathers way trend obviously, then triggered time sampling;
Step 4, by filtered tach signal n
swith the stabilized (steady-state) speed n of plough axle (21)
0compare, to judge whether trench digging load change reaches the degree need carrying out regulating and controlling:
If n
s/ n
0>=0.6, then load change of ditching, in controlled range, does not do regulation and control response;
If n
s/ n
0<0.6, then according to rotating speed n
sreach 0.6n
0time time-sampling number determination 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
0, showing that load sharply increases, there is ratchel barrier in front, then 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) sends warning, and prompting driver gets off inspection;
If t>=t
0, show that load does not freely cause load to continue to increase due to casting, then controller (23) is given an order, and motor (9) rotates, and the pace of adjustment ditching machine, makes trench digging load drop to optimum condition automatically.
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 CN103529867A (en) | 2014-01-22 |
| CN103529867B true CN103529867B (en) | 2016-01-20 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7127292B2 (en) | 2018-02-14 | 2022-08-30 | オムロン株式会社 | Sensor unit, control method, program, and recording medium |
| CN109005770B (en) * | 2018-07-19 | 2021-06-15 | 湖南新型智慧城市研究院有限公司 | Seeder based on big data |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (2)
| 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 |
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2013
- 2013-10-18 CN CN201310491313.7A patent/CN103529867B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| CN103529867A (en) | 2014-01-22 |
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