CN104541636A - Electric control method and electric control device for adjustment of hydraulic suspension position of tractor - Google Patents
Electric control method and electric control device for adjustment of hydraulic suspension position of tractor Download PDFInfo
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- CN104541636A CN104541636A CN201410843680.3A CN201410843680A CN104541636A CN 104541636 A CN104541636 A CN 104541636A CN 201410843680 A CN201410843680 A CN 201410843680A CN 104541636 A CN104541636 A CN 104541636A
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Abstract
The invention discloses an electric control method and an electric control device for adjustment of a hydraulic suspension position of a tractor. The electric control method and the electric control device are applied to a hydraulic suspension system of the tractor. The device comprises an electro-hydraulic proportional directional valve, a controller, an angle sensor, a display, a control panel and the like. The display, the control panel and the controller are mounted in a cab of the tractor or a right wheel fender, and the controller is respectively connected with the control panel, the display, the angle sensor and the electro-hydraulic proportional directional valve through cables. The angle sensor is respectively connected onto a lifter shell of the tractor and a rotating shaft of an external lifting arm of the tractor to detect relative positions of agricultural implements to the tractor. The electro-hydraulic proportional directional valve is capable of controlling the hydraulic suspension system to lift an oil cylinder according to signals of the controller, and accordingly operation positions of the agricultural implements can be adjusted.
Description
Technical field
The present invention relates to farm tractor unit operation depth adjustment control field, the electric control gear that especially a kind of tractor hydraulic hanging position regulates and method.
Background technology
Tractor carries out farm work by hydraulic lift hitch mounting farm machinery usually.Hydraulic lift hitch, by hydraulicdirectional control valve hydraulic control oil cylinder, promotes or decline farm machinery, regulates farm machinery depth of implements.The uniformity of the Field-working Tractor-implement degree of depth directly affects agronomy level, is also the important indicator weighing tractor work level height.In order to realize the even of the Field-working Tractor-implement degree of depth, suspension arrangement has the control modes such as position control, draught control, power position Comprehensive Control
[1 ~ 4].
The tractor hydraulic suspension arrangement overwhelming majority of current production adopts mechanical mechanism to realize position adjustments and resistance regulates.Mechanical location regulates the cam lift in most employing on suspended axle as the output signal of farm machinery depth of implements, cam lift displacement signal is delivered to hydraulic pressure lift guiding valve by machine driving leverage, and the displacement of the hydraulic pressure lift guiding valve set with driver's depth of implements balances each other.If cause farm machinery to rise because of various interference or decline, cam lift change causes the equilbrium position promoting guiding valve to be destroyed, the Bit andits control hydraulic jack promoting guiding valve drives farm machinery to produce the displacement contrary with interference, farm machinery declined or promotes, controlling farm machinery near predetermined depth of implements.
Depth of implements is arranged by position adjustment operation handle by driver.The control mode of operating grip makes driver directly cannot read the actual job depth parameter of farm implements, needs to rely on debugging and driver experience in operation process and estimates.The factor such as gap, elastic deformation, friction of the mechanical transmission mechanism of position adjustments signal all directly reduces control accuracy, response speed to whole adjusting device.
Through looking into, the domestic patent about tractor electronically-controlled suspension system only has one at present, and title is " the crawler tractor electronically-controlled suspension device that convertible hang gag lever post is spacing " patent No. 201220502117.6.The patent provides 2, a kind of tractor and hang the switching with trifilar suspension, with the crawler tractor electronically-controlled suspension device that gag lever post is spacing.Research is with the spacing suspension arrangement of gag lever post emphatically, only can realize automatically controlled draught control strategy.
Summary of the invention
The invention provides a kind of Automatic adjustment method and device of tractor mounted equipment position, position control strategy can be adopted to realize tractor farmland operation uniform depth, and can select to control depth of implements parameter according to the soil situation of agronomy demand and tractor farming.
The technical solution used in the present invention: the electric control gear that a kind of tractor hydraulic hanging position regulates, comprise controller, electricity hydraulic control proportional reversing valve, angular transducer, tractor comprises lifter, lift arm, lift cylinder and hydraulic oil container, in the lifter housing that described angular transducer is separately fixed at described tractor and lift arm rotating shaft, described electro-hydraulic proportion reversing valve comprises oil-out, oil-in and oil return opening, the oil-out of described electro-hydraulic proportion reversing valve connects the pressure chamber of described lift cylinder, the oil-in of described electro-hydraulic proportion reversing valve connects the oil-out of described hydraulic pump, the oil return opening of described electro-hydraulic proportion reversing valve connects described hydraulic oil container, described controller connection angle sensor, and control signal is flowed to described electro-hydraulic proportional valve.
In such scheme, described angular transducer is arranged in described tractor lifting mechanism housing and lift arm rotating shaft respectively by connecting plate and elastic coupling joint.
In such scheme, described controller also comprises display and control panel, and described display and control panel are connected described control respectively.
In such scheme, described controller, control panel and display are arranged on tractor driving indoor by support and connection plate.
A kind of tractor hydraulic hanging position control method, comprising:
The first step, the signal that described in described controller Real-time Collection, angular transducer records, and calculate farm implements depth of implements parameter P1, and display is on the display;
Second step, after driver obtains the depth of implements parameter on display, selects suitable depth of implements parameter P2 on the control panel;
3rd step, controller calculates the difference of depth of implements parameter P1 and depth of implements parameter P2, and difference is calculated as control algolithm;
4th step, controller is to electro-hydraulic proportion reversing valve output regulation signal, and electro-hydraulic proportion reversing valve according to the stroke of described control signal hydraulic control oil cylinder, thus drives rising or the decline of farm machinery.
Advantage of the present invention is:
1. this electric control gear can realize the accurate closed-loop control of farm implements job position.
2. the control software design of this electric control gear can according to different tractor and the parameter of soil property adjustment positional control algorithm hanging size and operation field, to adapt to different unit and different operating areas;
3. the controller of this electric control gear and display can monitor farm implements position control parameter in real time.
Accompanying drawing explanation
Fig. 1 is the electric control gear schematic diagram that tractor hydraulic hanging position regulates.
Fig. 2 is control panel figure
Fig. 3 is the logic chart of position control software.
In figure: 1. controller 2. control panel 3. display 4. electro-hydraulic proportion reversing valve 5 angular transducer 6. lift arm 7. hydraulic jack 8. farm implements 9. lower link 10. hydraulic pump 11. pattern knob 12. rising or falling speed adjusting knob 13. depth of implements knob
Embodiment
This electric control gear is made up of controller, electro-hydraulic proportion reversing valve, display, control panel, angular transducer, replaces the depth of implements governor motion of hydraulic control valve in traditional Characteristics of Tractor Hydraulic Suspension System and mechanically controlled type with this.
Whole apparatus structure as shown in Figure 1, at the gyroaxis place setting angle sensor 5 of the lift arm 6 of suspension arrangement, is used for detecting the corner of lift arm 6; The lift arm corner that angular transducer 5 records by controller is in real time converted into real-time tilth, and by real-time actual tilth with preset tilth and compare, then both differences are sent to electro-hydraulic proportion reversing valve as negative-feedback signal, electro-hydraulic proportional valve, according to the signal of controller, regulates tilth in real time.
Driver can select mode of operation according to actual job situation by control panel 2.Mode of operation knob 11, agricultural implement mounting lifting speed adjusting knob 12, depth of implements setting knob 13, as shown in Figure 2; Mode of operation knob has lifting, decline, stopping and adjustment four patterns available; When selecting Lifting scheme, farm implements 8 promote by controller 1 hydraulic control oil cylinder 7; If when selecting stop position, farm implements 8 stop lifting; When selecting to decline, then farm implements decline; If when selecting adjusting position, controller regulates farm implements automatically by according to the tilling depth of setting.Rising or falling speed adjusting knob 12, for regulating farm implements lifting/decrease speed, prevents farm implements from promoting/declining too fast and chatter occurs.
Controller 1, according to the mode select signal of sensor angles sensor 5 and control panel 2, calculates depth of implements control signal, and sends control signal to electro-hydraulic reversing valve 4.Electro-hydraulic proportion reversing valve 4, according to the piston movement direction of the control signal hydraulic control oil cylinder 7 of controller 1 and stroke size, controls lift arm 6 rotational displacement, controls the depth of implements parameter of farm implements 8 with this.
Tractor carries out the farm implements position control principle of farmland operation.Work pattern knob 11 on control panel 2 has four positions available, is respectively to promote, decline, stop and regulating.When pattern knob 11 is selected to regulate, realized the position control of farm implements by the setting farm implements depth of implements value of the depth of implements knob 13 on control panel.
Below in conjunction with accompanying drawing, the present invention is described further
1 installs this device according to Fig. 1 on tractor set;
2, according to the structural parameters of tractor set, the soil compactibility of operation field and operation type, arrange the parameter of control software design;
3 tractor sets are before the transfer of farmland; pattern knob 11 on control panel 2 is pushed raised position, after promoting farm implements to the shipping height of safety, pattern knob 11 is reversed stop position; make farm implements remain on suitable transporting position, guarantee unit driving safety.
Before 4 farm works, pattern knob 11 is allocated to down position, controls farm implements by regulating rising or falling speed adjusting knob 12 and decline with suitable speed.After farm implements land, pattern knob 11 is allocated to adjusting position, selects depth of implements by depth of implements knob 13.After having adjusted, tractor set starts to carry out farmland operation.Farm implements job position control strategy in operation is as shown in Figure 3:
The depth of implements parameter determining farm implements is set by depth of implements knob 13.Angular transducer 5 on lift arm 6 axle is arranged on by lift arm angle signal Real-time Feedback to controller 1 in Fig. 1, controller calculates the farm implements actual job degree of depth according to lift arm goniometer, and the depth of implements value that the farm implements actual job degree of depth and depth of implements knob 13 set is compared, using the control signal of both deviations as electro-hydraulic proportion reversing valve 4, the depth of implements of farm implements 8 is regulated to reach setting depth of implements in real time.
5 in the operation of tractor pendent eT, and operator on the tractor monitors farm implements position by the depth of implements amount of display on display 3.
In addition to the implementation, the present invention can also have other embodiments.All employings are equal to the technical scheme of replacement or equivalent transformation formation, all drop on the protection domain of application claims.
Claims (5)
1. the electric control gear of a tractor hydraulic hanging position adjustment, it is characterized in that, comprise controller (1), electricity hydraulic control proportional reversing valve (4), angular transducer (5), tractor comprises lifter, lift arm, lift cylinder and hydraulic oil container, in the lifter housing that described angular transducer (5) is separately fixed at described tractor and lift arm rotating shaft, described electro-hydraulic proportion reversing valve (4) comprises oil-out, oil-in and oil return opening, the oil-out of described electro-hydraulic proportion reversing valve (4) connects the pressure chamber of described lift cylinder, the oil-in of described electro-hydraulic proportion reversing valve (4) connects the oil-out of described hydraulic pump (10), the oil return opening of described electro-hydraulic proportion reversing valve (4) connects described hydraulic oil container, described controller (1) connects described electro-hydraulic proportional valve (4).
2. the electric control gear of a kind of tractor hydraulic hanging position adjustment according to claim 1, it is characterized in that, described angular transducer (5) is arranged in described tractor lifting mechanism housing and lift arm rotating shaft respectively by connecting plate and elastic coupling joint.
3. the electric control gear of a kind of tractor hydraulic hanging position adjustment according to claim 1, it is characterized in that, described controller (1) also comprises display (3) and control panel (2), and described display (3) is connected described control (1) respectively with control panel (2).
4. the electric control gear of a kind of tractor hydraulic hanging position adjustment according to claim 3, it is characterized in that, described controller (1), control panel (2) and display (3) are arranged on tractor driving indoor by support and connection plate.
5. a tractor hydraulic hanging position control method, is characterized in that, comprising:
The first step, the signal that described in described controller (1) Real-time Collection, angular transducer (5) records, and calculate farm implements depth of implements parameter P1, and be presented on described display (3);
Second step, after driver obtains the depth of implements parameter on display (3), at the depth of implements parameter P2 that the upper selection of control panel (2) is suitable;
3rd step, controller (1) calculates the difference of depth of implements parameter P1 and depth of implements parameter P2, and difference is calculated as control algolithm;
4th step, controller (1) is to electro-hydraulic proportion reversing valve (4) output regulation signal, electro-hydraulic proportion reversing valve (4) according to the stroke of described control signal hydraulic control oil cylinder (7), thus drives rising or the decline of farm machinery (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410843680.3A CN104541636A (en) | 2014-12-30 | 2014-12-30 | Electric control method and electric control device for adjustment of hydraulic suspension position of tractor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410843680.3A CN104541636A (en) | 2014-12-30 | 2014-12-30 | Electric control method and electric control device for adjustment of hydraulic suspension position of tractor |
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| CN104541636A true CN104541636A (en) | 2015-04-29 |
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|---|---|---|---|
| CN201410843680.3A Pending CN104541636A (en) | 2014-12-30 | 2014-12-30 | Electric control method and electric control device for adjustment of hydraulic suspension position of tractor |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104938072A (en) * | 2015-05-29 | 2015-09-30 | 浙江理工大学 | Double-balanced oil cylinder transverse horizontal control device |
| CN104996011A (en) * | 2015-07-24 | 2015-10-28 | 李惠远 | Smart protection and control system and method for universal joint and gearbox of rotary cultivator |
| CN105900551A (en) * | 2016-04-22 | 2016-08-31 | 扬州大学 | Tilling depth detection control system and tilling depth control method for suspended agricultural machine |
| CN106612682A (en) * | 2017-01-04 | 2017-05-10 | 江苏大学 | Electro-hydraulic hanging field end self-adaptive lifting device for tractor and control method |
| CN106717212A (en) * | 2016-11-27 | 2017-05-31 | 雷沃重工股份有限公司 | Tractor equipment management control method |
| CN107318288A (en) * | 2017-07-20 | 2017-11-07 | 上海宏英智能科技有限公司 | A kind of electro-hydraulic hitch control device |
| CN107643716A (en) * | 2017-10-27 | 2018-01-30 | 南京农业大学 | A kind of tractor tilling depth automaton based on moment of torsion regulation |
| CN108040518A (en) * | 2017-11-17 | 2018-05-18 | 江苏大学 | The tractor hanging and control method of a kind of adjustable farm implements height and angle of heel |
| CN108401598A (en) * | 2017-11-27 | 2018-08-17 | 中联重机股份有限公司 | A kind of tractor trifilar suspension high precision control method and device |
| CN109729772A (en) * | 2018-12-21 | 2019-05-10 | 江苏大学 | A kind of tractor multiple degrees of freedom electric-controlled hydraulic hanging control system and method |
| CN110431947A (en) * | 2019-08-09 | 2019-11-12 | 河南科技大学 | A kind of electrohydraulic hitch system for electric tractor |
| CN110583130A (en) * | 2019-09-26 | 2019-12-20 | 华中农业大学 | Tractor tilling depth electro-hydraulic control device and method based on angle adjustment |
| CN111226603A (en) * | 2020-01-20 | 2020-06-05 | 新疆新研牧神科技有限公司 | Header control system and method and harvester |
| CN112352490A (en) * | 2020-10-20 | 2021-02-12 | 山东大学 | Double-cylinder hydraulic lifter for tractor |
| CN112470586A (en) * | 2020-12-07 | 2021-03-12 | 湖北工业大学 | Bidirectional control electro-hydraulic suspension system of tractor |
| CN114115060A (en) * | 2021-12-01 | 2022-03-01 | 湖南农业大学 | Tractor three-point suspension lifting control system |
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| CN103518434A (en) * | 2013-10-11 | 2014-01-22 | 江苏大学 | Rear suspension electric lifting device of tractor |
| CN203758732U (en) * | 2014-03-14 | 2014-08-06 | 南京农业大学 | Electro-hydraulic suspension loading experiment table of tractor |
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| CN201709092U (en) * | 2010-07-02 | 2011-01-19 | 北京农业信息技术研究中心 | Laser receiver height adjusting device for land leveler |
| CN202603167U (en) * | 2012-05-31 | 2012-12-19 | 新乡市华锐流体控制技术有限公司 | Electro-hydraulic control lifting mechanism |
| CN102792797A (en) * | 2012-08-03 | 2012-11-28 | 浙江大学 | Electro-hydraulic control suspension device |
| CN103518434A (en) * | 2013-10-11 | 2014-01-22 | 江苏大学 | Rear suspension electric lifting device of tractor |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104938072B (en) * | 2015-05-29 | 2016-11-02 | 浙江理工大学 | Double balancing cylinder transverse horizontal control device |
| CN104938072A (en) * | 2015-05-29 | 2015-09-30 | 浙江理工大学 | Double-balanced oil cylinder transverse horizontal control device |
| CN104996011A (en) * | 2015-07-24 | 2015-10-28 | 李惠远 | Smart protection and control system and method for universal joint and gearbox of rotary cultivator |
| CN104996011B (en) * | 2015-07-24 | 2017-03-29 | 李惠远 | A kind of intelligent protection control method of rotary cultivator universal joint and change speed gear box |
| CN105900551A (en) * | 2016-04-22 | 2016-08-31 | 扬州大学 | Tilling depth detection control system and tilling depth control method for suspended agricultural machine |
| CN106717212A (en) * | 2016-11-27 | 2017-05-31 | 雷沃重工股份有限公司 | Tractor equipment management control method |
| CN106612682A (en) * | 2017-01-04 | 2017-05-10 | 江苏大学 | Electro-hydraulic hanging field end self-adaptive lifting device for tractor and control method |
| CN106612682B (en) * | 2017-01-04 | 2019-02-05 | 江苏大学 | One kind being used for the adaptive lifting device of tractor electro-hydraulic hitch the edge of a field and control method |
| CN107318288B (en) * | 2017-07-20 | 2019-11-29 | 上海宏英智能科技有限公司 | A kind of electro-hydraulic hitch control device |
| CN107318288A (en) * | 2017-07-20 | 2017-11-07 | 上海宏英智能科技有限公司 | A kind of electro-hydraulic hitch control device |
| CN107643716A (en) * | 2017-10-27 | 2018-01-30 | 南京农业大学 | A kind of tractor tilling depth automaton based on moment of torsion regulation |
| CN108040518A (en) * | 2017-11-17 | 2018-05-18 | 江苏大学 | The tractor hanging and control method of a kind of adjustable farm implements height and angle of heel |
| CN108401598A (en) * | 2017-11-27 | 2018-08-17 | 中联重机股份有限公司 | A kind of tractor trifilar suspension high precision control method and device |
| CN109729772A (en) * | 2018-12-21 | 2019-05-10 | 江苏大学 | A kind of tractor multiple degrees of freedom electric-controlled hydraulic hanging control system and method |
| CN110431947A (en) * | 2019-08-09 | 2019-11-12 | 河南科技大学 | A kind of electrohydraulic hitch system for electric tractor |
| CN110583130A (en) * | 2019-09-26 | 2019-12-20 | 华中农业大学 | Tractor tilling depth electro-hydraulic control device and method based on angle adjustment |
| CN111226603A (en) * | 2020-01-20 | 2020-06-05 | 新疆新研牧神科技有限公司 | Header control system and method and harvester |
| CN112352490A (en) * | 2020-10-20 | 2021-02-12 | 山东大学 | Double-cylinder hydraulic lifter for tractor |
| CN112470586A (en) * | 2020-12-07 | 2021-03-12 | 湖北工业大学 | Bidirectional control electro-hydraulic suspension system of tractor |
| CN114115060A (en) * | 2021-12-01 | 2022-03-01 | 湖南农业大学 | Tractor three-point suspension lifting control system |
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Application publication date: 20150429 |