CN107370446A - Agricultural operation machine actuating device - Google Patents
Agricultural operation machine actuating device Download PDFInfo
- Publication number
- CN107370446A CN107370446A CN201710608743.0A CN201710608743A CN107370446A CN 107370446 A CN107370446 A CN 107370446A CN 201710608743 A CN201710608743 A CN 201710608743A CN 107370446 A CN107370446 A CN 107370446A
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- China
- Prior art keywords
- control device
- work vehicle
- information
- speed
- feedback
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
Abstract
The agricultural operation machine actuating device of the present invention has：Position control, electric logic control device, driver, driving equipment, infomation detection collection and feedback device；The position control, electric logic control device are connected with driver, driving equipment, infomation detection collection with feedback device using circuit；The driving equipment is arranged on agricultural work vehicle and its each mechanical device.The drive device with stability it is good, with stronger antijamming capability, feed speed uniform and stable, dynamic response be fast, speed-regulating range width, with low-speed big the characteristics of.
Description
Technical field
The present invention relates to the drive device of agricultural machinery technological field, more specifically, is related to agricultural work vehicle driving
Device.
Background technology
Existing agricultural work vehicle as driving force, is operated agriculture machine by machine driving using internal combustion engine,
Due to lacking the drive device precisely moved, existing agricultural work vehicle can not carry out automated job.Make agricultural work vehicle
Operation can be automatically carried out, agricultural work vehicle there need to be the drive device precisely moved.In order that agricultural work vehicle has essence
The drive device of quasi-moving, the present invention provide a kind of agricultural operation machine actuating device.
The content of the invention
In order to achieve the above object, the present invention provides agricultural operation machine actuating device.This example is using agricultural work vehicle
Drive device possesses：Control device, driver, driving equipment, infomation detection collection and feedback device.The control device, drive
Dynamic device, driving equipment, infomation detection collection are connected with feedback device using circuit；The driving equipment is arranged on agricultural work vehicle
And its on each mechanical device.
Inventive technique scheme
In order to reach the drive device that agricultural work vehicle can automatically carry out operation purpose, technical em- bodiments of the invention：
The agricultural operation machine actuating device of use possesses：Position control, electric logic control device, driver, driving equipment, letter
Breath detection collection and feedback device；The position control, electric logic control device and driver, driving equipment, information
Detection collection is connected with feedback device using circuit；The driving equipment is arranged on agricultural work vehicle and its each mechanical device.
In addition, agricultural operation machine actuating device according to embodiments of the present invention can also have following additional technical feature.
Some embodiments, the position control is by theoretical given position value, velocity amplitude and actual feedback positional value, speed
Angle value is compared, input of its difference as driving regulation, through driver control motor；It has been used in being controlled in position
The error compensation of Gain tuning, each coordinate into position loop and anti-backlash compensation.The electric logic control device completion pair
Information that the switching function information of agricultural work vehicle and the signal of agricultural work vehicle bed body, agricultural operation operators input etc. is entered
The processing such as row logical operation, numerical computations, exports logical control information.The driver is used for receiving position control device, electricity
The command information of gas logic control device, carries out signal conversion and voltage, power are amplified, and drives and control driving equipment
It is operated.The requirement that the driving equipment performs driver is operated.The driving equipment has motor, magnetic valve, each
Kind switch.Described information detection collection includes with feedback device：Feedback circuit, infomation detection collecting device；Described information detects
Collection is used to detect the various real time information for gathering agricultural work vehicle and its each mechanical device with feedback device；And adopted detecting
The real time information of collection feeds back to corresponding processor and handled.
Some embodiments, the position control have：Positioner, speed control；The positioner
Compared with detecting the actually detected positional value of collection with feedback device according to the theoretical given position value of instruction and detection collection,
Regulation；With the data after comparing, adjusting come output result position command information.The speed control unit is given according to instruction theory
The actually detected velocity amplitude that constant speed angle value and detection collection detect collection with feedback device is adjusted：With the data after regulation
Carry out output result speed command information.
Some embodiments, the electric logic control device processing agricultural work vehicle and its urgent of each mechanical device stop
Only, the signal such as lubrication, cooling, operating type selection, hand feed, motor start and stop；The electric logic control device is also to agriculture
Industry working rig selects the processes such as power tool, working rig and its positioning of each mechanical device to carry out logic control；The electric logic
The action process such as rotary shaft rotating of the control device also to agricultural work vehicle, orientation, speed change are controlled；The electric logic
The switching function and the information of agricultural work vehicle bed body that control device is used in working rig working procedure do logical process, realize each
Chain between function and mode of operation, the start and stop of the electric equipment of working rig, power tool exchange, the counting of the duration of runs.
Some embodiments, the command pulse that the pulse ratio is exported according to agricultural work vehicle control device compared with control device with
The feedback command pulse of position detector is compared；Acquired position error signal is watched for foundation to control after using relatively
Take steering and the rotating speed of motor.The command signal that the phase bit comparison control device is exported according to agricultural work vehicle control device with
The phase of the feedback signal of position detector is compared；And by the phase difference variable after comparison into an error voltage with polarity
Signal.The amplitude com parison control device controls agricultural work vehicle and its each machine according to the size of the amplitude of position detection information
The displacement of tool device；And in this, as position feed back signal compared with the command information that agricultural work vehicle control device exports
Computing.The full-digital control device is fed back in computer using position, speed, electric current whole digital information, by agricultural
Position, speed, electric current are adjusted using pid control parameter for working rig system software.
Some embodiments, physical location, actual speed, the reality that the drive device is detected using detection with feedback unit
The value of the information such as border phase, the actual magnitude theoretical position given with position control, electric logic control device, theoretical speed
The difference of the values of information such as degree, notional phase, theoretical amplitude is as speed regulated quantity.
Some embodiments, the driving equipment include：Stepper motor, DC servo motor, AC servo motor, straight-line electric
Mechanical, electrical magneto, pressure motor, motor, magnetic valve, various switches.
Some embodiments, described information detection collection include with feedback device：Detecting element, signal processing apparatus；It is described
Infomation detection gathers to be included with feedback device detection and the detecting element of feedback unit：Rotary transformer, inductosyn, coding
Device, grating, magnetic grid, laser；Metering system includes used by infomation detection is gathered with feedback device：Direct measurement, survey indirectly
Amount, digital measurement, analog measurement, increment type measurement, absolute type measurement.
Some embodiments, the drive device have motor, drive signal control change-over circuit, power electronics drive amplification
Module, electric current conciliation unit, speed adjustment unit, position conciliation unit and corresponding detection means.
Some embodiments, the output quantity of the drive device can reappear input quantity；The drive device has stability, tool
There is stronger antijamming capability, feed speed is uniformly, steadily.The motor dynamic response is fast；The motor speed
Adjustable range is wide, has low-speed big.
The effect of invention
Agricultural operation machine actuating device involved in the present invention can easily realize the driving dress that agricultural work vehicle precisely moves
Put, meet that agricultural work vehicle carries out drive device requirement that is automatic, accurately carrying out operation.The agricultural operation of the embodiment of the present invention
Machine actuating device is simple in construction, is easily achieved.
Brief description of the drawings
Next instantiation explanation is carried out to the present invention, but these examples do not limit the present invention with explanation, only with reference under
The present invention will be described for the embodiment of row brief description of the drawings.
In the following figures：
Fig. 1 is structure, composition, the workflow of the agricultural operation machine actuating device of one of which scheme according to embodiments of the present invention
Journey schematic diagram；
Fig. 2 is structure, composition, the workflow of the agricultural operation machine actuating device of one of which scheme according to embodiments of the present invention
Journey schematic diagram；
Fig. 3 is the amplitude com parison control device of the agricultural operation machine actuating device of one of which scheme according to embodiments of the present invention
Structure, composition, workflow schematic diagram；
Fig. 4 is the phase bit comparison control device of the agricultural operation machine actuating device of one of which scheme according to embodiments of the present invention
Structure, composition, workflow schematic diagram；
Fig. 5 is the full-digital control device of the agricultural operation machine actuating device of one of which scheme according to embodiments of the present invention
Structure, composition, workflow schematic diagram.
In the figures above
1. control device, 2. drivers, 2a. drivers, 3. motors, 3a. motors, 4. detectors, 4a. detectors,
4b. detectors, 4c. detectors, 5. detections and feedback device, 5a. detections and feedback device, 5b. detections and feedback device, 5c.
Detection adjuster, 9. speed ratios compared with feedback device, 6. position controls, 7. speed control units, 8. positions are relatively adjusted
Device, 10. drivers, 11. feed motion motors, 12. speed detectors, 13. detection feedback circuits, 14. position detectors, 15.
Detect feedback circuit, 16. electric logic control devices, 17. drivers, 18. shaft rotating motors, 19. speed detectors, 20. inspections
Feedback circuit, 21. detection feedback circuits, 22. angle detectors, 24. magnitude comparators, 25.D/A converters 26. is surveyed to drive and put
Big device, 27. motors, 28. position detectors, 29. amplitude discriminators, 30. Voltage-to-frequency Converters, 31. field circuits, 32. width
Value feedback device, 34. pulse-phase modulation devices, 35. reference generators, 36. phase discriminators, 37. driving amplifiers, 38. driving electricity
Machine, 39. filter amplifiers, the position detector of 40. filter and amplification 41., 43. software processings, 44. digital comparators,
45. PID Controller, 46. speed controls, 47. driving amplifiers, 48. motors, 49. digital detection collectors.
Specific implementation
For the purposes of the present invention, technical scheme is more clearly understood, and further, carries out specific embodiment to the present invention and says
It is bright, but the present invention is not intended to be limited in any, the present invention is further illustrated only with reference to embodiment as described below.
Below please also refer to Fig. 1 to Fig. 5,
Referring to Fig. 1, agricultural operation machine actuating device has position control (6), electric logic control device (16), driver
(2), driving equipment (3), infomation detection collection and feedback device (5).The position control (6) and driver (2), driving
Equipment (3), infomation detection collection are connected with feedback device (5) using circuit.Electric logic control device (16) and driver
(2a), driving equipment (3a), infomation detection collection are connected with feedback device (5b) using circuit.The position control (6)
Receive the theoretical set-point and infomation detection collection and feedback device of the control instruction for the processor processing that control device is not shown
(5), infomation detection collection with feedback device (5a) collection each feed shaft mechanical device of agricultural work vehicle real-time speed with real time
Positional information, and by theoretical set-point with detection collection actual value calculated, compared with, regulation handle, by the end value of processing
Driver (2) is sent to, the end value command information of driver (2) reception processing carries out carrying out letter using unshowned converter
Breath conversion, driver (2) are simultaneously each by the command information progress voltage of conversion, power amplification and speed regulation driving agricultural work vehicle
The motor (3) of feed shaft mechanical device is operated；Infomation detection gathers to be used for the detector (4) of feedback device (5)
The real-time speed of the motor (3) of each feed shaft mechanical device of agricultural work vehicle is detected, and real-time velocity amplitude is passed through into letter
The feedback circuit of breath detection collection and feedback device (5) feeds back to position control (6) and handled；Infomation detection gather with
The detector (4) of feedback device (5a) is used for the real-time position information for detecting each feed shaft mechanical device of agricultural work vehicle, and will
Real-time positional value feeds back to position control (6) by the feedback circuit of infomation detection collection and feedback device (5a) to be carried out
Processing；The result of processing is sent to the processor of unshowned control device, driver (2) by position control (6).Electrically
Logic control device (16) receive the logic control instruction information of the processor of the control device of unshowned agricultural work vehicle with
Programmable device inputs the equipment (4c) such as the travel switch, button switch, limit switch of information and each mechanical device of agricultural work vehicle
Information gathering is used with feedback signal and user program is performed in a manner of multiple scanning, suitable by geocoding first before configuration processor
Sequence reads in the on off operating mode of all input terminals in input mapping register, then starts to perform user program, was performing
Cheng Zhong, even if input signal changes, input that the content of mapping register is also constant, until the input of next scan period
Processing stage just re-reads input state；The stage is performed in program, electric logic control device scans user program in order；
Information required for often performing a program all reads from input mapping register and other internal registers and participates in logic
Computing, numerical computations, then implementing result is write in output mapping register；After all instructions is finished, it will export
State in mapping register is completely transferred in output latch register；The electric logic control device and by latching register
Whole status informations in device are sent to agricultural work vehicle and its corresponding lubricating arrangement of each mechanical device, rotating device, hydraulic pressure
The driver (2a) of the equipment such as device, magnetic valve, various switches；Agricultural work vehicle and its each machinery are driven by driver (2a)
The corresponding lubricating arrangement of device, rotating device, driving equipment (3a) the progress work for changing the devices such as tool device, hydraulic means
Make；So as to realize the emergent stopping of agricultural work vehicle and its each mechanical device, lubrication, cooling, operating type selection, enter manually
Give, the control such as motor start and stop, and the processes such as power tool, working rig and its positioning of each mechanical device are selected to agricultural work vehicle
Logic control is carried out, and the action process such as rotary shaft rotating to agricultural work vehicle, orientation, speed change is controlled, and
To realizing that the information of switching function in working rig working procedure and agricultural work vehicle bed body does logical process, realize each function with
Chain between mode of operation, the start and stop of the electric equipment of working rig, power tool exchange, the counting of the duration of runs.Agricultural is made
Industry machine and its corresponding lubricating arrangement of each mechanical device, rotating device, the detector for changing the devices such as tool device, hydraulic means
(4b) is used to detect agricultural work vehicle and its corresponding lubricating arrangement of each mechanical device, rotating device, changes tool device, hydraulic pressure
The real-time speed of the motor (3a) of the devices such as device, and real-time velocity amplitude is passed through into infomation detection collection and feedback device
The feedback circuit of (5b) feeds back to electric logic control device (16) and handled；Infomation detection gathers and feedback device (5c)
Detector (4c) is used to detect agricultural work vehicle and its corresponding lubricating arrangement of each mechanical device, rotating device, replacing instrument dress
Put, the real time status information of the device such as hydraulic means, and real-time state value is passed through into infomation detection collection and feedback device
The feedback circuit of (5c) feeds back to electric logic control device (16) and handled；Electric logic control device (16) is by processing
As a result processor, the driver (2a) of unshowned control device are sent to.
Referring to Fig. 2, control device (1) has position control (6), speed control unit (7), electric logic control dress
Put (16).There is the position control (6) position to compare adjuster (8).The speed control unit (7) has speed ratio
Compared with adjuster (9).Electric logic control device (16) has memory (16a), central processing unit (16b), input/output interface
Module (16c).The unshowned processing unit of the control device (1) is by agricultural work vehicle working procedure or by needed for working rig
Operating area feature, operating type, the information of other information conversion are isolated the movement instruction of feed arrangement and calculated；Place
Theoretical set-point after reason is sent to position control (6).Position control (6) receives the reason of unshowned processing unit
The physical location for the position feedback device being made up of by set point command information and reception position detector with detection feedback circuit
Feedback information.Compare adjuster (8) and receive theoretical value instruction, the reality of data and feedback in the position of position control (6)
Positional information is compared regulation.Speed control unit (7) is sent to the result position command information compared after adjusting.Speed
Control device (7) receives the result position command information after comparing regulation and received by speed detector and detection feedback circuit group
Into speed feedback device actual speed feedback information.The speed ratio of speed control unit (7) receives compared with adjuster (9) to be compared
Result position command information after regulation is calculated and adjusted compared with actual speed feedback information, and output is accurately tied
Fruit speed command information is sent to driver (10).The driver (10) has SPM (IPM), overvoltage, mistake
The fault detect protection circuit such as electric current, overheat, under-voltage.The driver (10) receives accurately result speed command information and carried out
Motor (11) work of voltage, power amplification and driving agricultural work vehicle installation；The motor (11) is so as to dragging
The feeding mechanical device of agricultural work vehicle is operated.The speed detector (12) being arranged on motor (11) is by motor work
Feedback circuit (13) feeds back to speed control unit (7) and handled the actual speed of work after testing.It is described to be arranged on agriculture work
The position detector (14) of the feeding mechanical device of industry machine feeds back after testing by the actual positional information moved of mechanical device is fed
Electronic feedback is handled to position control.The unshowned processing unit of the control device (1) is by agricultural work vehicle
Working procedure isolates status command, logic control instruction and its data and is sent to electric logic control device (16).The electricity
Gas logic control device (16) has memory (16a), central processing unit (16b), input/output interface module (16c).It is described
Memory (16a) receives status command, logic control instruction and its data and agricultural operation of unshowned processing unit output
The user program and the position detector (22) of agricultural work vehicle shaft device and set that the programmable device of machine guidance panel inputs
The speed detector (19) on motor (18) put detects the actual speed of collection, the feedback information of actual position.It is described
Various data of the central processing unit (16b) in scan mode scanning input device, memory, state and be stored in input image post
In storage；Diagnose the syntax error in power supply and electric logic control device internal circuit working condition and programming process；To patrolling
Collect control instruction, data are resolved according to logical operation, arithmetical operation specified in user program；To accurately position, speed
Degree, status information export and give driver (17).The driver (17) receive accurately result speed command information carry out voltage,
The rotating device of power amplification driving agricultural work vehicle and motor (18) work of auxiliary machinery installation；The driving
Motor (18) is operated as requested so as to drag the rotation mechanism of agricultural work vehicle and auxiliary machinery.It is described to set
Putting the actual speed that the speed detector (19) on motor (18) works motor, feedback circuit (20) feedback is electric after testing
Logic control device is handled.The position detector of the rotation mechanism and servicing unit for being arranged on agricultural work vehicle
(22) by the positional information of the actual movement of rotation mechanism and servicing unit, feedback circuit feeds back to electric logic after testing
Control device (16) is handled.
Referring to Fig. 3, the control device (1) of agricultural work vehicle is by position command, data, information processing into theoretical amplitude pulse
Command information set-point is sent to the magnitude comparator (24) of amplitude control device.Magnitude comparator (24) receives theoretical amplitude arteries and veins
Rush command information set-point and amplitude feedback device detection means (32) feedback actual magnitude pulse command information be compared,
Regulation.Magnitude comparator (24) exports accurately result amplitude pulse command value.The D/A converter (25) will accurately tie
Fruit bat value command pulse value is converted into the information command value of driver (26) work.Driver (26) receives the accurately knot of conversion
Fruit bat value command pulse value carries out voltage, power amplification, requires to carry out speed regulation according to director data.Driver (26) uses
Accurately the motor (27) of velocity amplitude driving agricultural work vehicle is operated.The rotation that each mechanical device of agricultural work vehicle is set
The displacement information of transformation depressor (28) detection mechanism feeds back to amplitude discriminator (29).The amplitude discriminator (29) is by LPF
Device, amplifier, geophone group into.The displacement information of mechanical device is transformed into DC voltage by amplitude discriminator (29).The voltage one
Frequency changer (30) receives DC voltage conversion and feeds back to magnitude comparator (24) into corresponding pulse signal.The other electricity
Press a frequency changer (30) that corresponding pulse signal is fed back to the field circuit (31) of detector (28).
Referring to Fig. 4, control device (1) believes the position command, data, information processing of processing into notional phase pulse command
Breath set-point is sent to the pulse-phase modulation device (34) of phase control device.When control device does not export notional phase pulse command
When information set-point is sent to pulse-phase modulation device (34), the output of pulse-phase modulation device (34) and the base of reference generator (35)
Calibration signal same-phase；When control device has the arteries and veins for exporting notional phase pulse command information set-point and being sent to phase control device
When rushing phase converter (34), pulse-phase modulation device (34) output is advanced or lags one corresponding phase angle of reference signal.It is described
Pulse-phase modulation device (34) output phase information gives phase discriminator (36).Pumping signal is sent to by the other pulse-phase modulation device (34)
Filter amplifier (39)；The position detector (41) set on the mechanical device of agricultural work vehicle accepts filter amplifier (39)
Driving is operated.Phase discriminator (36) receives the phase information of pulse-phase modulation device (34) and the actual phase of phase feedback device feedback
Position is compared；Output result phase command information is sent to servo-driver (37).Driver (37) reception processing it is accurate
Result phase impulse command value carry out voltage, power amplification, according to director data require carry out speed regulation.Driver (26)
It is operated using the motor (38) of accurately velocity amplitude driving agricultural work vehicle.The mechanical device of the agricultural work vehicle
The positional information of detection is transformed into phase information and amplifies (40) after filtering by the position detector (41) of upper setting feeds back to mirror
Phase device (36) is handled.
Referring to Fig. 5, control device (1), which will be handled, inputs position command, data, information processing into theoretical digital set-point
Digital comparator (44) to full-digital control device.The digital comparator (44) receives theoretical digital set-point and number
The digital information of the physical location of word detection collector (49) feedback is compared by the way of software processing, adjusted, and is exported
Accurately digital information gives PID Controller (45).PID Controller (45) receives accurately digital information and number
The control method of digital information adoption rate/integral/derivative of the physical location of word detection collector (49) feedback is made further
Regulation, more accurately digital command information is sent to speed control (46) for output.Speed control receives precisely numeral
The speed command of formula simultaneously exports and gives driver (47).The accurately digital command value of driver (47) reception processing is carried out
Voltage, power amplification, require to carry out speed regulation according to director data.The driver (47) is driven using accurately velocity amplitude
The motor (48) of agricultural work vehicle is operated.The digital detector set on the mechanical device of the agricultural work vehicle
(49) positional information of detection is transformed into digital information and feeds back to digital comparator (44), PID Controller (45)
Handled.
For the purposes of the present invention, technical scheme is more clearly understood, and further, the present invention is embodied
Example explanation, but the present invention is not intended to be limited in any, the present invention is further said only with reference to embodiment as described below
It is bright.
The agricultural operation machine actuating device of the embodiment of the present invention possesses：Position control, electric logic control device, drive
Dynamic device, driving equipment, infomation detection collection and feedback device.The position control, electric logic control device and driving
Device, driving equipment, infomation detection collection are connected with feedback device using circuit；The driving equipment be arranged on agricultural work vehicle and
On its each mechanical device.
Further, optimize,
Preferably, the position control receive the processor of the control device of agricultural work vehicle theoretical given position value,
Velocity amplitude and described information detection gather to be carried out with live actual and actual feedback positional value, the velocity amplitude of feedback device detection
Compare, for its difference as regulated quantity, the velocity amplitude for exporting result is sent to the drive of agricultural work vehicle feed shaft mechanical device
Dynamic device；It is operated through driver control motor.Position control is used to complete agriculture work described in the control of position
The Gain tuning of position loop, the error compensation of each coordinate and the anti-backlash compensation of industry machine feed shaft mechanical device.Preferably, institute
State signal, agricultural work that electric logic control device completes switching function information and agricultural work vehicle bed body to agricultural work vehicle
Information of industry operators input etc. carries out the processing such as logical operation, numerical computations, exports logical process object information；And will be defeated
Go out the driver that logical process object information is sent to agricultural work vehicle rotary shaft mechanical device and servicing unit；Through driver control
Motor processed, magnetic valve, various switches are operated.Preferably, the driver be used for receiving position control device, electrically
The command information of logic control device, carries out signal conversion and voltage, power are amplified, and drives and enters with control driving equipment
Row work.Preferably, the requirement of the driving equipment execution driver is operated；The driving equipment has motor, electromagnetism
Valve, various switches.Preferably, described information detection collection has with feedback device：Feedback circuit, infomation detection collecting device；
Described information detection collection is used for the various real time information of detection collection agricultural work vehicle and its each mechanical device with feedback device.
The various real time information for detecting collection are fed back to corresponding processor and handled by the feedback circuit.
Further, optimize,
In order that agricultural operation machine actuating device has, control accuracy is high, stability is good, quick response, speed-regulating range width, low speed
Big torque, standard stop control, angle analysis control, minimum feed speed to highest feed speed scope can stable operation it is smoothed
Cross, feed motor there is larger and the long period overload capacity, the requirement for meeting quick response, motor can bear frequently
The functions such as startup, braking and reversion；Preferably, used selected by the detection collecting device of agricultural operation machine actuating device
Electrical equipment has：It is rotary transformer, inductosyn, photoelectric pulse coder, grating, magnetic scale, laser, temperature sensor, wet
Spend sensor, gravity sensor, flow sensor, pressure sensor, other sensors；Preferably, selected by the motor
The motor for selecting use has：Stepper motor, DC servo motor, AC servo motor, linear electric motors, linear dc motion actuator, straight line
Asynchronous machine, linear synchronous generator, linear stepping motor, permanent magnetic DC servomotor；Preferably, described information detection collection
Detection mode selected have by the way of：Increment type detection mode, absolute type metering system, digital measurement mode, mould
Plan formula metering system, direct measurement metering system, metering system is measured indirectly；Preferably, the governing system is selected uses
Speed control device have：PWM governing systems, frequency converter, inverter, transistor.Preferably, described information detection and processing unit institute
The infomation detection that selection uses has with processing unit：Temperature information detect with processing unit, humidity information detection with processing unit,
Gravitation information detects and processing unit, flow information detection and processing unit, pressure information detection and processing unit, other information
Detection and processing unit, pulse information detection and processing unit, phase information detection and processing unit, amplitude information detection and place
Manage device, digital infomation detection and processing unit.
In addition, the drive device of agricultural work vehicle according to embodiments of the present invention can also make following optimization design.
Some embodiments, it is preferable that the processor processing that the position control receives automatic job control device is made
The scene that treatment theory given position value, velocity amplitude and the described information detection collection of industry working procedure detect with feedback device
Reality is compared with actual feedback positional value, velocity amplitude, and as regulated quantity, the velocity amplitude for exporting result is sent its difference
Driver to agricultural work vehicle feed shaft mechanical device；It is operated through driver control motor.In being controlled in position
The position control is used to completing the Gain tuning of position loop of agricultural work vehicle feed shaft mechanical device, each coordinate
Error compensation and anti-backlash compensation.Preferably, the electric logic control device is completed to believe the switching function of agricultural work vehicle
Information that breath and the signal of agricultural work vehicle bed body, agricultural operation operators input etc. carries out logical operation, numerical computations etc.
Processing, export logical process object information；And output logical process object information is sent to agricultural work vehicle rotation shaft mechanical
The driver of device；It is operated through driver control motor, magnetic valve, various switches.Preferably, the driver is used
In receiving position control device, the command information of electric logic control device, carry out signal conversion and voltage, power are put
Greatly, driving is operated with control driving equipment.Preferably, the requirement of the driving equipment execution driver is operated；Institute
Stating driving equipment has motor, magnetic valve, various switches.Preferably, described information detection collection has with feedback device：Feedback
Circuit, infomation detection collecting device；Described information detection gathers and feedback device is for detection collection agricultural work vehicle and its respectively
The various real time information of mechanical device.The various real time information for detecting collection are fed back to corresponding place by the feedback circuit
Reason device is handled.
Some embodiments, it is preferable that the position control has：Positioner, speed control；The position
Controller receives the theoretical given position value of the processor of automatic control device and detection collection is detected with feedback device and adopted
The actually detected positional value of collection, which is compared, adjust etc., to be handled；Believed with the data after comparing, adjusting come output result position command
Breath.Preferably, the speed control unit receives the theoretical given speed value of the processor of automatic control device and detection is adopted
The actually detected velocity amplitude that collection detects collection with feedback device is adjusted；Referred to the data after regulation come output result speed
Make information.The agricultural work vehicle position control output result position command information and output result speed command information pair
Motor carries out complex controll；Realize the precise motion of each feed shaft mechanical device of agricultural work vehicle.
Some embodiments, the electric logic control device receive the control device processor separation of the agricultural work vehicle
The auxiliary function that goes out, logic control instruction information (including M, N, S, T instruction), programmable device, the travel switch of working rig, button are opened
The device signals such as pass, limit switch use performs user program in a manner of multiple scanning, is compiled first by address before configuration processor
Code order reads in the on off operating mode of all input terminals in input mapping register, then starts to perform user program, is holding
During row, even if input signal changes, input that the content of mapping register is also constant, until next scan period
The input processing stage just re-reads input state；The stage is performed in program, electric logic control device scans user in order
Program；Information required for often performing a program all reads and participated in from input mapping register and other internal registers
Logical operation, numerical computations, then implementing result is write in output mapping register；, will after all instructions is finished
State in output mapping register is completely transferred in output latch register；The electric logic control device will simultaneously latch
Whole status informations in register be sent to agricultural work vehicle and its corresponding lubricating arrangement of each mechanical device, rotating device,
The driver of the equipment such as hydraulic means, magnetic valve, various switches；Driving equipment is driven to be operated by driver；So as to real
The emergent stopping of existing agricultural work vehicle and its each mechanical device, lubrication, cooling, operating type selection, hand feed, motor start and stop
Deng control；The electric logic control device is also realized selects power tool, working rig and its each machinery dress to agricultural work vehicle
Put the processes such as positioning and carry out logic control；The electric logic control device is also realized positive and negative to the rotary shaft of agricultural work vehicle
Turn, the action process such as orientation, speed change is controlled；The electric logic control device also realizes opening in working rig working procedure
The information for closing function and agricultural work vehicle bed body does logical process, realizes chain, the working rig between each function and mode of operation
The start and stop of electric equipment, power tool exchange, the counting of the duration of runs.
Some embodiments, the drive device of the agricultural work vehicle can also have：Pulse ratio is compared with control device, phase ratio
Compared with control device, amplitude com parison control device, full-digital control device.The pulse ratio is compared with control device according to agricultural work vehicle
The command pulse of control device processor output is compared with the feedback command pulse of position detector；Taken using relatively rear
The position error signal obtained is foundation to control the steering of servomotor and rotating speed.The phase bit comparison control device is according to agricultural
The command signal of operation machine control device processor output is compared with the phase of the feedback signal of position detector；And will compare
Phase difference variable after relatively is into an error voltage signal with polarity.The amplitude com parison control device is according to position detection information
The size of amplitude control the displacement of agricultural work vehicle and its each mechanical device；And in this, as position feed back signal and agricultural
The command information of operation machine control device output is compared computing.The full-digital control device is controlled using agricultural work vehicle
The given position of de-vice processor, speed, electric current whole digital information are fed back in computer, soft by agricultural work vehicle system
Position, speed, electric current are adjusted using pid control parameter for part.
Some embodiments, physical location, actual speed, the reality that the drive device is detected using detection with feedback unit
The value of the information such as border phase, the actual magnitude theoretical position given with position control, electric logic control device, theoretical speed
The difference of the values of information such as degree, notional phase, theoretical amplitude is as speed regulated quantity.
Some embodiments, the agricultural operation machine actuating device also have：Driving equipment；The driving equipment includes stepping
Motor, DC servo motor, AC servo motor, linear electric motors, electromagnetic machine, pressure motor, motor, magnetic valve, various open
Close.
Some embodiments, the detection collection have detecting element and signal processing apparatus with feedback device.In order that agriculture
The drive device of industry working rig more precise motion, the detection collection and the detecting element of feedback device use rotation transformation
The equipment such as device, inductosyn, encoder, grating, magnetic grid, laser are carried out to the job information of the drive device of agricultural work vehicle
Accurately measure；The detection collection and the metering system of feedback device use direct measurement, indirectly measurement, digital measurement, mould
Analog quantity measurement, increment type measurement, absolute type measurement.
Some embodiments, the drive device of the agricultural work vehicle can also use servomotor, drive signal control to turn
Change circuit, power electronics drive amplification module, electric current conciliation unit, speed adjustment unit, position conciliation unit and corresponding inspection
Device is surveyed to realize.In order that drive device more accurately, is automatically operated, and further, the position of drive device
Ring reconciles control module, position detection and feedback fraction using position.The speed ring of drive device using speed ratio compared with demodulator,
Velocity feedback and speed detector.The electric current loop of drive device uses electric current demodulator, current feedback and current detecting link.
The power electronics drive device of the drive device uses drive signal generation circuit and power amplifier.
Some embodiments, it is preferable that the selected electricity used of the detection collecting device of agricultural operation machine actuating device
Gas element has：Rotary transformer, inductosyn, photoelectric pulse coder, grating, magnetic scale, laser, temperature sensor, humidity
Sensor, gravity sensor, flow sensor, pressure sensor, other sensors.Preferably, selected by the motor
The motor of use has：Stepper motor, DC servo motor, AC servo motor, linear electric motors, linear dc motion actuator, straight line are different
Walk motor, linear synchronous generator, linear stepping motor, permanent magnetic DC servomotor.Preferably, described information detection gathers
Detection mode is selected to be had by the way of：Increment type detection mode, absolute type metering system, digital measurement mode, simulation
Formula metering system, direct measurement metering system, metering system is measured indirectly.Preferably, used selected by the governing system
Speed control device has：PWM governing systems, frequency converter, inverter, transistor.Preferably, described information detection with processing unit selected by
The infomation detection and processing unit for selecting use have：Temperature information detects with processing unit, humidity information detection and processing unit, again
Force information detects to be examined with processing unit, flow information detection and processing unit, pressure information detection and processing unit, other information
Survey and processing unit, pulse information detection and processing unit, phase information detection and processing unit, amplitude information detection and processing
Device, digital infomation detection and processing unit.The agricultural operation machine actuating device uses above Optimized Measures, makes agriculture work
Industry machine actuating device have control accuracy is high, stability is good, quick response, speed-regulating range width, low speed high torque, standard stop control,
Angle analysis control, minimum feed speed to highest feed speed scope can stable operation seamlessly transit, feed motor and have
Larger and the overload capacity of long period, the requirement for meeting quick response, motor can bear frequently to start, brake and invert
Etc. function.The output quantity of the agricultural operation machine actuating device can reappear input quantity；The drive device has stability, has
Stronger antijamming capability, feed speed is uniformly, steadily.The motor dynamic response of the agricultural operation machine actuating device
It hurry up；The motor speed adjustable range is wide, has low-speed big.
It is apparent that the drive device of agricultural work vehicle involved by above example has the high function of positional precision；It is described
The output quantity of drive device can reappear input quantity；The drive device has the good function of stability, has stronger anti-interference
Ability, ensure feed speed uniformly, steadily；The drive device has that dynamic response is fast, the servo-drive system trace command letter
The response of breath is fast；The drive device has speed-regulating range width, low-speed big function.
It is apparent that ground, above example, involved agricultural operation machine actuating device can easily realize agriculture work
The drive device that industry machine precisely moves, meet that agricultural work vehicle can automatically, accurately carry out the requirement of operation.The present invention is implemented
The agricultural work vehicle driving device structure of example is simple, is easily achieved.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, this
Invention is disclosed above with preferred embodiment, is not limited to the present invention, any person skilled in the art, is not taking off
In the range of technical solution of the present invention, when the technology contents using the disclosure above make change or be modified to equivalent variations etc.
Imitate embodiment, as long as be without departing from technical solution of the present invention content, according to the technical spirit of the present invention, the present invention spirit and
Within principle, any modification, equivalent substitution and improvement for being made to above example etc., technical solution of the present invention is still fallen within
Protection domain.
Claims (10)
1. agricultural operation machine actuating device, it is characterised in that including：Position control, electric logic control device, driving
Device, driving equipment, infomation detection collection and feedback device；The position control, electric logic control device and driver,
Driving equipment, infomation detection collection are connected with feedback device using circuit；The driving equipment be arranged on agricultural work vehicle and its
On each mechanical device.
2. agricultural operation machine actuating device according to claim 1, it is characterised in that including：
The position control by theoretical given position value, velocity amplitude compared with actual feedback positional value, velocity amplitude, its
Input of the difference as driving regulation, through driver control motor；It is used for the increasing for completing position loop in being controlled in position
Benefit adjustment, the error compensation of each coordinate and anti-backlash compensation；
The electric logic control device complete to the signal of the switching function information of agricultural work vehicle and agricultural work vehicle bed body,
Information of agricultural operation operators input etc. carries out the processing such as logical operation, numerical computations, exports logical control information；
The driver be used for receiving position control device, the command information of electric logic control device, carry out signal conversion and
Voltage, power amplification, driving are operated with control driving equipment；
The requirement that the driving equipment performs driver is operated；The driving equipment has motor, magnetic valve, various opened
Close；
Described information detection collection includes with feedback device：Feedback circuit, infomation detection collecting device；Described information detection collection
It is used to detect the various real time information for gathering agricultural work vehicle and its each mechanical device with feedback device；And collection will be detected
Real time information feeds back to corresponding processor and handled.
3. agricultural operation machine actuating device according to claim 1 or 2, it is characterised in that including：
The position control has：
Positioner；The positioner is detected according to the theoretical given position value of instruction and detection collection with feedback device
The actually detected positional value of collection is compared, adjusted；With the data after comparing, adjusting come output result position command information；
Speed control；The speed control unit is examined according to the theoretical given speed value of instruction and detection collection with feedback device
The actually detected velocity amplitude for surveying collection is adjusted；With the data after regulation come output result speed command information.
4. the agricultural operation machine actuating device according to any one in claim 1-3, it is characterised in that including：
The emergent stopping of the electric logic control device processing agricultural work vehicle and its each mechanical device, lubrication, cooling, operation
The signals such as mode selects, hand feed, motor start and stop；The electric logic control device is also elected to be industry work to agricultural work vehicle
The processes such as tool, working rig and its positioning of each mechanical device carry out logic control；The electric logic control device is also to working rig
Rotary shaft rotating, orientation, the action process such as speed change be controlled；The electric logic control device works for working rig
The information of switching function and agricultural work vehicle bed body in program does logical process, realizes the company between each function and mode of operation
Lock, the start and stop of the electric equipment of working rig, power tool exchange, the counting of the duration of runs.
5. the agricultural operation machine actuating device according to any one in claim 1-4, it is characterised in that including：
Pulse ratio is compared with control device；The pulse ratio is compared with the command pulse that control device exports according to agricultural work vehicle control device
Compared with the feedback command pulse of position detector；Acquired position error signal controls for foundation after using relatively
The steering of servomotor and rotating speed；
Phase bit comparison control device；The command signal that the phase bit comparison control device exports according to agricultural work vehicle control device
Compared with the phase of the feedback signal of position detector；It is and the phase difference variable after comparison is electric into an error with polarity
Press signal；
Amplitude com parison control device；The amplitude com parison control device controls agriculture according to the size of the amplitude of position detection information
The displacement of industry working rig and its each mechanical device；And exported in this, as position feed back signal and agricultural work vehicle control device
Command information is compared computing；
Full-digital control device；The full-digital control device feeds back to meter using position, speed, electric current whole digital information
In calculation machine, position, speed, electric current are adjusted using pid control parameter by agricultural work vehicle system software.
6. the agricultural operation machine actuating device according to any one in claim 1-5, it is characterised in that including：It is described
Drive device, which uses, detects the information such as the physical location detected with feedback unit, actual speed, actual phase, actual magnitude
The value theoretical position given with position control, electric logic control device, theoretical velocity, notional phase, theoretical amplitude etc.
The difference of the value of information is as speed regulated quantity.
7. the drive device of the agricultural work vehicle according to any one in claim 1-6, it is characterised in that including：
Driving equipment includes：Stepper motor, DC servo motor, AC servo motor, linear electric motors, electromagnetic machine, pressure electricity
Mechanical, electrical magnet valve, various switches.
8. the drive device of the agricultural work vehicle according to any one in claim 1-7, it is characterised in that including：
Described information detection collection includes with feedback device：Detecting element, signal processing apparatus；Described information detection collection with it is anti-
The detection of feedback device and the detecting element of feedback unit include：Rotary transformer, inductosyn, encoder, grating, magnetic grid, swash
Light；Metering system includes used by infomation detection is gathered with feedback device：Direct measurement, indirectly measurement, digital measurement, mould
Analog quantity measurement, increment type measurement, absolute type measurement.
9. the drive device of the agricultural work vehicle according to any one in claim 1-8, it is characterised in that including：
It is single that there is the drive device motor, drive signal control change-over circuit, power electronics drive amplification module, electric current to reconcile
Member, speed adjustment unit, position conciliation unit and corresponding detection means.
10. the drive device of the agricultural work vehicle according to any one in claim 1-9, it is characterised in that including：
The output quantity of the drive device can reappear input quantity；The drive device has stability, has stronger anti-interference
Ability, feed speed is uniformly, steadily；
The motor dynamic response is fast；The motor speed adjustable range is wide, has low-speed big.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710608743.0A CN107370446A (en) | 2017-07-17 | 2017-07-17 | Agricultural operation machine actuating device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710608743.0A CN107370446A (en) | 2017-07-17 | 2017-07-17 | Agricultural operation machine actuating device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110792834A (en) * | 2019-10-15 | 2020-02-14 | 陕西科技大学 | Electric valve capable of realizing error compensation control and working method thereof |
| CN110961798A (en) * | 2019-12-02 | 2020-04-07 | 固高伺创驱动技术(深圳)有限公司 | Laser cutting control system and control method |
-
2017
- 2017-07-17 CN CN201710608743.0A patent/CN107370446A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110792834A (en) * | 2019-10-15 | 2020-02-14 | 陕西科技大学 | Electric valve capable of realizing error compensation control and working method thereof |
| CN110792834B (en) * | 2019-10-15 | 2021-07-06 | 陕西科技大学 | Electric valve capable of realizing error compensation control and working method thereof |
| CN110961798A (en) * | 2019-12-02 | 2020-04-07 | 固高伺创驱动技术(深圳)有限公司 | Laser cutting control system and control method |
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Application publication date: 20171121 |