CN107651007A - The electromechanical liquid control system and method for a kind of mulberry field fluid-link steering mini-tiller - Google Patents
The electromechanical liquid control system and method for a kind of mulberry field fluid-link steering mini-tiller Download PDFInfo
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- CN107651007A CN107651007A CN201711094588.1A CN201711094588A CN107651007A CN 107651007 A CN107651007 A CN 107651007A CN 201711094588 A CN201711094588 A CN 201711094588A CN 107651007 A CN107651007 A CN 107651007A
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- tiller
- mini
- control system
- hydraulic
- steering
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
Abstract
The present invention relates to a kind of electromechanical liquid control system of mulberry field fluid-link steering mini-tiller, real time position and course information in mulberry field geographical location information and mini-tiller operation process are obtained by using navigation positioning system, the expectation deflection angle of agricultural vehicle is calculated by the comparison between agricultural machinery Actual path and predefined path, and pass to steering control system module, 3-position 4-way electro-hydraulic proportional flow valve is controlled by steering control system module, the piston rod displacement of left hydraulic cylinder and right hydraulic cylinder is realized, so as to realize and turn to by revolver or the differential of right wheel traveling；The setting of fluid pressure line ensure that the independent, quickly corresponding of left and right hydraulic cylinder, is independent of each other, the left and right wheels of mini-tiller are controlled respectively, while the switching of main line, very high efficient and reliable are realized by total magnetic valve.
Description
Technical field
The present invention relates to the control technology field of mulberry field fluid-link steering mini-tiller, more particularly to a kind of mulberry field fluid-link steering
The electromechanical liquid control system and method for mini-tiller.
Background technology
In China's agricultural production, Sericultural production has long history.In recent years, it is continuous with China's scientific and technological level
Progressive, mechanization of agriculture obtains significant progress, and crop field operation agricultural machinery shows especially prominent, but managing of mulberry field machinery
Develop still at an early stage.Current managing of mulberry field mainly based on manual work, so directly improves silkworm and mulberry
The cost of management.
In the operation process of mulberry field, the requirement to the operating speed, amplitude, quality, flexibility ratio of mulberry field machinery gradually steps up,
It is desirable to mulberry field machinery while rapidly and efficiently operation, operation quality can be ensured.Required according to the gardening of managing of mulberry field,
In order to improve mulberry tree mulberry yield, mulberry tree will carry out the summer and cut down to cut down repeatedly to cut with the autumn and cut down, and " tree can be increasingly generated in growth course
Fist ".Traditional mulberry field hydraulic pressure mini-tiller machine, will if mulberry field mini-tiller is damaged " tree fist " in mulberry field operation process is carried out
The germinating growth again of mulberry tree is influenceed, reduces mulberry yield.Mulberry field mini-tiller is in operation process, if only relying on operating personnel
Subjective judgement adjust the posture of Work machine and speed, it is easy to occur that operation is overlapping, omit and misoperation is damaged " tree
Fist " phenomenon.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of electromechanical liquid control system of mulberry field fluid-link steering mini-tiller and
Method, real time position and heading device in mulberry field geographical location information and mini-tiller operation process are obtained using navigation positioning system
Breath, using vehicle-mounted micro computer to the routing information got compared with the real-time location coordinates of mini-tiller and course information
Analysis, in the event of deviateing, calculate and return deflection angle, pass it to the steering control system based on STM32, pass through PID
Control algolithm controls the flow of electro-hydraulic proportional valve, so as to control fluid-link steering executing agency to perform steering operation so that mini-tiller
Setting path is returned, driving mulberry field fluid-link steering mini-tiller is pressed path planning automatic job, effectively got around " tree fist ".
The present invention is achieved through the following technical solutions, there is provided a kind of mechanical electronic hydraulic control of mulberry field fluid-link steering mini-tiller
System, including fluid-link steering actuator module, navigation positioning system and the steering electrically connected with the navigation positioning system
Control system module, the fluid-link steering actuator module include the hydraulic pump of connection hydraulic oil container, and are respectively arranged in
Left hydraulic cylinder, right hydraulic cylinder on mini-tiller revolver, right wheel, the left hydraulic cylinder, right hydraulic cylinder pass through left-hand rotation oil circuit, the right side respectively
Turn oil circuit and come together in the main line for connecting the hydraulic pump outlet, 3-position 4-way is equipped with the left-hand rotation oil circuit and right-hand rotation oil circuit
Electro-hydraulic proportional flow valve, the main line are provided with two total magnetic valves of four-way.
This programme is obtained in mulberry field geographical location information and mini-tiller operation process in real time by using navigation positioning system
Position and course information, the expectation that agricultural vehicle is calculated by the comparison between agricultural machinery Actual path and predefined path deflect
Angle, and steering control system module is passed to, 3-position 4-way electro-hydraulic proportional flow valve is controlled by steering control system module, it is real
The piston rod displacement of existing left hydraulic cylinder and right hydraulic cylinder, so as to realize and turn to by revolver or the differential of right wheel traveling；Hydraulic tube
The setting on road ensure that the independent, quickly corresponding of left and right hydraulic cylinder, is independent of each other, the left and right wheels of mini-tiller are controlled respectively
Make, while the switching of main line, very high efficient and reliable are realized by total magnetic valve.
As optimization, the steering control system module include UP boards, micro-control unit (MCU), CAN module,
Light-coupled isolation unit, power amplifier, angle measuring unit and power module；
The UP boards carry IPS-LCD display screens, convenient that navigation positioning system is operated；
The micro-control unit (MCU), which receives, it is expected deflection angle signal, and is computed processing generation with it is expected deflection angle phase
The pwm signal answered；
The CAN module includes carrying the STM32 chips of CAN controller and additional CAN transceiver
TJA1050, it transmits data stabilization reliably and possesses the function of stronger wrong self-test, and mulberry field mini-tiller can be avoided to run over
The bigger environment brought is vibrated in journey to be influenceed；
The light-coupled isolation unit includes photoelectrical coupler and peripheral circuit, isolation processing is carried out to pwm signal, to STM32 cores
Piece processor and power amplification circuit carry out insulation blocking；
The power amplifier is amplified processing to the power of pwm signal；
The angle measuring unit is used to calculate mini-tiller attitude information, and data are provided to turn to, actually inclined by detecting vehicle
Gyration and compared with it is expected deflection angle, the dutycycle of pwm signal is adjusted according to caused deviation；
The power module provides operating voltage for each several part of steering control system module, ensures the normal operation of system.
Preferably, the micro-control unit（MCU）Select at the enhanced serial RAM of model STM32F103C8T6
Device chip is managed as MCU.Data processing is more accurate quick, ensure that the reliable, quick of mini-tiller action.
Preferably, the angle measuring unit selects MPU6050 modules.Utilize the attitude algorithm device meter carried inside it
Attitude information is calculated, dynamic filter is then carried out by Kalman Algorithm, the accuracy of calculating is higher.
For the mechanical electronic hydraulic control method of above-mentioned mulberry field fluid-link steering mini-tiller：
（1）Navigation positioning system obtains mini-tiller real time position and course information, passes through agricultural machinery Actual path and predefined path
Between comparison calculate the expectation deflection angle of agricultural vehicle, and pass to steering control system module；
（2）After steering control system module receives expectation deflection angle, it is computed processing and generates corresponding pwm signal, pass through tune
The size of the dutycycle size control electro-hydraulic proportional flow valve output flow of whole output pwm signal, realizes control hydraulic cylinder piston
The displacement of bar, so as to control mini-tiller to turn to；
（3）During electromechanical liquid control system work, two total magnetic valves of four-way are adjusted to left position, turn on whole hydraulic circuit；
（4）When mini-tiller needs, the 3-position 4-way electro-hydraulic proportional flow valve in left-hand rotation oil circuit is got into left end, and pass through tune
Save the uninterrupted that valve port opening size control pressure oil enters the rodless cavity of left hydraulic cylinder；
（5）When mini-tiller needs to turn right, the 3-position 4-way electro-hydraulic proportional flow valve in right-hand rotation oil circuit is got into left end, and pass through tune
Save the uninterrupted that valve port opening size control pressure oil enters the rodless cavity of hydraulic cylinder；
（6）When mini-tiller needs to stop, the 3-position 4-way electro-hydraulic proportional flow valve in left-hand rotation oil circuit and right-hand rotation oil circuit is got to
Left end, and valve port is opened completely；
（7）During mini-tiller normally travel, the 3-position 4-way electro-hydraulic proportional flow valve in left-hand rotation oil circuit and right-hand rotation oil circuit is respectively positioned on the right side
End.
This control method draws expectation deflection angle by navigation positioning system, and course changing control is passed to by CAN
Device, the flow of electro-hydraulic proportional valve is controlled by pid control algorithm, so as to control fluid-link steering executing agency to perform steering operation,
Automaticity and the accuracy turned to have than manual operation to be greatly improved.
Beneficial effects of the present invention are：During automatic running, agricultural machinery is constantly detected by navigation positioning system
Physical location and attitude information, and the deviation information between mulberry field fluid-link steering mini-tiller and predefined paths is calculated, it is total by CAN
Deviation information is passed to steering controller by line, and generating pwm signal control steering executing agency by MCU is turned to, finally
So that mini-tiller travels according to predefined paths, realize mulberry field fluid-link steering mini-tiller under automatic control system automatic running in
Field carries out agronomy operation so that and operation is more efficient, greatly shortens the activity duration, reduces the influence to growing of mulberry, and
Input cost is reduced, may advantageously facilitate the accurate operation of mini-tiller tool and the development of Agricultural Intelligent System equipment.
Brief description of the drawings
Fig. 1 is fluid-link steering executing agency of the present invention schematic diagram；
Fig. 2 is steering control system schematic diagram of the present invention；
Fig. 3 is control system overview flow chart of the present invention；
Shown in figure：
1st, left hydraulic cylinder, 2, right hydraulic cylinder, 3,3-position 4-way electro-hydraulic proportional flow valve, 4, two total magnetic valves of four-way, 5, overflow
Valve, 6, hydraulic pump.
Embodiment
For the technical characterstic for illustrating this programme can be understood, below by embodiment, this programme is illustrated.
A kind of electromechanical liquid control system of mulberry field fluid-link steering mini-tiller, including fluid-link steering actuator module, navigation
Alignment system and the steering control system module electrically connected with the navigation positioning system.
Navigation positioning system is Big Dipper Differential positioning navigation system, can accurately obtain mulberry field geographical location information and it is micro- plough
Real time position and course information during machine operation.
Fluid-link steering actuator module includes the hydraulic pump 6 of connection hydraulic oil container, and is respectively arranged in a mini-tiller left side
Wheel, the left hydraulic cylinder 1 in right wheel, right hydraulic cylinder 2, the outlet of hydraulic pump 6 are communicated with to the overflow valve 5 of fuel tank, the left liquid
Cylinder pressure 1, right hydraulic cylinder 2 come together in the main line for connecting the hydraulic pump 6 and exporting, institute by left-hand rotation oil circuit, right-hand rotation oil circuit respectively
State and 3-position 4-way electro-hydraulic proportional flow valve 3 is equipped with left-hand rotation oil circuit and right-hand rotation oil circuit, the main line is provided with two four-ways
Total magnetic valve 4.
3-position 4-way electro-hydraulic proportional flow valve uses EFBG-03-125 type proportional flow control valves, left hydraulic cylinder 1 and right hydraulic cylinder
2 be the single-piston-rod hydraulic cylinder that there is piston rod only one end.
The velocity of displacement v of hydraulic cylinder piston rod and the input flow rate q of hydraulic cylinder are linear, by controlling proportional flow
The displacement of the output flow can control hydraulic cylinder piston rod of valve, and the key of comparative example flow valve output flow size control
It is exactly the control to input current.Using pulse width modulation（PWM）Control technology adjusts size of current.
In the case where pwm signal cycle T does not change, the current average of PWM square waves is with the change of dutycycle
And change, the dutycycle size by adjusting output pwm signal controls the size of proportional flow control valve output flow, reaches control liquid
The purpose of the displacement of pressure cylinder piston bar.By the control respectively to two proportional flow control valves, realize mulberry field mini-tiller left steering,
The operation such as right turn and quick stopping.
Steering control system module include UP boards, micro-control unit (MCU), CAN module, light-coupled isolation unit,
Power amplifier, angle measuring unit and power module.
The UP boards carry IPS-LCD display screens, the operating system as navigation positioning system.
The micro-control unit (MCU) selects the enhanced serial RAM processor chips of model STM32F103C8T6
As MCU, receive and it is expected deflection angle signal, and generate pwm signal corresponding with it is expected deflection angle.
The CAN module includes carrying the STM32 chips of CAN controller and additional CAN transceiver
TJA1050。
The light-coupled isolation unit includes photoelectrical coupler and peripheral circuit, to STM32 chip processors and power amplification
Circuit carries out insulation blocking.Light-coupled isolation unit carries out isolation processing to pwm signal.
The power amplifier is amplified processing to the power of pwm signal, and amplifying circuit is reversal connection discharging type, to electric current
Signal is amplified comparative example valve proportion electro-magnet coil power supply after processing.
The angle measuring unit selects MPU6050 modules, and the attitude algorithm device carried with inside calculates attitude information, so
Dynamic filter is carried out by Kalman Algorithm afterwards.Angle measuring unit detects vehicle actual deflection angle and with it is expected that deflection angle enters
Row compares, and the dutycycle of pwm signal is adjusted according to caused deviation.
The power module provides operating voltage, specifically, main control MCU for each several part of steering control system module（+
3.3 V）, CAN transceiver（+5 V）, light-coupled isolation unit（+5 V）, angle measuring unit（+5 V）And power amplification circuit（+
24 V）.
For the control method of above-mentioned control system：
（1）Navigation positioning system obtains mini-tiller real time position and course information, passes through agricultural machinery Actual path and predefined path
Between comparison calculate the expectation deflection angle of agricultural vehicle, vehicle-mounted computer UP boards pass through CAN to be carried out with main control MCU
Communication, it would be desirable to which deflection angle passes to MCU.
（2）After the MCU of steering control system module receives expectation deflection angle, it is computed processing and generates corresponding PWM letters
Number, isolation processing is carried out by light-coupled isolation unit first, processing is then amplified to current signal by power amplifier
Afterwards, comparative example valve proportion electro-magnet coil power supply, vehicle actual deflection angle is detected and with it is expected partially by angle measuring unit
Gyration is compared, and using pid algorithm, the dutycycle of pwm signal is adjusted the deviation caused by, defeated by adjusting
Go out the size of the dutycycle size control electro-hydraulic proportional flow valve output flow of pwm signal, realize control hydraulic cylinder piston rod
Displacement, so as to control mini-tiller to turn to.
（3）During electromechanical liquid control system work, two total magnetic valves of four-way are adjusted to left position, lead whole hydraulic circuit
It is logical.
（4）When mini-tiller needs, the 3-position 4-way electro-hydraulic proportional flow valve in left-hand rotation oil circuit is got into left end, and lead to
Overregulate the uninterrupted that valve port opening size control pressure oil enters the rodless cavity of left hydraulic cylinder so that piston rod is with certain
Speed is protruding so that adapter sleeve is displaced outwardly with separating fork, axle shaft clutch separation, while passes through the arm swing band that brakes
Dynamic brake block braking, by reducing drive sprocket rotating speed, makes left crawler belt pace be less than the pace of right-hand track chiain, so as to real
Existing mini-tiller left-hand rotation action.
（5）When mini-tiller needs to turn right, the 3-position 4-way electro-hydraulic proportional flow valve in right-hand rotation oil circuit is got into left end, and lead to
Overregulate valve port opening size control pressure oil enter hydraulic cylinder rodless cavity uninterrupted, other operation with it is above-mentioned（4）Phase
Together.
（6）It is when mini-tiller needs to stop, the 3-position 4-way electro-hydraulic proportional flow valve in left-hand rotation oil circuit and right-hand rotation oil circuit is equal
Left end is got to, and valve port is opened completely, makes piston rod in hydraulic cylinder fully extended rapidly, arm swing drives brake by braking
Piece is braked so that left and right drive sprocket stops operating, and bilateral crawler belt stops simultaneously, so as to realize that mulberry field mini-tiller halts.
（7）During mini-tiller normally travel, the equal position of 3-position 4-way electro-hydraulic proportional flow valve in left-hand rotation oil circuit and right-hand rotation oil circuit
In right-hand member, in the presence of cut spring power, hydraulic cylinder piston rod is set to be in original state.
The machine electrohydraulic control system Software for Design mainly includes it is expected corner calculation procedure, pid algorithm.According to expectation corner
Calculation procedure draws expectation corner, and steering controller is passed to by CAN, and electric-hydraulic proportion is controlled by pid control algorithm
The flow of valve so as to control fluid-link steering executing agency perform steering operation.
It is expected corner calculation procedure：Course angle is defaulted as on the basis of direct north in self-navigation, i.e., with the positive north
To dextrorotation three-sixth turn, wherein direct north is 0o.Course angle β and the azimuthal comparison of leading line of machine are ploughed by mulberry field
The expectation steering angle of mulberry field mini-tiller can be determined.Center line of the big-dipper satellite antenna along mulberry field mini-tiller is placed on headstock
Position.
（1）It is basic point to take mulberry field mini-tiller initial point position, with the frequency of 20 times per second during mulberry field mini-tiller traveling
Rate extracts the real-time location coordinates of vehicle, calculates real time position to the distance of basic point, when distance is more than or equal to 0.5 m, calculates
Real time position and the line of original position and the angle in real north of the earth direction, while the position is arranged to initial position（Base
Point）.
（2）The first two basic point when taking the mulberry field mini-tiller to travel for the first time, calculate the line and direct north of the two basic points
Angle, as azimuth angle alpha.It is path planning to set the straight heading simultaneously.
（3）Using the latitude and longitude coordinates under WGS-84 coordinate systems, two adjacent basic points are subjected to gauss projection conversion, obtained
Plane coordinates A（x1, y1）With B (x2, y2), the distance between AB is
,
Calculate azimuth：
（One）
（Two）
（4）Since second basic point, real time position and upper one is calculated when mulberry field mini-tiller operating range is more than or equal to 0.5 m
The line of individual basic point and the angle in real north of the earth direction, as real-time course angle β.Utilize formula（One）、（Two）It can calculate
Course angle β.
（5）By mulberry field mini-tiller course angle compared with leading line azimuth, calculate and it is expected steering angle θ.Weigh by that analogy
Steering angle it is expected in multiple above step, continuous output.
Pid algorithm：The stability of fluid-link steering executing agency can be improved using incremental PID control.It will be obtained using pid algorithm
The expectation angular signal got carries out computing by STM32, pwm pulse signal is exported, so as to adjust hydraulic steering mechanism.System
Caused error at work, adoption rate, integration, the mode of differential calculate controlled quentity controlled variable.During according to sampling period T, sampling
Between point n（0,1,2,3...）, n-th sampling deviation u（n）, n-th controlled quentity controlled variable output valve k（n）.Incremental PID control is
The output for referring to digitial controller is the increment Delta k of controlled quentity controlled variable（n）.Control algolithm is as follows：
Certainly, described above is also not limited to the example above, the technical characteristic of the invention without description can by or use
Prior art is realized, will not be repeated here；It is pair that above example and accompanying drawing, which are merely to illustrate technical scheme not being,
The limitation of the present invention, the present invention is described in detail with reference to preferred embodiment, and one of ordinary skill in the art should
Work as understanding, change that those skilled in the art are made in the essential scope of the present invention, remodeling, add or replace
Changing without departure from spirit of the invention, should also belong to the claims of the present invention.
Claims (5)
- A kind of 1. electromechanical liquid control system of mulberry field fluid-link steering mini-tiller, it is characterised in that：Including fluid-link steering executing agency Module, navigation positioning system and the steering control system module electrically connected with the navigation positioning system, the fluid-link steering Actuator module includes the hydraulic pump of connection hydraulic oil container（6）, and it is respectively arranged in mini-tiller revolver, the left liquid in right wheel Cylinder pressure（1）, right hydraulic cylinder（2）, the left hydraulic cylinder（1）, right hydraulic cylinder（2）Collected respectively by left-hand rotation oil circuit, right-hand rotation oil circuit In the connection hydraulic pump（6）The main line of outlet, the electro-hydraulic ratio of 3-position 4-way is equipped with the left-hand rotation oil circuit and right-hand rotation oil circuit Example flow valve（3）, the main line is provided with two total magnetic valves of four-way（4）.
- A kind of 2. electromechanical liquid control system of mulberry field fluid-link steering mini-tiller according to claim 1, it is characterised in that：Institute Steering control system module is stated to put including UP boards, micro-control unit (MCU), CAN module, light-coupled isolation unit, power Big device, angle measuring unit and power module；The UP boards carry IPS-LCD display screens；The micro-control unit (MCU), which receives, it is expected deflection angle signal, and generates PWM corresponding with it is expected deflection angle and believe Number；The CAN module includes carrying the STM32 chips of CAN controller and additional CAN transceiver TJA1050；The light-coupled isolation unit includes photoelectrical coupler and peripheral circuit, and isolation processing is carried out to pwm signal；The power amplifier is amplified processing to the power of pwm signal；The angle measuring unit is used to calculate mini-tiller attitude information；The power module provides operating voltage for each several part of steering control system module.
- A kind of 3. electromechanical liquid control system of mulberry field fluid-link steering mini-tiller according to claim 2, it is characterised in that：Institute State micro-control unit（MCU）The enhanced serial RAM processor chips of model STM32F103C8T6 are selected as MCU.
- A kind of 4. electromechanical liquid control system of mulberry field fluid-link steering mini-tiller according to claim 2, it is characterised in that：Institute State angle measuring unit and select MPU6050 modules.
- A kind of 5. mechanical electronic hydraulic control method of mulberry field fluid-link steering mini-tiller, it is characterised in that：（1）Navigation positioning system obtains mini-tiller real time position and course information, passes through agricultural machinery Actual path and predefined path Between comparison calculate the expectation deflection angle of agricultural vehicle, and pass to steering control system module；（2）After steering control system module receives expectation deflection angle, it is computed processing and generates corresponding pwm signal, pass through tune The size of the dutycycle size control electro-hydraulic proportional flow valve output flow of whole output pwm signal, realizes control hydraulic cylinder piston The displacement of bar, so as to control mini-tiller to turn to；（3）During electromechanical liquid control system work, two total magnetic valves of four-way are adjusted to left position, turn on whole hydraulic circuit；（4）When mini-tiller needs, the 3-position 4-way electro-hydraulic proportional flow valve in left-hand rotation oil circuit is got into left end, and pass through tune Save the uninterrupted that valve port opening size control pressure oil enters the rodless cavity of left hydraulic cylinder；（5）When mini-tiller needs to turn right, the 3-position 4-way electro-hydraulic proportional flow valve in right-hand rotation oil circuit is got into left end, and pass through tune Save the uninterrupted that valve port opening size control pressure oil enters the rodless cavity of hydraulic cylinder；（6）When mini-tiller needs to stop, the 3-position 4-way electro-hydraulic proportional flow valve in left-hand rotation oil circuit and right-hand rotation oil circuit is got to Left end, and valve port is opened completely；（7）During mini-tiller normally travel, the 3-position 4-way electro-hydraulic proportional flow valve in left-hand rotation oil circuit and right-hand rotation oil circuit is respectively positioned on the right side End.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110366978A (en) * | 2019-09-06 | 2019-10-25 | 河北农业大学 | It is a kind of automatically to capable cotton top-cutting machine |
| CN111605609A (en) * | 2020-04-30 | 2020-09-01 | 安徽农业大学 | Agricultural machinery steering system based on motor and steering gear and control method thereof |
| CN112208630A (en) * | 2020-10-19 | 2021-01-12 | 江苏徐工工程机械研究院有限公司 | Differential hydraulic combined steering control method and system and engineering vehicle |
| CN114631408A (en) * | 2022-04-08 | 2022-06-17 | 广东皓耘科技有限公司 | Angle adjusting device, agricultural machine and track control method |
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