CN108189638B - Electric suspension lifting system of tractor and control method thereof - Google Patents
Electric suspension lifting system of tractor and control method thereof Download PDFInfo
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- CN108189638B CN108189638B CN201810031560.1A CN201810031560A CN108189638B CN 108189638 B CN108189638 B CN 108189638B CN 201810031560 A CN201810031560 A CN 201810031560A CN 108189638 B CN108189638 B CN 108189638B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/40—Type of actuator
- B60G2202/43—Mechanical actuator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
- B60G2300/08—Agricultural vehicles
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- Agricultural Machines (AREA)
Abstract
The invention discloses an electric suspension lifting system of a tractor and a control method thereof, wherein the suspension lifting system comprises a mechanical structure part and an electric control part; the mechanical structure part comprises a lifting device, and the lifting device comprises a driving motor, a speed reducer and a screw and nut mechanism; the frame is fixedly provided with a support, the support is fixedly connected with a rotating base, and the screw rod is arranged in a bearing arranged in the rotating base. The electric control part comprises a controller, a driver, a motor, a GPS velometer and a wheel speed sensor, wherein the controller is connected with the driver, the driver is connected with the motor, the GPS velometer is installed on the frame, and the wheel speed sensor is installed on the driving wheel; the wheel speed sensor and the GPS velometer are communicated with the controller through a CAN bus. The invention has the functions of resistance adjustment and position adjustment, realizes resistance adjustment by additionally arranging a GPS velometer and a wheel speed sensor to detect the slip rate, and realizes position adjustment by using the precise rotation of a stepping motor and the geometric relationship of a lifting mechanism.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to an electric suspension lifting system of a tractor and a control method thereof.
Background
Automation and energy conservation of agricultural machinery are modern development trends. In recent years, the development of intelligent control technology and advanced machine manufacturing technology bring new technical changes to agricultural machinery, and promote the development of the agricultural machinery to the direction of intellectualization and automation. The modern development direction of the tractor as an important agricultural machine is also automation and intellectualization. The electrification of each subsystem of the tractor is an effective way for the intellectualization of the tractor.
Tractor suspension devices are important devices for tractors to attach to and pull agricultural implements. Its main function is to control the lifting of the farm implements and to control the depth of cultivation, lifting height, etc. The performance of the suspension device directly influences the operation quality of the tractor. At present, a tractor mostly adopts a hydraulic or electrohydraulic suspension device. The hydraulic pump, the oil cylinder and the distributor have complex structures and contain a plurality of parts. In the working process, the hydraulic system is easy to have faults of leakage, valve failure and the like.
Compared with the traditional hydraulic or electro-hydraulic suspension, the electric suspension has the advantages of sensitive response, high precision, simple arrangement, low energy consumption and the like. In particular to the performance requirement of the electric tractor.
Disclosure of Invention
The invention aims to provide an electric suspension lifting system of a tractor and a control method thereof for solving the problems in the prior art, wherein the electric suspension lifting system has the functions of resistance adjustment and position adjustment, the resistance adjustment is realized by additionally arranging a GPS velometer and a wheel speed sensor to detect the slip rate, and the position adjustment is realized by the precise rotation of a stepping motor and the geometric relationship of a lifting mechanism.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: an electric suspension lifting system of a tractor comprises a mechanical structure part and an electric control part; the mechanical structure part comprises a lifting device, the lifting device comprises a driving motor, a speed reducer and a lead screw nut mechanism, the lead screw nut mechanism comprises a lead screw and a nut sleeved on the lead screw, and one end of the lead screw is connected with the driving motor through the speed reducer; a bracket is fixedly arranged on the frame, a rotating base is fixedly connected to the bracket, and a screw rod is arranged in a bearing arranged in the rotating base;
the lifting device also comprises a rotating shaft, a lifting arm, a lifting rod, an upper pull rod, a lower pull rod and a connecting rod for hanging farm implements; one end of the rotating shaft is fixedly connected to the nut, the other end of the rotating shaft is fixedly connected with the lifting rotating shaft, one end of the lifting arm is fixedly connected with the lifting rotating shaft, and the other end of the lifting arm is hinged to the middle of the lower pull rod; one ends of the upper pull rod and the lower pull rod are hinged on the frame, a hinge point A of the upper pull rod and the frame and a hinge point B of the lower pull rod and the frame are positioned on the same side, and the hinge point A is positioned above the hinge point B;
the electric control part comprises a controller, a driver, a motor, a GPS velometer and a wheel speed sensor, wherein the controller is connected with the driver, the driver is connected with the motor, the GPS velometer is installed on the frame, and the wheel speed sensor is installed on the driving wheel; the wheel speed sensor and the GPS velometer are communicated with the controller through a CAN bus;
the controller is used for receiving vehicle speed and wheel speed information in real time so as to monitor real-time slip rate through the GPS velometer and the wheel speed sensor.
Furthermore, a locking mechanism is arranged at the lifting rotating shaft and controlled by the controller through an electromagnetic switch, when the motor stops rotating, the lifting rotating shaft is locked, and when the motor rotates, the locking is released.
Further, the reducer is a planetary reducer.
Furthermore, the driving motor adopts a two-phase hybrid stepping motor, the stepping angle is 0.9 degrees/1.8 degrees, and a direct-current power supply is adopted for supplying power; the controller controls the driver through the pulse signal, the direction signal and the enable signal so as to drive the stepping motor.
A control method of an electric suspension lifting system of a tractor is characterized in that according to the geometrical relationship among all parts of a lifting device, the following steps are set: the connecting point of the rotating base and the screw rod is B, the connecting point of the rotating shaft and the screw rod is A, the connecting point of the rotating shaft and the lifting rotating shaft is C, the distance a between B and C, the distance between A and C is B, and the distance between A and B is C, wherein a and B are fixed values, and the value of C changes along with the rotation of the stepping motor;
setting the farthest end of the nut as a zero point of the stepping motor, wherein the input pulse number of the stepping motor has a linear relation with the value;
the three parts are geometrically three sides of a triangle, and the following cosine formula is used for obtaining the three parts
The value of (c):
the farthest end is set to be a zero point,
corresponding angle is
The corresponding lift angle is
Lifting height
，
For the length of the suspended farm implement;
when the position is at any position, the position of the spring is changed,
corresponding angle is
Lifting angle corresponding thereto
Height of lift
Obtaining the quantitative mathematical relation between the input pulse number of the motor and the lifting height by the formula to be used as the control basis of the controller for the lifting height;
the process of implementing bit adjustment is as follows: the driver selects position adjustment and sets corresponding height, the controller releases the action locking state of the locking mechanism, the motor is controlled to rotate corresponding step length, and the lifting arm moves to the set height;
under the resistance regulation mode, the speed and the wheel speed of the tractor are respectively collected by a GPS velometer and a wheel speed sensor, the speed and the wheel speed are input into a controller, the real-time slip rate of the tractor can be calculated by the controller through the following formula:
wherein
Is the rate of slip, and is,
is the radius of the tire or tires,
is the angular velocity of the tire and,
is the speed of the vehicle measured by the GPS velometer,
is the tire rotational speed;
initializing whether resistance adjustment is adopted; if not, carrying out position adjustment, and if so, carrying out resistance adjustment;
the process of position adjustment includes the steps of:
step one, setting a lifting height;
step two, starting the motor;
step three, the lifting arm moves to a corresponding height;
the process of resistance adjustment comprises the following steps:
step one, detecting the real-time slip rate, judging whether the real-time slip rate is in a proper interval, and if so, continuously monitoring the real-time slip rate; if not, entering the next step;
step two, judging whether the real-time slip rate is greater than 18%, if so, entering step three; if not, entering the step four;
step three, judging whether the duration is longer than the set time, if so, lifting the farm tool, otherwise, returning to the step one, and continuously monitoring the real-time slip rate;
step four, judging whether the real-time slip rate is less than 15%, if so, entering the step five; if not, returning to the step one, and continuously monitoring the real-time slip rate;
judging whether the duration time is longer than the set time, and if so, reducing the farm tools; if not, returning to the step one, and continuously monitoring the real-time slip rate.
Compared with the prior art, the invention has the beneficial effects that:
the invention has the functions of resistance adjustment and position adjustment, realizes resistance adjustment by additionally arranging a GPS velometer and a wheel speed sensor to detect the slip rate, and realizes position adjustment by using the precise rotation of a stepping motor and the geometric relationship of a lifting mechanism.
The driver of the stepping motor receives a pulse signal given by the controller to control the step number of the stepping motor, the motor drives the screw rod to rotate through the speed reducer, the screw rod pushes the threaded barrel to move, and the threaded barrel drives the lifting arm to lift or lower the farm implement. The problems that the hydraulic suspension system is low in energy utilization efficiency, inconvenient to arrange and the like on the electric tractor are solved. The invention can realize automatic regulation of tilling depth and meet the operation requirements of the electric tractor.
The invention adopts electric drive, has the advantages of simple arrangement, energy saving and accurate control of the lifting height of the farm tool, and is particularly suitable for electric tractors.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural view of a lead screw and nut mechanism.
Fig. 3 is a control flow diagram of the system of fig. 3.
FIG. 4 is a wiring diagram of the stepping motor.
Figure 5 controller bus network topology.
Fig. 6 is a schematic view of the connection relationship among the rotating base, the lead screw, and the rotating shaft.
The labels in the figure are: 1. rotating base, 2, driving motor, 3, lift pivot, 4, lift arm, 5, lifter, 6, go up the pull rod, 7, connecting rod, 8, lower link, 9, nut, 10, frame, 11, drive wheel, 12, support, 13, lead screw, 14, reduction gear, 15, gear, 16, rotation axis.
Detailed Description
The invention is described in further detail below with reference to the figures and the embodiments.
As shown in the figure, the electric suspension lifting system of the tractor comprises a mechanical structure part and an electric control part; the mechanical structure part comprises a lifting device, the lifting device comprises a driving motor 2, a speed reducer 14 and a screw-nut mechanism, the screw-nut mechanism comprises a screw 13 and a nut 9 sleeved on the screw 13, one end of the screw 13 is connected with the driving motor 12 through the speed reducer 14, and the speed reducer 14 is a planet wheel speed reducer. The gear 15 of the planet gear reducer is connected with a lead screw 13, a support 12 is fixedly arranged on the frame 10, a rotating base 1 is fixedly connected on the support 12, and the lead screw 13 is arranged inside a bearing arranged inside the rotating base 1.
The lifting device also comprises a rotating shaft 16, a lifting rotating shaft 3, a lifting arm 4, a lifting rod 5, an upper pull rod 6, a lower pull rod 8 and a connecting rod 7 for hanging farm implements; one end of a rotating shaft 16 is hinged on the nut 9, the other end of the rotating shaft 16 is fixedly connected with the lifting rotating shaft 3, one end of a lifting arm 4 is fixedly connected with the lifting rotating shaft 3, and the other end of the lifting arm 4 is hinged with the middle part of the lower pull rod 8; one end of each of the upper pull rod 6 and the lower pull rod 8 is hinged on a frame 10, and the frame 10 is driven by a driving wheel 11.
A hinge point A of the upper pull rod 6 and the frame 10 and a hinge point B of the lower pull rod 8 and the frame 10 are positioned on the same side, and the hinge point A is positioned above the hinge point B;
the electric control part comprises a controller, a driver, a motor, a GPS velometer and a wheel speed sensor, wherein the controller is connected with the driver, the driver is connected with the motor, the GPS velometer is installed on the frame 10, and the wheel speed sensor is installed on the driving wheel 11; the wheel speed sensor and the GPS velometer are communicated with the controller through a CAN bus;
the controller is used for receiving vehicle speed and wheel speed information in real time so as to monitor real-time slip rate through the GPS velometer and the wheel speed sensor.
A locking mechanism is arranged at the lifting rotating shaft 3 and is controlled by a controller through an electromagnetic switch, when the motor stops rotating, the lifting rotating shaft 3 is locked, and when the motor rotates, the locking is released.
The driving motor 2 adopts a two-phase hybrid stepping motor, the stepping angle is 0.9 degree/1.8 degrees, and a direct-current power supply is adopted for supplying power; the controller controls the driver through the pulse signal, the direction signal and the enable signal so as to drive the stepping motor.
According to the geometrical relationship between the various parts of the lifting device, it is set: the connecting point of the rotating base 1 and the screw rod 13 is A, the connecting point of the rotating shaft 16 and the screw rod 13 is B, the connecting point of the rotating shaft 16 and the lifting rotating shaft 3 is C, the distance a between B and C, the distance between A and C is B, and the distance between A and B is C, wherein a and B are fixed values, and the value of C changes along with the rotation of the stepping motor;
setting the farthest end of the nut 9 as a zero point of the stepping motor 2, wherein the input pulse number of the stepping motor 2 has a linear relation with the value;
the three parts are geometrically three sides of a triangle, and the following cosine formula is used for obtaining the three parts
The value of (c):
set upThe most far end is a zero point,
corresponding angle is
The corresponding lift angle is
Lifting height
；
When the position is at any position, the position of the spring is changed,
corresponding angle is
Lifting angle corresponding thereto
Height of lift
Obtaining a quantitative mathematical relation between the input pulse number of the motor and the lifting height by the formula to be used as a control basis of the controller for the lifting height;
the process of implementing bit adjustment is as follows: the driver selects position adjustment and sets corresponding height, the controller releases the action locking state of the locking mechanism, the motor is controlled to rotate corresponding step length, and the lifting arm moves to the set height;
under the resistance regulation mode, the speed and the wheel speed of the tractor are respectively collected by a GPS velometer and a wheel speed sensor, the speed and the wheel speed are input into a controller, the real-time slip rate of the tractor can be calculated by the controller through the following formula:
wherein
Is the rate of slip, and is,
is the radius of the tire or tires,
is the angular velocity of the tire and,
is the speed of the vehicle measured by the GPS velometer,
is the tire rotational speed;
initializing whether resistance adjustment is adopted; if not, carrying out position adjustment, and if so, carrying out resistance adjustment;
the process of position adjustment includes the steps of:
step one, setting a lifting height;
step two, starting the motor;
step three, the lifting arm moves to a corresponding height;
the process of resistance adjustment comprises the following steps:
step one, detecting the real-time slip rate, judging whether the real-time slip rate is in a proper interval, and if so, continuously monitoring the real-time slip rate; if not, entering the next step;
step two, judging whether the real-time slip rate is greater than 18%, if so, entering step three; if not, entering the step four;
step three, judging whether the duration is longer than the set time, if so, lifting the farm tool, otherwise, returning to the step one, and continuously monitoring the real-time slip rate;
step four, judging whether the real-time slip rate is less than 15%, if so, entering the step five; if not, returning to the step one, and continuously monitoring the real-time slip rate;
judging whether the duration time is longer than the set time, and if so, reducing the farm tools; if not, returning to the step one, and continuously monitoring the real-time slip rate.
The motor controller controls the driving circuit to send out corresponding pulse signals according to control signals given by a driver, the pulse signals drive the driving motor 2 to accurately rotate by corresponding steps, the speed is reduced by the speed reducer 14, the lead screw 13 is driven to move, the lifting rotating shaft 3 is rotated, the lifting rotating shaft 3 drives the lifting arm 4 to move, and therefore the hung farm implement is lifted or lowered.
When the slip ratio is too large, namely the working resistance is too large, namely the tilling depth is too deep, the working resistance of the tractor can be reduced by lifting and suspending and reducing the working depth, and the good running state of the tractor is ensured; when the slip rate is too low, the tilling depth is too shallow, the adhesive force of the tractor is small, the tractor does not work at high efficiency, and the suspension can be properly reduced at the moment, so that the tilling depth is in a proper position.
Claims (4)
1. A control method of an electric suspension lifting system of a tractor, wherein the electric suspension lifting system comprises a mechanical structure part and an electric control part; the mechanical structure part comprises a lifting device, the lifting device comprises a driving motor (2), a speed reducer (14) and a screw-nut mechanism, the screw-nut mechanism comprises a screw (13) and a nut (9) sleeved on the screw (13), and one end of the screw (13) is connected with the driving motor (12) through the speed reducer (14); a bracket (12) is fixedly arranged on the frame (10), the bracket (12) is fixedly connected with a rotating base (1), and a screw rod (13) is arranged in a bearing arranged in the rotating base (1);
the lifting device also comprises a rotating shaft (16), a lifting rotating shaft (3), a lifting arm (4), a lifting rod (5), an upper pull rod (6), a lower pull rod (8) and a connecting rod (7) for hanging farm tools; one end of a rotating shaft (16) is hinged on the nut (9), the other end of the rotating shaft (16) is fixedly connected with the lifting rotating shaft (3), one end of a lifting arm (4) is fixedly connected with the lifting rotating shaft (3), and the other end of the lifting arm (4) is hinged with the middle part of the lower pull rod (8); one ends of the upper pull rod (6) and the lower pull rod (8) are hinged on the frame (10), a hinge point A of the upper pull rod (6) and the frame (10) and a hinge point B of the lower pull rod (8) and the frame (10) are positioned on the same side, and the hinge point A is positioned above the hinge point B;
the electric control part comprises a controller, a driver, a motor, a GPS velometer and a wheel speed sensor, wherein the controller is connected with the driver, the driver is connected with the motor, the GPS velometer is installed on the frame (10), and the wheel speed sensor is installed on the driving wheel (11); the wheel speed sensor and the GPS velometer are communicated with the controller through a CAN bus;
the controller is used for receiving vehicle speed and wheel speed information in real time so as to monitor the real-time slip rate through the GPS velometer and the wheel speed sensor;
the method is characterized in that: in the control method, the process of implementing bit adjustment is as follows: the driver selects position adjustment and sets corresponding height, the controller releases the action locking state of the locking mechanism, the motor is controlled to rotate corresponding step length, and the lifting arm moves to the set height;
under the resistance regulation mode, the speed and the wheel speed of the tractor are respectively collected by a GPS velometer and a wheel speed sensor, the speed and the wheel speed are input into a controller, the real-time slip rate of the tractor can be calculated by the controller through the following formula:
wherein
Is the rate of slip, and is,
is the radius of the tire or tires,
is the angular velocity of the tire and,
is the speed of the vehicle measured by the GPS velometer,
is the tire rotational speed;
initializing whether resistance adjustment is adopted; if not, carrying out position adjustment, and if so, carrying out resistance adjustment;
the process of position adjustment includes the steps of:
the method comprises the following steps: setting a lifting height;
step two: starting the motor;
step three: the lifting arm moves to a corresponding height;
the process of resistance adjustment comprises the following steps:
the method comprises the following steps: detecting the real-time slip rate, judging whether the real-time slip rate is in a proper interval, and if so, continuously monitoring the real-time slip rate; if not, entering the next step;
step two: judging whether the real-time slip rate is greater than 18%, if so, entering a third step; if not, entering the step four;
step three: judging whether the duration is longer than the set time, if so, lifting the farm tool, otherwise, returning to the first step, and continuously monitoring the real-time slip rate;
step four: judging whether the real-time slip rate is less than 15%, if so, entering a fifth step; if not, returning to the step one, and continuously monitoring the real-time slip rate;
step five: judging whether the duration time is longer than the set time or not, and if so, reducing the farm tools; if not, returning to the step one, and continuously monitoring the real-time slip rate.
2. The control method of the electric suspension lifting system of the tractor according to claim 1, characterized in that: a locking mechanism is arranged at the lifting rotating shaft (3), the locking mechanism is controlled by a controller through an electromagnetic switch, when the motor stops rotating, the lifting rotating shaft (3) is locked, and when the motor rotates, the locking is released.
3. The control method of the electric suspension lifting system of the tractor as claimed in claim 1 or 2, wherein: the reducer (14) is a planetary reducer.
4. The control method of the electric suspension lifting system of the tractor according to claim 1, characterized in that: the driving motor (2) adopts a two-phase hybrid stepping motor, the stepping angle is 0.9 degree/1.8 degrees, and a direct-current power supply is adopted for supplying power; the controller controls the driver through the pulse signal, the direction signal and the enable signal so as to drive the stepping motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810031560.1A CN108189638B (en) | 2018-01-12 | 2018-01-12 | Electric suspension lifting system of tractor and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810031560.1A CN108189638B (en) | 2018-01-12 | 2018-01-12 | Electric suspension lifting system of tractor and control method thereof |
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| CN108189638B true CN108189638B (en) | 2021-02-23 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110583130A (en) * | 2019-09-26 | 2019-12-20 | 华中农业大学 | Tractor tilling depth electro-hydraulic control device and method based on angle adjustment |
| CN110754152A (en) * | 2019-11-05 | 2020-02-07 | 中联重机股份有限公司 | Intelligent electro-hydraulic lifting control device and method for dry farmland agricultural machinery |
| CN110741761A (en) * | 2019-11-05 | 2020-02-04 | 中联重机股份有限公司 | Intelligent electro-hydraulic lifting control device and method for paddy field agricultural machine |
| CN115030939B (en) * | 2022-06-02 | 2023-08-01 | 中国农业大学 | Direct-drive type electrohydraulic suspension system for electric tractor and control method thereof |
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