CN110936782A - Method for adjusting body balance of potato combined harvester - Google Patents
Method for adjusting body balance of potato combined harvester Download PDFInfo
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- CN110936782A CN110936782A CN201911409303.8A CN201911409303A CN110936782A CN 110936782 A CN110936782 A CN 110936782A CN 201911409303 A CN201911409303 A CN 201911409303A CN 110936782 A CN110936782 A CN 110936782A
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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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D13/00—Diggers, e.g. potato ploughs
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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
- 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
- B60G17/019—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 type of sensor or the arrangement thereof
- B60G17/01908—Acceleration or inclination sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/912—Attitude Control; levelling control
- B60G2800/9124—Roll-over protection systems, e.g. for warning or control
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
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Abstract
The invention relates to a potato combine harvester body balance adjusting method which comprises the steps of installing a body balance adjusting device, recording a body horizontal standard value and operating the body balance adjusting device. Specifically, a hydraulic cylinder is arranged below a frame of the potato combine harvester, and the hydraulic cylinder is controlled to stretch and retract through a bidirectional proportional electromagnetic valve and an electro-hydraulic switch valve, so that the frame rises and falls, and the purpose of self-adaptive balance of a vehicle body along with the shape fluctuation of the ground is achieved. The technical scheme of the invention has the advantages of simple structure of the vehicle body balance system and reduction of manufacturing and using costs. In addition, the vehicle body balance control method adopts a double-channel PID control algorithm aiming at the difference of the push stroke and return stroke motion characteristics of the frame lifting hydraulic cylinder, so that the adjustment precision is higher and the real-time performance is better. The technical scheme of the invention ensures that the vehicle body can be adaptive and balanced along with the fluctuation of the terrain when the potato combine harvester works, reduces the harvesting damage and improves the slope adaptability and the operation safety.
Description
Technical Field
The invention relates to a method for adjusting the balance of a potato combine harvester body, and belongs to the technical field of agricultural machinery equipment adjustment.
Background
At present, China starts a potato staple food strategy, and potatoes become another staple food except rice, wheat and corn. With the continuous expansion of potato planting scale in China, the mechanization degree of potato harvesting is continuously improved. The potato combine harvester can realize the operations of one-time digging, potato-soil separation, potato-seedling separation, centralized collection and conveying and the like, and has the advantages of high harvesting efficiency and no need of manual picking. However, the harvester is inclined due to the fluctuation of the ground during harvesting, so that the potato clusters are extruded towards one side, the breakage rate is increased, the space on the other side cannot be effectively utilized while the potato clusters are extruded towards one side, and the potato soil cannot be separated to the maximum degree in the backward conveying process.
The existing vehicle body balance technology is mainly applied to large cranes, pavers and heavy vehicles in the engineering field, radar vehicles and tanks in the military field, and the control system has a complex structure and occupies a large space. For example, chinese patent document CN108454345A discloses a method for adjusting a vehicle body of an agricultural machine, which belongs to the technical field of adjusting agricultural machinery, and includes: acquiring attitude information of agricultural equipment; calculating to obtain an electromagnetic valve control signal based on the attitude information of the agricultural equipment; and controlling the electromagnetic valve to perform opening or closing action based on the electromagnetic valve control signal so as to control the posture adjusting hydraulic cylinder to move or not to move to enable the rear chassis to be in a horizontal state. The hydraulic cylinder arranged on the agricultural machinery equipment is used for adjusting the vehicle body of the agricultural machinery equipment, so that the hydraulic cylinder can work in hills, mountains and other areas, can ensure good safety and stability during operation in hills and mountainous areas, and improves the slope adaptability of the tractor.
Through retrieval, the number of the body balance adjusting systems and the adjusting methods applied to the potato combine harvester is small, so that a body balance adjusting method aiming at the potato combine harvester is needed to be designed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a body balance adjusting method of a potato combine harvester, which obtains body inclination data through a frame inclination angle sensor and transmits the body inclination data to a body balance controller, and the body balance controller adjusts and controls the lifting of a hydraulic cylinder to adapt to the posture of a vehicle body, so that the vehicle body is kept in a horizontal posture to the maximum extent, and the extrusion damage of potatoes is avoided.
The technical scheme of the invention is as follows:
a body balance adjusting method for a potato combined harvester comprises the following steps:
(1) installing a vehicle body balance adjusting device:
the left side of the bottom of the frame of the potato combine harvester is hinged with a left side supporting frame, the right side of the bottom of the frame of the potato combine harvester is hinged with a right side supporting frame and a frame lifting hydraulic cylinder; the bottom end of the left supporting frame is hinged with a left supporting beam, the bottom ends of the right supporting frame and the frame lifting hydraulic cylinder are hinged with a right supporting beam, and the left supporting beam and the right supporting beam are respectively connected with a left land wheel and a right land wheel;
the method comprises the following steps that a frame inclination angle sensor, a touch screen and a vehicle body balance controller are installed on the upper surface of a frame, an electro-hydraulic valve group is installed at the bottom of the frame and connected to a hydraulic oil path of a frame lifting hydraulic cylinder, and finally the frame inclination angle sensor, the touch screen and the electro-hydraulic valve group are respectively connected with the vehicle body balance controller;
(2) recording a horizontal standard value of the vehicle body:
before the potato combine harvester starts to work, adjusting the vehicle body to be in a horizontal position, reading a sampling value of the inclination angle sensor when the vehicle body is horizontal, and performing filtering treatment to obtain a horizontal standard value of the vehicle body; recording a horizontal standard value of the vehicle body through a touch screen, and sending the horizontal standard value to a vehicle body balance controller; the vehicle body balance controller receives the vehicle body horizontal standard value and writes the vehicle body horizontal standard value into the Flash storage module for storage;
(3) operation of the vehicle body balance adjustment device:
in the operation process of the potato combine harvester, when the frame inclines due to the fact that the road surface is rugged, the frame inclination angle sensor collects the inclination angle information of the frame and transmits the information to the vehicle body balance controller, the vehicle body balance controller obtains a real-time standard value of the vehicle body inclination angle, and whether the real-time standard value is equal to the horizontal standard value is judged; when the hydraulic valve group is unequal, the vehicle body balance controller sends an instruction to control the operation of the electro-hydraulic valve group, so that the stretching of the frame lifting hydraulic cylinder is adjusted, and the frame is kept in a relatively horizontal posture.
Preferably, in the step (1), a cylinder barrel of the frame lifting hydraulic cylinder is hinged with the bottom of the frame, and a piston rod of the frame lifting hydraulic cylinder is hinged with the right supporting cross beam.
Preferably, in the step (1), the mounting position of the frame inclination angle sensor is right above the frame lifting hydraulic cylinder.
Preferably, the electro-hydraulic valve group comprises 1 two-way proportional solenoid valve and 2 electro-hydraulic switch valves, and the 1 two-way proportional solenoid valve and the 2 electro-hydraulic switch valves are installed on a hydraulic oil path of the frame lifting hydraulic cylinder and are connected and controlled by a vehicle body balance controller.
Preferably, the vehicle body balance controller comprises a power module, a proportion conversion module, a level conversion module, a control algorithm module and an electro-hydraulic valve bank control module; the proportion conversion module is connected with the frame inclination angle sensor and sends the acquired frame inclination information to the control algorithm module; the level conversion module is respectively connected with the control algorithm module and the electro-hydraulic valve bank control module and converts a control signal output by the control algorithm module into a control signal required by the electro-hydraulic valve bank control module; the electro-hydraulic valve bank control module is connected with the electro-hydraulic valve bank; and the power supply module is used for providing power supply voltage required by each module.
Preferably, the power supply voltage provided by the power supply module includes 9V, 5V, 3.3V, and 2.5V.
Preferably, the control algorithm module comprises a filtering processing module, a comparison and judgment module, a frame ascending PID control algorithm module, a frame descending PID control algorithm module and a Flash storage module: the Flash storage module, the frame ascending PID control algorithm module and the frame descending PID control algorithm module are respectively connected with the comparison and judgment module.
Preferably, the proportional conversion module comprises an operational amplifier, a capacitor C1, a resistor R1, a resistor R2, a resistor R3 and a resistor R4; the capacitor C1 is connected with the operational amplifier, the resistor R1 and the resistor R2 are respectively connected to the positive input end of the operational amplifier, the other end of the R1 is connected with the frame inclination angle sensor, and the other end of the R2 is grounded; the resistor R3 and the resistor R4 are respectively connected to the negative input end of the operational amplifier, the other end of the resistor R4 is connected with the output end of the operational amplifier, and the other end of the resistor R3 is grounded.
Preferably, the electrohydraulic valve group control module comprises an active crystal oscillator, a frequency divider and a power driving module which are connected in sequence, and the power driving module is connected with the electrohydraulic valve group, outputs a proportional driving current and a switch driving current, and controls the action of the bidirectional proportional solenoid valve and the electrohydraulic switch valve.
The invention has the beneficial effects that:
the vehicle body balance system is specially designed for the potato combine harvester, the hydraulic cylinder is arranged below a frame of the potato combine harvester, and the hydraulic cylinder is controlled to stretch and retract through the bidirectional proportional electromagnetic valve and the electro-hydraulic switch valve, so that the frame is lifted and lowered, and the purpose of self-adaptive balance of a vehicle body along with the fluctuation of the terrain is achieved. The technical scheme of the invention has the advantages of simple structure of the vehicle body balance system and reduction of manufacturing and using costs. In addition, the vehicle body balance control method adopts a double-channel PID control algorithm aiming at the difference of the push stroke and return stroke motion characteristics of the frame lifting hydraulic cylinder, so that the adjustment precision is higher and the real-time performance is better. The technical scheme of the invention ensures that the vehicle body can be adaptive and balanced along with the fluctuation of the terrain when the potato combine harvester works, reduces the harvesting damage and improves the slope adaptability and the operation safety.
Drawings
FIG. 1 is a block diagram of the system architecture of the present invention;
FIG. 2 is a rear view of the vehicle body in a horizontal position in the body balance system of the present invention;
FIG. 3 is a rear view of the vehicle body in a state in which the vehicle body is inclined toward the left side on a horizontal ground in the vehicle body balancing system of the present invention;
FIG. 4 is a rear view of the vehicle body in a state in which the vehicle body is inclined to the right side with respect to a horizontal ground in the vehicle body balancing system of the present invention;
FIG. 5 is a block diagram of the body balance controller of the potato combine of the present invention;
FIG. 6 is a wiring diagram of the body balance system of the present invention;
FIG. 7 is a block diagram of a scale conversion module according to the present invention;
FIG. 8 is a schematic diagram of a dual channel PID control algorithm according to an embodiment of the invention;
FIG. 9 is a flowchart of a method for inputting horizontal standard values of a potato combine harvester according to an embodiment of the invention;
FIG. 10 is a flow chart of a method for balancing a potato combine body according to an embodiment of the present invention;
wherein: 1. a frame tilt angle sensor; 2. a frame of the potato combine harvester; 3. a frame lifting hydraulic cylinder; 4. a right ground wheel; 5. a right side support beam; 6. a touch screen; 7. a body balance controller of the potato combine harvester; 8. a right side support frame; 9. an electro-hydraulic valve bank; 901. a bidirectional proportional solenoid valve; 902. an electro-hydraulic switch valve; 10. a left side support frame; 11. a left ground wheel; 12. a left side support beam; 100. a power supply module; 200. a ratio conversion module; 300. a control algorithm module; 301. a filtering processing module; 302. a comparison and judgment module; 303. a frame ascending PID control algorithm module; 304. a frame descending PID control algorithm module; a Flash storage module; 400. a level conversion module; 500. an electro-hydraulic valve bank control module; 501. an active crystal oscillator; 502. a frequency divider; 503. and a power driving module.
Detailed Description
The present invention will be further described by way of examples, but not limited thereto, with reference to the accompanying drawings.
Example 1:
as shown in fig. 1 to 10, the embodiment provides a body balance adjustment method for a potato combine harvester, which is an improvement on the existing potato combine harvester to make the potato combine harvester have a function of adjusting its posture in real time, and the body balance adjustment method specifically includes the following steps:
(1) installing a vehicle body balance adjusting device:
a left side support frame 10 is hinged to the left side of the bottom of the potato combine harvester frame 2, a right side support frame 8 is hinged to the right side, and a frame lifting hydraulic cylinder 3 is hinged to the right side; the bottom end of the left supporting frame 10 is hinged with a left supporting beam 12, the bottom ends of the right supporting frame 10 and the frame lifting hydraulic cylinder 3 are hinged with a right supporting beam 5, the end parts of the left supporting beam 12 and the right supporting beam 5 are provided with land wheel shaft heads, and the land wheel shaft heads are respectively connected with a left land wheel 11 and a right land wheel 4;
a cylinder barrel of the frame lifting hydraulic cylinder 3 is hinged with the bottom of the frame 2 through an upper pin shaft, and a piston rod of the frame lifting hydraulic cylinder 3 is hinged with the right supporting beam 5 through a lower pin shaft; the frame lifting hydraulic cylinder 3 is positioned at the rear end of the bottom of the frame, and the right support frame 8 is positioned at the front end of the bottom of the frame;
the method comprises the following steps that a frame inclination angle sensor 1, a touch screen 6 and a vehicle body balance controller 7 are installed on the upper surface of a frame 2, an electro-hydraulic valve group 9 is installed at the bottom of the frame 2, the electro-hydraulic valve group 9 is connected to a hydraulic oil path of a frame lifting hydraulic cylinder 3, and finally the frame inclination angle sensor 1, the touch screen 6 and the electro-hydraulic valve group 9 are respectively connected with the vehicle body balance controller 7;
(2) recording a horizontal standard value of the vehicle body:
before the potato combine harvester starts to work, the vehicle body is adjusted to be in a horizontal position, the sampling value of the tilt angle sensor 1 when the vehicle body is horizontal is read, and filtering processing is carried out through the filtering processing module 301, so that a vehicle body horizontal standard value is obtained; a vehicle body horizontal standard value is recorded through the touch screen 6 and is sent to the vehicle body balance controller 7; the vehicle body level standard value received by the vehicle body balance controller 7 is written into the Flash storage module 305 for storage;
(3) operation of the vehicle body balance adjustment device:
reading a real-time sampling value of a potato combine harvester body inclination angle sensor 1 and carrying out filtering treatment to obtain a real-time standard value of a body inclination angle; whether the real-time standard value and the horizontal standard value are equal is judged through the comparison and judgment module 302, if so, the real-time sampling value is returned to be read again, if not, whether the real-time standard value is larger than the horizontal standard value is judged, if so, the vehicle body inclines towards the right, the vehicle frame is required to be controlled to ascend, a vehicle frame ascending PID control algorithm is executed, and a pulse width modulation signal required by the power driving module 503 is obtained through calculation; if not, the vehicle body inclines towards the left, the vehicle frame is required to be controlled to descend, a vehicle frame descending PID control algorithm is executed, a pulse width modulation signal required by the power driving module 503 is obtained through calculation, and the power driving module 503 is controlled to output a required proportional current value and a required switching current value according to the control signal obtained through calculation; and then the electro-hydraulic valve group 9 is controlled to control the frame lifting hydraulic cylinder 3 to move, so that the frame is lifted, and finally the frame is kept in a relatively horizontal posture.
The electro-hydraulic valve group 9 comprises 1 bidirectional proportional solenoid valve 901 and 2 electro-hydraulic switch valves 902, wherein the 1 bidirectional proportional solenoid valve 901 and the 2 electro-hydraulic switch valves 902 are installed on a hydraulic oil path of the frame lifting hydraulic cylinder 3 and are connected and controlled by a vehicle body balance controller 7. The electro-hydraulic valve group 9 adjusts the extension and retraction of the frame lifting hydraulic cylinder 3 by receiving a control signal of the vehicle body balance controller 7, so that the frame 2 of the potato combine harvester is in a balanced state.
The vehicle body balance controller 7 is used for acquiring a signal value of the vehicle frame inclination angle sensor 1 and obtaining a control signal of the electro-hydraulic valve group 9 through calculation; the vehicle body balance controller 7 comprises a power module 100, a proportion conversion module 200, a level conversion module 400, a control algorithm module 300 and an electro-hydraulic valve bank control module 500; the proportion conversion module 200 is connected with the frame inclination angle sensor 1 and sends the acquired frame inclination information to the control algorithm module 300; the level conversion module 400 is respectively connected with the control algorithm module 300 and the electrohydraulic valve bank control module 500, converts the control signal with the amplitude of 3.3V output by the control algorithm module 300 into a 5V control signal required by the electrohydraulic valve bank control module 500, and has a signal isolation protection function; the electrohydraulic valve bank control module 500 is connected with the electrohydraulic valve bank 9; the power module 100 is configured to provide power supply voltages required by the modules, where the power supply voltages provided by the power module 100 include 9V, 5V, 3.3V, and 2.5V.
The control algorithm module 300 comprises a filtering processing module 301, a comparison and judgment module 302, a frame ascending PID control algorithm module 303, a frame descending PID control algorithm module 304 and a Flash storage module 305: the filtering processing module 301 is connected to the ratio conversion module 200 and the comparison and judgment module 302, and the Flash storage module 305, the frame ascending PID control algorithm module 303 and the frame descending PID control algorithm module 304 are connected to the comparison and judgment module 302.
And the filtering processing module 301 is used for processing the acquired frame inclination signal, filtering noise interference, generating an accurate frame inclination real-time standard value, and transmitting the accurate frame inclination real-time standard value to the comparison and judgment module 302.
And the comparison and judgment module 302 is used for comparing and judging the real-time frame gradient standard value generated by the filtering processing module 301 with the horizontal standard value read by the Flash storage module 305, so as to determine the control algorithm to be called.
And the frame ascending PID control algorithm module 303 is used for generating a frame ascending action control signal according to the processing result of the comparison and judgment module.
And the frame descending PID control algorithm module 304 is used for generating a frame descending action control signal according to the processing result of the comparison and judgment module.
And the Flash storage module 305 is used for storing the standard value of the vehicle body level recorded by the touch screen 6.
The proportional conversion module 200 comprises an operational amplifier, a capacitor C1, a resistor R1, a resistor R2, a resistor R3 and a resistor R4; the capacitor C1 is connected with the operational amplifier, the resistor R1 and the resistor R2 are respectively connected to the positive input end of the operational amplifier, the other end of the R1 is connected with the frame inclination angle sensor, and the other end of the R2 is grounded; the resistor R3 and the resistor R4 are respectively connected to the negative input end of the operational amplifier, the other end of the resistor R4 is connected with the output end of the operational amplifier, and the other end of the resistor R3 is grounded.
And the operational amplifier is used for scaling down the analog voltage of the acquired vehicle frame inclination angle signal.
And the capacitor C1 is connected to the No. 8 pin of the operational amplifier and is used for reducing the noise of the operational amplifier coupled to a power supply end.
And the resistor R1 and the resistor R2 are connected to the positive input end of the operational amplifier, the other end of the resistor R1 is connected with the frame inclination angle sensor, and the other end of the resistor R2 is connected with the common ground of the system power supply.
And the resistor R3 and the resistor R4 are connected to the negative input end of the operational amplifier, the other end of the resistor R4 is connected with the output end of the operational amplifier, and the other end of the resistor R3 is connected with the common ground of the system power supply.
The combined scaling coefficient of the resistors R1, R2, R3 and R4 is 1: 2.
the electrohydraulic valve group control module 500 comprises an active crystal oscillator 501, a frequency divider 502 and a power driving module 503 which are connected in sequence, wherein the power driving module 503 is connected with the electrohydraulic valve group 9, outputs a proportional driving current and a switch driving current, and controls a bidirectional proportional solenoid valve 901 and an electrohydraulic switch valve 902 to act.
And the active crystal oscillator 501 is connected with the frequency divider 502 and is used for providing a system frequency required by the electrohydraulic valve bank control module 500, where the system frequency is 8MHz in this embodiment.
The frequency divider 502 is configured to divide the system frequency provided by the active crystal oscillator 501, and output the system frequency to the power driving module 503, where the frequency division frequency is 2KHz in this embodiment.
The power driving module 503 is connected with the electro-hydraulic valve group 9, and outputs a proportional driving current and an on-off driving current to control the bidirectional proportional solenoid valve 901 and the electro-hydraulic on-off valve 902 to act.
Wiring diagram of the body balance system referring specifically to fig. 6, the wiring of the modules of the body balance system of the potato combine is now described with reference to fig. 6.
The VIN and GND pins of the power module 100 are respectively connected to the positive and negative electrodes of an external power supply, the external power supply is preferably a lead-acid storage battery commonly used by a tractor, the amplitude value can be 12V, 24V or 36V, and 12V is selected in this embodiment. The external power supply is also respectively connected to the power supply ends of the frame tilt sensor 1, the touch screen 6, the bidirectional proportional solenoid valve 901 and the electro-hydraulic switch valve 902. The output power pins of the power module 100 include 2.5V, 3.3V, 5V and 9V, wherein 2.5V is connected to the VDD pin of the scaling module 200, 3.3V is connected to the VDD pin of the control algorithm module 300 and the VDD1 pin of the level conversion module 400, 5V is connected to the VDD2 pin of the level conversion module 400 and the VDD pins of the active crystal oscillator 501, the frequency divider 502 and the power driving module 503, 9V is connected to the VDD pin of the scaling module 200, and the GND pins of the respective modules are commonly connected to the system common ground GND. The power module 100 is provided with an LM2576 chip, a 78L09 chip, a CJ431 chip, and an AMS1117-3.3 chip.
The ADOUT pin of the proportional conversion module 200 is connected with the ADIN0 pin of the control algorithm module 300, the ADIN pin is connected to the signal output end of the frame inclination angle sensor 1, and the proportional conversion module 200 is provided with an operational amplifier chip LM 258.
The RXD and TXD pins of the touch screen 6 are connected to the TXD and RXD pins of the control algorithm module 300, respectively, for signal transmission. The control algorithm module 300 employs the chip STM32F103ZET 6.
The 3.3V side input pins VIA, VIB, VIC, and VID of the level shift module 400 are correspondingly connected to the V _ EN, PWM, K1, and K2 pins of the control algorithm module 300, respectively, and the 5V side output pins VOA, VOB, VOC, and VOD are correspondingly connected to the V _ EN, PWM, IN1, and IN2 pins of the power driving module 503, respectively. The level shift module 400 is provided with a chip ADUM1400 and a chip ADUM1402, and the power driving module 503 employs a chip L9352B.
The crystal oscillator output pin OUT of the active crystal oscillator 501 is connected to the clock input pin CPP of the frequency divider 502, the frequency-divided clock output pin Q0 of the frequency divider 502 is connected to the CLK pin of the power driving module 503, and the frequency divider 502 adopts a chip SN74HC 4040D.
Example 2:
a method for adjusting the body balance of a potato combine harvester comprises the following steps of example 1: in the step (1), the mounting position of the frame inclination angle sensor is right above the frame lifting hydraulic cylinder. The design can make the error of adjustment littleer, and after frame inclination sensor obtained the angle information that the automobile body leaned, the retransmission got real-time standard value for automobile body balance controller, can make automobile body balance controller adjust the electrohydraulic valve group more accurate, and the error is littleer.
Claims (9)
1. A body balance adjusting method for a potato combined harvester comprises the following steps:
(1) installing a vehicle body balance adjusting device:
the left side of the bottom of the frame of the potato combine harvester is hinged with a left side supporting frame, the right side of the bottom of the frame of the potato combine harvester is hinged with a right side supporting frame and a frame lifting hydraulic cylinder; the bottom end of the left supporting frame is hinged with a left supporting beam, the bottom ends of the right supporting frame and the frame lifting hydraulic cylinder are hinged with a right supporting beam, and the left supporting beam and the right supporting beam are respectively connected with a left land wheel and a right land wheel;
the method comprises the following steps that a frame inclination angle sensor, a touch screen and a vehicle body balance controller are installed on the upper surface of a frame, an electro-hydraulic valve group is installed at the bottom of the frame and connected to a hydraulic oil path of a frame lifting hydraulic cylinder, and finally the frame inclination angle sensor, the touch screen and the electro-hydraulic valve group are respectively connected with the vehicle body balance controller;
(2) recording a horizontal standard value of the vehicle body:
before the potato combine harvester starts to work, adjusting the vehicle body to be in a horizontal position, reading a sampling value of the inclination angle sensor when the vehicle body is horizontal, and performing filtering treatment to obtain a horizontal standard value of the vehicle body; recording a horizontal standard value of the vehicle body through a touch screen, and sending the horizontal standard value to a vehicle body balance controller; the vehicle body balance controller receives the vehicle body horizontal standard value and writes the vehicle body horizontal standard value into the Flash storage module for storage;
(3) operation of the vehicle body balance adjustment device:
in the operation process of the potato combine harvester, when the frame inclines due to the fact that the road surface is rugged, the frame inclination angle sensor collects the inclination angle information of the frame and transmits the information to the vehicle body balance controller, the vehicle body balance controller obtains a real-time standard value of the vehicle body inclination angle, and whether the real-time standard value is equal to the horizontal standard value is judged; when the hydraulic valve group is unequal, the vehicle body balance controller sends an instruction to control the operation of the electro-hydraulic valve group, so that the stretching of the frame lifting hydraulic cylinder is adjusted, and the frame is kept in a relatively horizontal posture.
2. The method for adjusting the balance of the body of the potato combine harvester of claim 1, wherein in the step (1), the cylinder of the frame lifting hydraulic cylinder is hinged to the bottom of the frame, and the piston rod of the frame lifting hydraulic cylinder is hinged to the right supporting beam.
3. The method for adjusting the balance of a potato combine body according to claim 1, wherein in the step (1), the frame tilt sensor is installed at a position right above the frame lift cylinder.
4. The potato combine body balance adjusting method as claimed in claim 1, wherein the electro-hydraulic valve set comprises 1 two-way proportional solenoid valve and 2 electro-hydraulic switch valves, and the 1 two-way proportional solenoid valve and the 2 electro-hydraulic switch valves are installed on a hydraulic oil path of the frame lifting hydraulic cylinder and are connected and controlled by a body balance controller.
5. The potato combine harvester body balance adjustment method of claim 4, wherein the body balance controller comprises a power module, a proportional conversion module, a level conversion module, a control algorithm module and an electro-hydraulic valve bank control module; the proportion conversion module is connected with the frame inclination angle sensor and sends the acquired frame inclination information to the control algorithm module; the level conversion module is respectively connected with the control algorithm module and the electro-hydraulic valve bank control module and converts a control signal output by the control algorithm module into a control signal required by the electro-hydraulic valve bank control module; the electro-hydraulic valve bank control module is connected with the electro-hydraulic valve bank; and the power supply module is used for providing power supply voltage required by each module.
6. The method for adjusting the balance of a potato combine harvester of claim 5, wherein the power supply voltage provided by the power module comprises 9V, 5V, 3.3V and 2.5V.
7. The method for adjusting the body balance of the potato combine harvester of claim 5, wherein the control algorithm module comprises a filtering processing module, a comparison and judgment module, a frame ascending PID control algorithm module, a frame descending PID control algorithm module and a Flash storage module: the Flash storage module, the frame ascending PID control algorithm module and the frame descending PID control algorithm module are respectively connected with the comparison and judgment module.
8. The potato combine body balance adjustment method of claim 5, wherein the proportional conversion module comprises an operational amplifier, a capacitor C1, a resistor R1, a resistor R2, a resistor R3 and a resistor R4; the capacitor C1 is connected with the operational amplifier, the resistor R1 and the resistor R2 are respectively connected to the positive input end of the operational amplifier, the other end of the R1 is connected with the frame inclination angle sensor, and the other end of the R2 is grounded; the resistor R3 and the resistor R4 are respectively connected to the negative input end of the operational amplifier, the other end of the resistor R4 is connected with the output end of the operational amplifier, and the other end of the resistor R3 is grounded.
9. The potato combine harvester body balance adjustment method as claimed in claim 5, wherein the electrohydraulic valve bank control module comprises an active crystal oscillator, a frequency divider and a power driving module which are connected in sequence, the power driving module is connected with the electrohydraulic valve bank, outputs a proportional driving current and a switch driving current, and controls the action of a bidirectional proportional solenoid valve and the electrohydraulic switch valve.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111506075A (en) * | 2020-05-11 | 2020-08-07 | 山东大学 | AGV attitude adjusting method and system |
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