CN110955253A - Crawler type orchard harvesting platform walking control system and method thereof - Google Patents
Crawler type orchard harvesting platform walking control system and method thereof Download PDFInfo
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- 239000002420 orchard Substances 0.000 title claims abstract description 21
- 238000003306 harvesting Methods 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000004973 liquid crystal related substance Substances 0.000 claims abstract description 8
- 239000010720 hydraulic oil Substances 0.000 claims description 6
- 238000011065 in-situ storage Methods 0.000 claims description 6
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
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Abstract
The invention discloses a crawler type orchard harvesting platform walking control system and a crawler type orchard harvesting platform walking control method, wherein an engine is arranged in the middle of a chassis frame, a flywheel shaft of the engine is directly connected with a left variable plunger pump and a right variable plunger pump, the left variable plunger pump and the right variable plunger pump are respectively connected with a left crawler motor and a right crawler motor, and the left crawler motor and the right crawler motor respectively drive crawler wheels on two sides to walk; the console comprises a liquid crystal screen, a controller and a double-shaft handle, the liquid crystal screen is connected with the controller, the double-shaft handle is connected with the controller through a CAN bus, and the controller is provided with 4 paths of current analog quantity outputs which are respectively connected with a forward electromagnetic valve and a reverse electromagnetic valve of a left variable plunger pump and a forward electromagnetic valve and a reverse electromagnetic valve of a right variable plunger pump. The crawler type orchard harvesting platform walking control system provided by the invention can realize multidirectional walking by controlling the double-shaft handle matched controller and the left and right plunger pumps, and has a rotation angle of 360 degrees and an axial deflection angle of +/-18 degrees.
Description
Technical Field
The invention relates to the technical field of agricultural machinery, in particular to a crawler type orchard harvesting platform walking control system and method.
Background
At present, the domestic crawler chassis type agricultural vehicle adopts two separated electric control or liquid handles to control two driving devices to realize walking and steering. In most cases, because an operator sits on the operating handle, the two separate single-shaft handle controls to respectively control the steering and the walking of the crawler wheels have no safety problem. The self-propelled orchard picking platform is characterized in that a driver stands to operate due to special use conditions and use environments of the self-propelled orchard picking platform, if two sets of single-shaft handles are adopted to control walking of a vehicle, one handle needs to be controlled by two hands respectively, due to the special driving posture of the driver in standing, a fixed gripping point is not arranged on the upper portion of the body, three-point support cannot be achieved, stability of a human body is not facilitated, meanwhile, due to the fact that the handle is held by the hand, misoperation of the handle by personnel is easily caused due to jolting and shaking of the vehicle.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a crawler type orchard harvesting platform walking control system and method aiming at the defects of the prior art, wherein the crawler type orchard harvesting platform walking control system is controlled by a double-shaft handle matched controller and a left plunger pump and a right plunger pump, multi-directional walking can be realized, the rotating angle is 360 degrees, and the axial deflection angle is +/-18 degrees.
The technical scheme is as follows: the invention discloses a crawler type orchard harvesting platform walking control system which comprises a crawler chassis assembly and a control platform; the crawler chassis assembly comprises a chassis frame, an engine, a left variable plunger pump, a right variable plunger pump, a left crawler motor, a right crawler motor and crawler wheels symmetrically arranged on two sides of the chassis frame, wherein the engine is arranged in the middle of the chassis frame, a flywheel shaft of the engine is directly connected with the left variable plunger pump and the right variable plunger pump, the left variable plunger pump and the right variable plunger pump are respectively connected with the left crawler motor and the right crawler motor, and the left crawler motor and the right crawler motor respectively drive the crawler wheels on two sides to walk; the control platform comprises a liquid crystal screen, a controller and a double-shaft handle, the liquid crystal screen is connected with the controller, the double-shaft handle is connected with the controller through a CAN bus, and the controller is provided with 4 paths of current analog quantity outputs which are respectively connected with a forward electromagnetic valve and a reverse electromagnetic valve of the left variable plunger pump and a forward electromagnetic valve and a reverse electromagnetic valve of the right variable plunger pump.
Further, 12 logic signals are output according to the double-shaft handle swing quadrant, and the logic signals comprise in-situ right turn, in-situ left turn, forward, backward, unilateral right forward turn, differential left forward turn, unilateral left backward turn, differential right backward turn and unilateral right backward turn.
Furthermore, the double-shaft handle swing quadrant forms x-axis and y-axis signals, the controller correspondingly generates variable signals of the left variable plunger pump and the right variable plunger pump, the variable signals are converted into control current signals of the left variable plunger pump and the right variable plunger pump, the control current signals are output to the forward electromagnetic valve and the reverse electromagnetic valve of the left variable plunger pump and the right variable plunger pump, and the forward electromagnetic valve and the reverse electromagnetic valve of the right variable plunger pump are used for driving the directions and the flows of hydraulic oil outlets AB of the left variable plunger pump and the right variable plunger pump to respectively drive the left track motor and the right track motor to rotate;
the swing quadrant of the double-shaft handle forms x-axis and y-axis signals corresponding to the motion logic signals of the left track motor and the right track motor as follows: x =0, y > 0, outputting a forward signal; x =0, y < 0, and outputs a back signal; y =0, x > 0, outputting an in-place right turn signal; y =0, x < 0, outputting an in-place left turn signal; x is more than y and more than 0, and a single-side right forward signal is output; y is more than or equal to x and more than 0, and a differential right forward signal is output; y is more than or equal to | x | > 0, x is less than 0, and a differential left forward shifting signal is output; if x is greater than y and less than 0, outputting a single-side left-forwarding signal; x is more than y and less than 0, and a single-side left backward-turning signal is output; y is less than or equal to x and less than 0, and a differential left rear-turn signal is output; y is less than 0, y is more than 0 and less than or equal to x, and differential right backward rotation signals are output; y is less than 0, x is less than y and 0, and a single-side right backward signal is output.
Further, the double-shaft handle swing amplitude outputs a speed signal.
Further, the double-shaft handle is a friction positioning handle.
Further, the walking control method by adopting the crawler-type orchard harvesting platform walking control system comprises the following steps:
s1: reading x-axis signals and y-axis signals formed by the swing quadrant of the double-shaft handle and the swing amplitude;
s2: the controller processes x-axis signals and y-axis signals formed by a double-shaft handle swing quadrant and swing amplitude and converts the signals into control current signals of a left variable plunger pump and a right variable plunger pump, drives the directions and the flow rates of AB port hydraulic oil outlets of the left variable plunger pump and the right variable plunger pump, and respectively drives a left track motor and a right track motor to rotate.
The walking control method is realized in a concrete way,
the double-shaft handle swing quadrant forming signals x =0 and y is larger than 0, the controller generates a variable signal | y |, and simultaneously controls a forward electromagnetic valve of the left variable plunger pump and a forward electromagnetic valve of the right variable plunger pump to drive the left track motor and the right track motor to move forwards;
the double-shaft handle swing quadrant forming signals x =0 and y is less than 0, the controller generates a variable signal | y |, and simultaneously controls a left variable plunger pump reverse electromagnetic valve and a right variable plunger pump reverse electromagnetic valve to drive a left track motor and a right track motor to move backwards;
the double-shaft handle swing quadrant forming signals y =0 and x > 0, the controller generates a variable signal | x |, and controls a forward electromagnetic valve of the left variable plunger pump and a reverse electromagnetic valve of the right variable plunger pump to drive the left track motor and the right track motor to rotate on site and to rotate right;
the double-shaft handle swing quadrant forming signal y =0, x is less than 0, the controller generates a variable signal | x |, and simultaneously controls a left variable plunger pump reverse electromagnetic valve and a right variable plunger pump forward electromagnetic valve to drive the left track motor and the right track motor to rotate left in place;
the double-shaft handle swing quadrant forming signal x > y > 0, the controller generates a variable signal | x |, controls a forward electromagnetic valve of a left variable plunger pump and drives a left crawler motor to perform unilateral forward and rightward rotation;
the swing quadrant forming signal y of the double-shaft handle is more than or equal to x and more than 0, the controller generates variable signals | x + y |, | x + y | to control the forward electromagnetic valve of the left variable plunger pump, | y | to control the forward electromagnetic valve of the right variable plunger pump, and drives the left track motor and the right track motor to perform differential forward right rotation;
the double-shaft handle swing quadrant forming signal y is more than or equal to | x | > 0, x is less than 0, the controller generates variable signals | x |, | y-x |, | x | controls a forward electromagnetic valve of the left variable plunger pump, and | y-x | controls a forward electromagnetic valve of the right variable plunger pump to drive the left track motor and the right track motor to perform differential left forward rotation;
the double-shaft handle swing quadrant forms signals | x | > y > 0 and x < 0, the controller generates variable signals | x |, controls a forward electromagnetic valve of a right variable plunger pump and drives a right track motor to perform unilateral left forward rotation;
the double-shaft handle swing quadrant forming signal x is more than y and less than 0, the controller generates a variable signal | x |, controls a reverse electromagnetic valve of a right variable plunger pump and drives a right track motor to perform single-side left-rear rotation;
the double-shaft handle swing quadrant forming signal y is less than or equal to x and less than 0, the controller generates variable signals y-x and y-x to control the left variable plunger pump reverse electromagnetic valve, and y to control the right variable plunger pump reverse electromagnetic valve to drive the left track motor and the right track motor to perform differential left backward rotation;
the double-shaft handle swing quadrant forming signals y is less than 0, 0 is more than y and less than or equal to x, the controller generates variable signals y, y + x, y and y to control the left variable plunger pump reverse electromagnetic valve, y + x to control the right variable plunger pump reverse electromagnetic valve to drive the left track motor and the right track motor to perform differential right backward rotation;
the double-shaft handle swing quadrant forms signals y < 0 and x < y > with the value of 0, the controller generates variable signals | x |, to control the reverse electromagnetic valve of the left variable plunger pump, and drives the left track motor to perform single-side right backward rotation
Has the advantages that: compared with the prior art, the invention has the advantages that: the crawler type orchard harvesting platform walking control system provided by the invention can realize multidirectional walking by controlling the double-shaft handle matched controller and the left and right plunger pumps, and has a rotation angle of 360 degrees and an axial deflection angle of +/-18 degrees. In the operation process, a driver operates the single handle with one hand and holds the handrail with the other hand to achieve hard connection, three-point support is realized, the relative stability of personnel can be kept, meanwhile, the handle operated by the other hand is not influenced, and the control of a machine is realized.
Drawings
FIG. 1 is a schematic structural view of a track chassis assembly of the present invention;
FIG. 2 is a schematic view of a console according to the present invention;
FIG. 3 is a schematic diagram of a dual axis handle control;
FIG. 4 shows the walking function of the dual-axis handle corresponding to different quadrants;
FIG. 5 is a flow chart illustrating the control method according to the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
Example 1: the walking control system of the crawler-type orchard harvesting platform shown in fig. 1 and 2 comprises a crawler chassis assembly and a control platform; the crawler chassis assembly comprises a chassis frame, an engine, a left variable plunger pump, a right variable plunger pump, a left crawler motor, a right crawler motor and crawler wheels symmetrically arranged on two sides of the chassis frame, wherein the engine is arranged in the middle of the chassis frame, a flywheel shaft of the engine is directly connected with the left variable plunger pump and the right variable plunger pump, the left variable plunger pump and the right variable plunger pump are respectively connected with the left crawler motor and the right crawler motor, and the left crawler motor and the right crawler motor respectively drive the crawler wheels on two sides to walk. The control platform comprises a liquid crystal screen 1, a controller and a double-shaft handle 2, wherein the liquid crystal screen is connected with the controller. As shown in fig. 3, the double-shaft handle is connected with the controller through the CAN bus, and the controller is provided with 4 paths of current analog quantity outputs which are respectively connected with the forward electromagnetic valve and the reverse electromagnetic valve of the left variable plunger pump and the forward electromagnetic valve and the reverse electromagnetic valve of the right variable plunger pump.
The double-shaft handle is a double-shaft friction positioning handle for CAN bus communication, has a double-shaft output function, is provided with an in-place switch, and has a Y-shaft friction positioning function. The controller adopts an MC088 controller, the processor is in an ARM11 framework, the operating frequency is 532MHz, and the RAM is 128 MB; the controller is provided with 4 current analog quantity signal output pins. The variable plunger pump control current is 640mA-1640 mA.
As shown in fig. 4, the double-shaft handle swing quadrant outputs 12 logic signals, including in-situ right turn, in-situ left turn, forward, backward, single-sided right forward, differential left forward, single-sided left backward, differential right backward, and single-sided right backward.
The double-shaft handle swing quadrant forms x-axis and y-axis signals, the controller correspondingly generates variable signals of the left variable plunger pump and the right variable plunger pump, the variable signals are converted into control current signals of the left variable plunger pump and the right variable plunger pump, the control current signals are output to a forward electromagnetic valve and a reverse electromagnetic valve of the left variable plunger pump and a forward electromagnetic valve and a reverse electromagnetic valve of the right variable plunger pump, the directions and the flows of AB port hydraulic oil outlets of the left variable plunger pump and the right variable plunger pump are driven, and a left track motor and a right track motor are respectively driven to rotate;
the swing quadrant of the double-shaft handle forms x-axis and y-axis signals corresponding to the motion logic signals of the left track motor and the right track motor as follows: x =0, y > 0, outputting a forward signal; x =0, y < 0, and outputs a back signal; y =0, x > 0, outputting an in-place right turn signal; y =0, x < 0, outputting an in-place left turn signal; x is more than y and more than 0, and a single-side right forward signal is output; y is more than or equal to x and more than 0, and a differential right forward signal is output; y is more than or equal to | x | > 0, x is less than 0, and a differential left forward shifting signal is output; if x is greater than y and less than 0, outputting a single-side left-forwarding signal; x is more than y and less than 0, and a single-side left backward-turning signal is output; y is less than or equal to x and less than 0, and a differential left rear-turn signal is output; y is less than 0, y is more than 0 and less than or equal to x, and differential right backward rotation signals are output; y is less than 0, x is less than y and 0, and a single-side right backward signal is output.
As shown in fig. 5, the walking control method by using the walking control system of the crawler-type orchard harvesting platform comprises the following steps:
s1: reading x-axis signals and y-axis signals formed by the swing quadrant of the double-shaft handle and the swing amplitude;
s2: the controller processes x-axis signals and y-axis signals formed by a double-shaft handle swing quadrant and swing amplitude and converts the signals into control current signals of a left variable plunger pump and a right variable plunger pump, drives the directions and the flow rates of AB port hydraulic oil outlets of the left variable plunger pump and the right variable plunger pump, and respectively drives a left track motor and a right track motor to rotate.
The specific logical correspondence is as follows:
the double-shaft handle swing quadrant forming signals x =0, y is larger than 0, the controller generates a variable signal | y |, and simultaneously controls a left variable plunger pump forward electromagnetic valve and a right variable plunger pump forward electromagnetic valve to drive a left track motor and a right track motor to move forwards;
the double-shaft handle swing quadrant forming signal x =0, y is less than 0, the controller generates a variable signal | y |, and simultaneously controls a left variable plunger pump reverse electromagnetic valve and a right variable plunger pump reverse electromagnetic valve to drive a left track motor and a right track motor to move backwards;
the double-shaft handle swing quadrant forming signal y =0, x is larger than 0, the controller generates a variable signal | x |, and simultaneously controls a forward electromagnetic valve of a left variable plunger pump and a reverse electromagnetic valve of a right variable plunger pump to drive a left track motor and a right track motor to rotate on site and to the right;
the double-shaft handle swing quadrant forming signal y =0, x is less than 0, the controller generates a variable signal | x |, and simultaneously controls a left variable plunger pump reverse electromagnetic valve and a right variable plunger pump forward electromagnetic valve to drive the left track motor and the right track motor to rotate left in place;
the double-shaft handle swing quadrant forming signal x > y > 0, the controller generates a variable signal | x |, controls a forward electromagnetic valve of a left variable plunger pump and drives a left crawler motor to perform unilateral forward and rightward rotation;
the swing quadrant forming signal y of the double-shaft handle is more than or equal to x and more than 0, the controller generates variable signals | x + y |, | x + y | to control the forward electromagnetic valve of the left variable plunger pump, | y | to control the forward electromagnetic valve of the right variable plunger pump, and drives the left track motor and the right track motor to perform differential forward right rotation;
the swing quadrant forming signal y of the double-shaft handle is more than or equal to | x | > 0, x is less than 0, the controller generates variable signals | x |, | y-x |, | x | controls the forward electromagnetic valve of the left variable plunger pump, and | y-x | controls the forward electromagnetic valve of the right variable plunger pump to drive the left track motor and the right track motor to perform differential left forward rotation;
the swing quadrant of the double-shaft handle forms a signal | x | > y > 0 and x < 0, the controller generates a variable signal | x |, controls a forward electromagnetic valve of a right variable plunger pump and drives a right track motor to perform unilateral left forward rotation;
the double-shaft handle swing quadrant forming signal x is more than y and less than 0, the controller generates a variable signal | x |, controls a reverse electromagnetic valve of a right variable plunger pump and drives a right track motor to perform unilateral left-rear rotation;
the swing quadrant forming signal y of the double-shaft handle is less than or equal to x and less than 0, the controller generates variable signals y-x, y and y-x to control the reverse electromagnetic valve of the left variable plunger pump, and y to control the reverse electromagnetic valve of the right variable plunger pump to drive the left track motor and the right track motor to perform differential left backward rotation;
the swing quadrant forming signals y is less than 0, 0 is less than y and less than x, the controller generates variable signals y, y and x, y controls the reverse electromagnetic valve of the left variable plunger pump, y and x controls the reverse electromagnetic valve of the right variable plunger pump to drive the left track motor and the right track motor to perform differential right backward rotation;
the swing quadrant of the double-shaft handle forms a signal y less than 0 and x less than y, the controller generates variable signals x and x to control the reverse electromagnetic valve of the left variable plunger pump, and the left track motor is driven to perform single-side right backward rotation.
As above, while the invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The utility model provides a crawler-type orchard platform walking control system that gathers which characterized in that: the crawler chassis assembly comprises a crawler chassis assembly and a control platform; the crawler chassis assembly comprises a chassis frame, an engine, a left variable plunger pump, a right variable plunger pump, a left crawler motor, a right crawler motor and crawler wheels symmetrically arranged on two sides of the chassis frame, wherein the engine is arranged in the middle of the chassis frame, a flywheel shaft of the engine is directly connected with the left variable plunger pump and the right variable plunger pump, the left variable plunger pump and the right variable plunger pump are respectively connected with the left crawler motor and the right crawler motor, and the left crawler motor and the right crawler motor respectively drive the crawler wheels on two sides to walk; the control platform comprises a liquid crystal screen, a controller and a double-shaft handle, the liquid crystal screen is connected with the controller, the double-shaft handle is connected with the controller through a CAN bus, and the controller is provided with 4 paths of current analog quantity outputs which are respectively connected with a forward electromagnetic valve and a reverse electromagnetic valve of the left variable plunger pump and a forward electromagnetic valve and a reverse electromagnetic valve of the right variable plunger pump.
2. The crawler-type orchard harvesting platform walking control system of claim 1, wherein: and outputting 12 logic signals according to the swing quadrant of the double-shaft handle, wherein the logic signals comprise in-situ right turn, in-situ left turn, forward, backward, single-side right forward turn, differential left forward turn, single-side left backward turn, differential right backward turn and single-side right backward turn.
3. The crawler-type orchard harvesting platform walking control system of claim 2, wherein: the double-shaft handle swing quadrant forms x-axis and y-axis signals, the controller correspondingly generates variable signals of the left variable plunger pump and the right variable plunger pump, the variable signals are converted into control current signals of the left variable plunger pump and the right variable plunger pump, the control current signals are output to the forward electromagnetic valve and the reverse electromagnetic valve of the left variable plunger pump and the forward electromagnetic valve and the reverse electromagnetic valve of the right variable plunger pump, the directions and the flows of hydraulic oil outlets at AB ports of the left variable plunger pump and the right variable plunger pump are driven, and the left track motor and the right track motor are respectively driven to rotate;
the swing quadrant of the double-shaft handle forms x-axis and y-axis signals corresponding to the motion logic signals of the left track motor and the right track motor as follows: x =0, y > 0, outputting a forward signal; x =0, y < 0, and outputs a back signal; y =0, x > 0, outputting an in-place right turn signal; y =0, x < 0, outputting an in-place left turn signal; x is more than y and more than 0, and a single-side right forward signal is output; y is more than or equal to x and more than 0, and a differential right forward signal is output; y is more than or equal to | x | > 0, x is less than 0, and a differential left forward shifting signal is output; if x is greater than y and less than 0, outputting a single-side left-forwarding signal; x is more than y and less than 0, and a single-side left backward-turning signal is output; y is less than or equal to x and less than 0, and a differential left rear-turn signal is output; y is less than 0, y is more than 0 and less than or equal to x, and differential right backward rotation signals are output; y is less than 0, x is less than y and 0, and a single-side right backward signal is output.
4. The crawler-type orchard harvesting platform walking control system of claim 1, wherein: the double-shaft handle swing amplitude outputs a speed signal.
5. The crawler-type orchard harvesting platform walking control system of claim 1, wherein: the double-shaft handle is a friction positioning handle.
6. The walking control method of the crawler-type orchard harvesting platform walking control system according to claim 1, characterized by comprising the following steps:
s1: reading x-axis signals and y-axis signals formed by the swing quadrant of the double-shaft handle and the swing amplitude;
s2: the controller processes x-axis signals and y-axis signals formed by a double-shaft handle swing quadrant and swing amplitude and converts the signals into control current signals of a left variable plunger pump and a right variable plunger pump, drives the directions and the flow rates of AB port hydraulic oil outlets of the left variable plunger pump and the right variable plunger pump, and respectively drives a left track motor and a right track motor to rotate.
7. The walking control method according to claim 6, characterized in that:
the double-shaft handle swing quadrant forming signals x =0 and y is larger than 0, the controller generates a variable signal | y |, and simultaneously controls a forward electromagnetic valve of the left variable plunger pump and a forward electromagnetic valve of the right variable plunger pump to drive the left track motor and the right track motor to move forwards;
the double-shaft handle swing quadrant forming signals x =0 and y is less than 0, the controller generates a variable signal | y |, and simultaneously controls a left variable plunger pump reverse electromagnetic valve and a right variable plunger pump reverse electromagnetic valve to drive a left track motor and a right track motor to move backwards;
the double-shaft handle swing quadrant forming signals y =0 and x > 0, the controller generates a variable signal | x |, and controls a forward electromagnetic valve of the left variable plunger pump and a reverse electromagnetic valve of the right variable plunger pump to drive the left track motor and the right track motor to rotate on site and to rotate right;
the double-shaft handle swing quadrant forming signal y =0, x is less than 0, the controller generates a variable signal | x |, and simultaneously controls a left variable plunger pump reverse electromagnetic valve and a right variable plunger pump forward electromagnetic valve to drive the left track motor and the right track motor to rotate left in place;
the double-shaft handle swing quadrant forming signal x > y > 0, the controller generates a variable signal | x |, controls a forward electromagnetic valve of a left variable plunger pump and drives a left crawler motor to perform unilateral forward and rightward rotation;
the swing quadrant forming signal y of the double-shaft handle is more than or equal to x and more than 0, the controller generates variable signals | x + y |, | x + y | to control the forward electromagnetic valve of the left variable plunger pump, | y | to control the forward electromagnetic valve of the right variable plunger pump, and drives the left track motor and the right track motor to perform differential forward right rotation;
the double-shaft handle swing quadrant forming signal y is more than or equal to | x | > 0, x is less than 0, the controller generates variable signals | x |, | y-x |, | x | controls a forward electromagnetic valve of the left variable plunger pump, and | y-x | controls a forward electromagnetic valve of the right variable plunger pump to drive the left track motor and the right track motor to perform differential left forward rotation;
the double-shaft handle swing quadrant forms signals | x | > y > 0 and x < 0, the controller generates variable signals | x |, controls a forward electromagnetic valve of a right variable plunger pump and drives a right track motor to perform unilateral left forward rotation;
the double-shaft handle swing quadrant forming signal x is more than y and less than 0, the controller generates a variable signal | x |, controls a reverse electromagnetic valve of a right variable plunger pump and drives a right track motor to perform single-side left-rear rotation;
the double-shaft handle swing quadrant forming signal y is less than or equal to x and less than 0, the controller generates variable signals y-x and y-x to control the left variable plunger pump reverse electromagnetic valve, and y to control the right variable plunger pump reverse electromagnetic valve to drive the left track motor and the right track motor to perform differential left backward rotation;
the double-shaft handle swing quadrant forming signals y is less than 0, 0 is more than y and less than or equal to x, the controller generates variable signals y, y + x, y and y to control the left variable plunger pump reverse electromagnetic valve, y + x to control the right variable plunger pump reverse electromagnetic valve to drive the left track motor and the right track motor to perform differential right backward rotation;
the double-shaft handle swing quadrant forms signals y < 0 and x < y < 0, the controller generates variable signals | x | and | x | to control the left variable plunger pump reverse electromagnetic valve, and the left track motor is driven to perform single-side right backward rotation.
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| CN114578894A (en) * | 2022-01-11 | 2022-06-03 | 中联恒通机械有限公司 | Control method and system for preventing double-shaft handle from generating composite action |
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| CN114578894A (en) * | 2022-01-11 | 2022-06-03 | 中联恒通机械有限公司 | Control method and system for preventing double-shaft handle from generating composite action |
| CN114578894B (en) * | 2022-01-11 | 2024-05-28 | 中联恒通机械有限公司 | Control method and system for preventing double-shaft handles from generating compound actions |
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