CN111736504B - HST control device for universal chassis of agricultural machine - Google Patents
HST control device for universal chassis of agricultural machine Download PDFInfo
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- CN111736504B CN111736504B CN202010598269.XA CN202010598269A CN111736504B CN 111736504 B CN111736504 B CN 111736504B CN 202010598269 A CN202010598269 A CN 202010598269A CN 111736504 B CN111736504 B CN 111736504B
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- G05B19/00—Programme-control systems
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Abstract
The invention discloses an HST control device of a chassis universal for agricultural machinery and a control method thereof. According to the invention, three control modes of manual control, automatic control and automatic driving are effectively combined, so that the automatic driving technology can be smoothly applied to the agricultural machinery, smooth and frequent switching can be realized among the three control modes, and the damage to the agricultural machinery is avoided; in addition, the automatic driving technology further embodies the advantage of hydraulic drive, improves the safety performance of the agricultural machinery vehicle body and the driving assisting comfort.
Description
Technical Field
The invention relates to the technical field of agricultural machinery HST control, in particular to an HST control device for a universal chassis of an agricultural machinery.
Background
With the technical development and the progress of times, the traditional mechanical transmission mode is gradually replaced by the combination of the HST stepless speed change and the stepped mechanical gearbox, and the development direction of high-end agricultural machinery is formed. The invention ZL201510432176.9 'HST stepless speed change multi-gear one-rod control system' discloses an HST stepless speed change multi-gear one-rod control system, which is convenient for manufacturing and implementation, and controls all walking functions of HST stepless speed regulation, gear switching of a mechanical gearbox, forward and reverse and the like into a whole, so that driving operation is more convenient and comfortable, and the advantages of hydraulic driving are fully embodied.
However, the above-mentioned control system still needs the user to control in the whole course, and the agricultural machinery auxiliary technology and unmanned technology are a development trend at present, and the existing unmanned automatic driving is mostly adopted on the common automobile, and for the agricultural machinery with special driving mode and driving mode, it is difficult to directly transplant the automatic driving technology, which mainly shows in the following aspects:
first, in consideration of the driving characteristics of agricultural machines, the existing agricultural machines cannot leave the HST control system temporarily, and the existing unmanned automatic driving has no control mode for the HST.
Secondly, because the driving environment of the agricultural machinery is special, the driving mode and the control mode need to be frequently switched, and how to smoothly switch, reducing the negative interference in the switching process is an urgent problem to be solved.
Thirdly, considering the operating characteristics, the agricultural machinery has higher requirements on the control precision of the running speed compared with the common automobile. Because agricultural machinery is used for the farmland operation to use, and different with conventional car, the speed that traveles of agricultural machinery needs control more accurate to the seeding is the example, and the agricultural machinery speed of traveling itself among the seeding operation process is slower, and error range is little, in case speed control is improper, can directly influence seeding quality and final farmland harvest. In addition, the farmland ground is uneven, the operation environment is complex, the running speed is difficult to control during manual driving, various running problems can be obviously caused if the existing automatic driving technology is directly adopted, and even running risks such as overturning, sliding and the like are increased.
Therefore, the development of an intelligent control device matched with the HST control system and suitable for the agricultural machinery is needed.
Disclosure of Invention
The invention aims to provide an HST control device of a universal chassis of an agricultural machine and a control method thereof, which effectively combines three control modes of manual control, automatic control and automatic driving, so that the automatic driving technology can be smoothly applied to the agricultural machine, smooth and frequent switching can be realized among the three control modes, and damage to the agricultural machine is avoided; in addition, the automatic driving technology further embodies the advantage of hydraulic drive, improves the safety performance of the agricultural machinery vehicle body and the driving assisting comfort.
In order to achieve the above purpose, with reference to fig. 1, the invention provides an HST control device for a chassis of an agricultural machine, wherein the control device comprises a human-computer interaction module, a data management module, a control module, a driving speed sensor, a control handle, a control mode switching device, a brake device, a hydraulic transmission device group, a CAN bus communication module, an engine controller and an automatic driving controller;
the human-computer interaction module is electrically connected with the control module and is used for receiving an external control instruction and a target speed value input by a user;
the running speed sensor is electrically connected with the control module and is used for acquiring a running speed signal of the agricultural machine in real time and transmitting an acquisition result to the control module;
one end of the CAN bus communication module is connected with the control module, and the other end of the CAN bus communication module is simultaneously connected with the engine controller and the automatic driving controller, so that data interaction between the control module and the engine controller and between the control module and the automatic driving controller is realized;
the control mode switching device is used for switching agricultural machinery control modes, and the agricultural machinery control modes comprise three types of manual control, automatic control and automatic driving;
when the control mode of the agricultural machine is switched to manual control, the control module receives a variable pump adjusting signal input by a user through a control handle, and directly adjusts the working state of the hydraulic transmission device set to control the running speed of the agricultural machine;
when the agricultural machinery control mode is switched to be automatically controlled by the agricultural machinery control system, the engine controller receives a target speed value input by a user through the man-machine interaction module, generates a corresponding variable pump adjusting signal by combining with an electric accelerator signal, sends the generated variable pump adjusting signal to the control module, and adjusts the working state of the hydraulic transmission device group by the control module so that the actual running speed approaches the target speed value;
when the agricultural machinery control mode is switched to automatic driving, the control module acquires a target speed value sent by a user through a CAN bus communication module, the engine controller judges whether the size of an accelerator needs to be adjusted or not according to the target speed value, if so, after the accelerator is adjusted by the engine controller, the control module generates a corresponding variable pump adjusting signal according to the target speed value, otherwise, the control module directly generates a corresponding variable pump adjusting signal according to the target speed value, and adjusts the working state of the hydraulic transmission device set to enable the actual driving speed to approach the target speed value;
when the agricultural machinery mode is in an automatic control or automatic driving state of the agricultural machinery, the automatic driving controller acquires an actual driving speed value acquired by a form speed sensor in real time in the driving process, calculates to obtain a difference value between the actual driving speed value and a target speed value, and if the difference value between the actual driving speed value and the target speed value is greater than a preset difference threshold value corresponding to the current control mode, the control device performs PID control on a hydraulic transmission device group according to a preset coordination control strategy to enable the actual driving speed value to approach the target speed value;
in the running process of the agricultural machinery, the control module responds to the received brake control signal or abnormal signal and executes a brake task by adjusting the working parameters of the brake device.
Further, the running speed sensor is mounted on the transmission case;
the running speed sensor is used for acquiring the rotating speed of an output shaft of the running mechanism, and a speed correction algorithm is embedded in the control module and used for correcting an acquisition result so as to eliminate the influence of running conditions and obtain an actual running speed value.
Further, the control mode switching device is integrated on the joystick.
Furthermore, a travel direction change-over switch and an HST position sensor are arranged on the control handle;
the travel direction change-over switch comprises a forward gear, a middle gear and a reverse gear;
the HST position sensor is used for detecting the position information of the operating handle in real time and transmitting the position information to the control module, and the control module combines the control state of the traveling direction change-over switch and the position information of the operating handle to generate a manual control signal.
Furthermore, the braking device comprises a first motor, a brake pedal and a displacement sensor, wherein the first motor is connected between the control module and the brake pedal, the rotating speed is adjusted according to a control instruction issued by the control module to change the stroke amount of the brake pedal, and the displacement sensor is installed on the brake pedal, is electrically connected with the control module, is used for detecting the stroke amount of the brake pedal in real time and feeds a detection result back to the control module.
Furthermore, the hydraulic transmission device group comprises a second motor, a hydraulic transmission device and a gearbox which are connected in sequence, the second motor is connected with the control module, the rotating speed is adjusted according to a control instruction issued by the control module to control the flow of the variable displacement pump, the rotating speed of the hydraulic motor is changed to realize a speed change function, the gearbox is used as a driving load of the hydraulic transmission device and is provided with N gears, each gear corresponds to one or more working machines, and the gearbox is installed on the chassis.
Furthermore, the control module comprises an analog output interface circuit and a plurality of or all types of interfaces of a wireless communication interface, a CAN interface and a 485 interface which are connected with the analog output interface circuit.
Further, the preset coordination control strategy is that:
s1, judging the current agricultural machine control mode, and determining the difference threshold value between the corresponding actual measurement speed value and the target speed value;
s2, acquiring and storing a target speed value, acquiring a current actual measurement speed value, and comparing the current actual measurement speed value with the stored target speed value: (1) if the difference between the current actual measurement speed value and the target speed value is greater than the difference threshold corresponding to the agricultural machinery control mode but less than the maximum difference threshold, directly performing PID control on the hydraulic transmission device group to enable the actual running speed value to gradually approach the target speed value, and ending the process, (2) if the current actual measurement speed value is higher than the target speed value and the difference between the actual measurement speed value and the target speed value reaches the maximum difference threshold, turning to step S3;
s3, generating an abnormal signal, reducing the actual driving speed of the agricultural machinery by adopting a braking device or directly braking, and when the braking device is adopted for speed reduction, corresponding to the actual measurement speed value, the full-range signal of the displacement sensor for measuring the stroke quantity of the brake pedal;
if the current actual measurement speed value is not collected in step S2, the braking device is forced to start, so that the actual driving speed value gradually approaches 0, and an alarm signal is sent.
Furthermore, the control device further comprises a data management module, wherein the data management module is connected with the control module and used for acquiring driving parameters and control parameters of the agricultural machinery, analyzing faults of the acquired results and sending the analyzed results to the control module.
Further, the control module monitors the current agricultural machinery control mode type and the switched target control mode type in real time:
when the agricultural machine control mode is switched from automatic control or automatic driving to manual control, the control module collects a variable pump adjusting signal input by a user through a control handle in real time and directly adjusts the working state of the hydraulic transmission device set to control the running speed of the agricultural machine;
when the agricultural machine control mode is switched from manual control or automatic driving to automatic control of the agricultural machine, the control module responds to a variable pump adjusting signal generated by calculation of an engine controller combined with a target speed value and an electric throttle signal input by a user through a man-machine interaction module within a preset waiting time, adjusts the working state of the hydraulic transmission device set according to the received variable pump adjusting signal to enable the actual running speed to approach the target speed value, completes control mode switching, shields the variable pump adjusting signal input by the operating handle and the target speed value acquired by the CAN bus communication module, and otherwise, sends an alarm signal to prompt control mode switching failure and switches the current control mode into the manual control mode;
when the agricultural machinery control mode is switched into automatic driving from manual control or automatic control, the control module acquires a target speed value sent by a user through the CAN bus communication module, drives the engine controller to adjust the size of an accelerator according to the target speed value if the acquisition is successful, then generates a corresponding variable pump adjusting signal by combining the target speed value, adjusts the working state of the hydraulic transmission device group to enable the actual driving speed to approach the target speed value, completes the switching of the control mode, shields the variable pump adjusting signal input by the operating handle and the target speed value acquired by the man-machine interaction module, and sends an alarm signal to prompt the failure of the switching of the control mode if the acquisition is failed, and switches the current control mode into the manual control mode;
and when the agricultural machinery control mode is switched from manual control to automatic control or automatic driving, starting the automatic driving controller, and adjusting the running speed by combining the control module until the agricultural machinery control mode is switched to the manual control mode again.
Compared with the prior art, the technical scheme of the invention has the following remarkable beneficial effects:
(1) the automatic control system effectively combines three control modes of manual control, automatic control and automatic driving, so that the automatic driving technology can be smoothly applied to agricultural machinery.
(2) Smooth frequent switching can be realized among the three control modes, and damage to agricultural machinery is avoided.
(3) The automatic driving technology further embodies the advantage of hydraulic drive, can accurately control the running speed of the agricultural machine, and effectively improves the safety performance of the body of the agricultural machine and the driving assisting comfort.
(4) The condition that jolt and the like have influences on the actual running speed in the running process of the agricultural machine can be quickly processed, and the running stability of the agricultural machine is maintained.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a schematic structural diagram of an agricultural machinery general chassis HST control device.
FIG. 2 is a flow chart of a control method of the HST control device of the agricultural machinery universal chassis.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
With reference to fig. 1, the invention provides an agricultural machinery general chassis HST control device, which comprises a human-computer interaction module, a data management module, a control module, a driving speed sensor, a control handle, a control mode switching device, a brake device, a hydraulic transmission device group, a CAN bus communication module, an engine controller and an automatic driving controller.
The human-computer interaction module is electrically connected with the control module and used for receiving an external control instruction and a target speed value input by a user. Preferably, the human-computer interaction module can adopt any one of a touch screen, a remote terminal, a mobile terminal and the like to adapt to different application scenes.
The running speed sensor is electrically connected with the control module and used for collecting a running speed signal of the agricultural machine in real time and transmitting a collection result to the control module. Preferably, the travel speed sensor is mounted on the transmission case. The running speed sensor is used for acquiring the rotating speed of an output shaft of the running mechanism, and a speed correction algorithm is embedded in the control module and used for correcting an acquisition result so as to eliminate the influence of running conditions and obtain a higher-precision actual running speed value. The method has great significance for automatic driving of agricultural machinery, and is a data basis for realizing automatic driving or local automatic driving.
One end of the CAN bus communication module is connected with the control module, and the other end of the CAN bus communication module is simultaneously connected with the engine controller and the automatic driving controller, so that data interaction between the control module and the engine controller and between the control module and the automatic driving controller is realized. For example, the CAN bus communication module is driven and controlled by SAJ1000, and CAN be used for receiving an engine electric accelerator signal, and also CAN be used for receiving a target speed value and a running speed value sent by an automatic driving controller.
Correspondingly, a matched communication unit is arranged in the control module, preferably, the control module comprises an analog output interface circuit and a plurality of or all types of interfaces in a wireless communication interface, a CAN interface and a 485 interface which are connected with the analog output interface circuit so as to respectively correspond to actual requirements of different communication scenes. For example, the control module can be electrically connected with the first motor and the second motor through the output interface circuit, and the mode is more suitable for outdoor agricultural machinery; the first motor and the second motor can be controlled in a remote control mode through the wireless communication module, and the mode is more suitable for indoor greenhouses and small agricultural machinery in hilly and mountainous regions. The remote control commands which can be received by the wireless communication module comprise starting, accelerating, decelerating, stopping, backing-up commands and the like.
As a preferred example, the braking device includes a first motor, a brake pedal, and a displacement sensor, the first motor is connected between the control module and the brake pedal, and adjusts the rotation speed according to a control instruction issued by the control module to change the stroke amount of the brake pedal, and the displacement sensor is mounted on the brake pedal, electrically connected to the control module, and configured to detect the stroke amount of the brake pedal in real time, and feed back the detection result to the control module. Specifically, the first motor controls a pedal through a push rod for automatic braking, and the displacement sensor is used for sampling the force of the brake pedal.
As a preferred example, the hydraulic transmission device group includes a second motor, a hydraulic transmission device, and a gearbox, which are connected in sequence, the second motor is connected with the control module, and the rotation speed is adjusted according to a control instruction issued by the control module to control the flow rate of the variable displacement pump, so as to change the rotation speed of the hydraulic motor to realize a speed change function. The transmission is provided with N stages (each stage corresponds to a different work implement) as a drive load of the HST, and more preferably, N is 4 or more.
The control module can be an unmanned automatic driving control module or an auxiliary driving control module.
Specifically, with reference to fig. 2, the control mode switching device is configured to switch an agricultural machine control mode, where the agricultural machine control mode includes three types, namely manual control, automatic control, and automatic driving.
When the agricultural machinery control mode is switched to be automatically controlled by the agricultural machinery control system, the engine controller receives a target speed value input by a user through the man-machine interaction module, generates a corresponding variable pump adjusting signal by combining with an electric accelerator signal, sends the generated variable pump adjusting signal to the control module, and adjusts the working state of the hydraulic transmission device group by the control module so that the actual running speed approaches the target speed value.
When the agricultural machinery control mode is switched to automatic driving, the control module acquires a target speed value sent by a user through the CAN bus communication module, the engine controller judges whether the size of an accelerator needs to be adjusted or not according to the target speed value, if so, the control module generates a corresponding variable pump adjusting signal according to the target speed value after the accelerator is adjusted by the engine controller, otherwise, the control module directly generates a corresponding variable pump adjusting signal according to the target speed value, and adjusts the working state of the hydraulic transmission device set so that the actual driving speed approaches the target speed value.
When the agricultural machinery mode is in an automatic control or automatic driving state of the agricultural machinery, the automatic driving controller acquires an actual driving speed value acquired by the form speed sensor in real time in the driving process, calculates to obtain a difference value between the actual driving speed value and the target speed value, and if the difference value between the actual driving speed value and the target speed value is larger than a preset difference threshold value corresponding to the current control mode, the control device performs PID control on the hydraulic transmission device group according to a preset coordination control strategy to enable the actual driving speed value to approach the target speed value.
In the running process of the agricultural machinery, the control module responds to the received brake control signal or abnormal signal and executes a brake task by adjusting the working parameters of the brake device.
With regard to the priorities of the aforementioned three agricultural machine control modes, the following are set: the target speed control priority is manual mode > native automatic mode > autonomous driving mode.
When the agricultural machinery control mode is in manual control, all operation behaviors of the agricultural machinery are controlled by a driver, and the priority of the mode is highest, so that the driver can control the absolute operation right of the agricultural machinery through switching the control mode at any time.
When the agricultural machinery control mode is under the automatic control of the agricultural machinery, the engine controller receives a target speed value input by a user through the man-machine interaction module or the instrument panel, judges whether the variable pump needs to be adjusted or not according to the electric accelerator signal, generates a corresponding variable pump adjusting signal by calculation if the variable pump adjusting signal needs to be generated, sends the generated variable pump adjusting signal to the control module, and adjusts the working state of the hydraulic transmission device group by the control module so as to enable the actual running speed to approach the target speed value. Because the target speed value change frequency in the agricultural machinery driving process is relatively high, and meanwhile, due to the reasons that the number of obstacles is large, the ground parameters are different and the like in the farmland driving environment, the situation that the deviation between the actual driving speed value and the target speed value is overlarge is easy to occur, and a quick and stable adjustment mode needs to be adopted to make up for the difference. Preferably, this is done by the autopilot controller in conjunction with the control module. Specifically, in the driving process, the automatic driving controller acquires an actual driving speed value acquired by the form speed sensor in real time, calculates to obtain a difference value between the actual driving speed value and a target speed value, and if the difference value between the actual driving speed value and the target speed value is greater than a preset difference value threshold value corresponding to a current control mode, the control device performs PID control on the hydraulic transmission device group according to a preset coordination control strategy to enable the actual driving speed value to approach the target speed value, so that driving comfort is improved as much as possible while driving speed is accurately controlled. The setting has outstanding advantages when the agricultural machine control mode is switched, for example, a driver switches the agricultural machine control mode from manual control to automatic control at a certain moment, unstable phenomena such as shaking and the like can possibly occur in the agricultural machine in a short time due to factors such as complicated farmland conditions, transformation of variable pump signal generation objects caused by control mode switching and the like, misjudgment can be easily caused if the variable pump flow is changed to maintain stability at the moment, and the mechanical structure of the agricultural machine can be damaged due to the fact that the unstable influencing factors are complicated and the variable pump flow is frequently changed. The automatic driving controller is adopted to synthesize multi-party real-time driving information, and the speed deviation in the driving process is adjusted by combining the control module, so that various problems in the switching of control modes of the agricultural machinery can be effectively avoided, and the driving comfort of a user is improved. In the same way, when the actual running speed and the target speed of the agricultural machine suddenly deviate due to the existence of obstacles on the farmland ground, the speed deviation in the running process is directly adjusted through the automatic driving controller and the control module, so that the agricultural machine runs as stably as possible, and the adjustment instruction does not relate to other modules, so that the adjustment efficiency is improved on one hand, and the damage to equipment is reduced on the other hand.
When the agricultural machinery control mode is in the automatic driving mode, a user sends a target speed value to the control module through the CAN bus communication module, the control module firstly drives the engine controller to judge whether the throttle state needs to be adjusted or not by combining a current electric throttle signal, after the throttle state is matched with the target speed value, the control module directly generates a corresponding variable pump adjusting signal according to the target speed value sent by the user, and the working state of the hydraulic transmission device set is adjusted so that the actual driving speed approaches the target speed value. Similar to the automatic control mode of the agricultural machinery, the automatic driving controller is combined with the control module to adjust the conditions of sudden change of actual driving speed and the like, such as jolt and the like caused by external factors such as farmland barriers and the like in the driving process of the agricultural machinery.
As a preferred example, the preset coordination control strategy is:
and S1, judging the current agricultural machine control mode, and determining the difference threshold value between the corresponding actual measurement speed value and the target speed value.
S2, acquiring and storing a target speed value, acquiring a current actual measurement speed value, and comparing the current actual measurement speed value with the stored target speed value: (1) if the difference between the current actual measurement speed value and the target speed value is greater than the difference threshold corresponding to the agricultural machinery control mode but less than the maximum difference threshold, directly performing PID control on the hydraulic transmission device group to enable the actual driving speed value to gradually approach the target speed value, and ending the process, (2) if the current actual measurement speed value is higher than the target speed value and the difference between the actual measurement speed value and the target speed value reaches the maximum difference threshold, turning to step S3.
And S3, generating an abnormal signal, reducing the actual running speed of the agricultural machine by using a braking device or directly braking, and when the braking device is used for reducing the speed, corresponding to the actual measurement speed value, the full-range signal of the displacement sensor for measuring the stroke quantity of the brake pedal.
If the current actual measurement speed value is not collected in step S2, the braking device is forced to start, so that the actual driving speed value gradually approaches 0, and an alarm signal is sent.
Namely, the specific process comprises the following steps:
(1) the control mode is first confirmed.
(2) And respectively storing the target speed value and the actually measured speed value acquired under each control mode in an EEPROM.
(3) And when the target speed value is not consistent with the actual measurement speed value but the actual speed value is not higher than the target speed value, driving the second motor to start working, and performing PID control on the variable pump to adjust the difference between the target speed value and the actual measurement speed value so that the actual speed value gradually approaches the target speed value. In this case, different control processes can be executed in different control modes, for example, in an automatic control process, the engine controller is driven to participate in providing control signals.
(4) And no matter the vehicle works in an automatic control mode or an automatic driving mode, when the measured speed value is higher than the target value by a bandwidth (namely exceeds a preset maximum difference threshold), the forced braking device works to brake or rapidly reduce the speed so as to reduce the driving risk. When the deceleration is selected, the full-scale signal of the brake displacement sensor corresponds to the actual speed.
When the actual measurement speed value is invalid and the acquisition of the real measurement speed value fails, an abnormal signal is generated to force the braking device to work, the actual speed value of the agricultural machine is reduced to 0 by the braking device, and an alarm is given to remind a user of timely troubleshooting or switching the control mode to manual control.
It should be understood that the difference threshold applied in the native automatic mode and the autonomous driving mode may not be the same, due to differences in control principles and differences in the cause of speed fluctuations.
Preferably, the control mode switching means is integrated on the joystick. The manipulation handle may include: the 'forward/middle position/reverse' change-over switch, the HST position sensor and the 'automatic/manual' change-over switch meet the actual requirement of convenient operation of a driver. When a driver switches to a manual state, the flow of the variable pump can be changed by moving the handle back and forth, and the brake is applied under the emergency condition of automatic driving; when the driver switches to the 'automatic' state, the HST realizes accurate control by combining the information transmitted back by each sensor through the human-computer interaction module. The HST position sensor is used for detecting the position information of the operating handle in real time and transmitting the position information to the control module, and the control module combines the control state of the traveling direction change-over switch and the position information of the operating handle to generate a manual control signal.
Further, the control module monitors the current agricultural machinery control mode type and the switched target control mode type in real time:
when the agricultural machinery control mode is switched from automatic control or automatic driving to manual control, the control module collects a variable pump adjusting signal input by a user through a control handle in real time and directly adjusts the working state of the hydraulic transmission device set to control the running speed of the agricultural machinery.
When the agricultural machinery control mode is switched from manual control or automatic driving to automatic control, the control module responds to a variable pump adjusting signal generated by calculation of an engine controller in combination with a target speed value and an electric throttle signal input by a user through an instrument panel within a preset waiting time, adjusts the working state of the hydraulic transmission device set according to the received variable pump adjusting signal to enable the actual running speed to approach the target speed value, completes control mode switching, shields the variable pump adjusting signal input by the operating handle and the target speed value acquired by the CAN bus communication module, and otherwise, sends an alarm signal to prompt the control mode switching failure and switches the current control mode into the manual control mode. Especially, when the control mode of the agricultural machinery is switched from the manual control mode to the automatic driving mode, because the control signals of the variable pump are all generated by the control module, the target speed value and the control mode switching instruction input by the user can be regarded as the continuous current control instruction, the actual speed value is adjusted and maintained to the target speed value, and the stable transition of the control mode is completed.
When the agricultural machinery control mode is switched into automatic driving from manual control or automatic control, the control module acquires a target speed value sent by a user through the CAN bus communication module, if the acquisition is successful, the engine controller is driven to judge whether the current throttle state needs to be adjusted, and after the throttle state is matched with the gear of the target speed value, a corresponding variable pump adjusting signal is directly generated according to the target speed value, the working state of the hydraulic transmission device set is adjusted to enable the actual driving speed to approach the target speed value, the control mode switching is completed, the variable pump adjusting signal input by the operating handle and the target speed value acquired by the instrument panel are shielded, if the acquisition is failed, an alarm signal is sent to prompt the control mode switching failure, and the current control mode is switched into the manual control mode. Through the switching process, even if the difference between the target speed value and the actual driving speed value is large, the stable switching of the control mode can be completed, the damage to the structure of the agricultural machinery is avoided, and meanwhile, the comfort of a driver is improved.
As can be seen from the foregoing, the success or failure of the switching of the control module is marked by whether the control module can generate an effective variable pump control signal or receives an effective variable pump control signal, and if the control module fails, it indicates that the agricultural machinery control system has a problem, and generates an abnormal signal, and switches to the manual control mode, so as to improve the driving safety as much as possible.
As one preferred example, the control device further comprises a data management module, wherein the data management module is connected with the control module and used for collecting the running parameters and the control parameters of the agricultural machinery, analyzing the collected results for faults and sending the analyzed results to the control module so as to detect and investigate various faults occurring in the running process in time.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (9)
1. An HST control device of a chassis universal for agricultural machinery is characterized in that the control device comprises a human-computer interaction module, a data management module, a control module, a running speed sensor, a control handle, a control mode switching device, a brake device, a hydraulic transmission device group, a CAN bus communication module, an engine controller and an automatic driving controller;
the human-computer interaction module is electrically connected with the control module and is used for receiving an external control instruction and a target speed value input by a user;
the running speed sensor is electrically connected with the control module and is used for acquiring a running speed signal of the agricultural machine in real time and transmitting an acquisition result to the control module;
one end of the CAN bus communication module is connected with the control module, and the other end of the CAN bus communication module is simultaneously connected with the engine controller and the automatic driving controller, so that data interaction between the control module and the engine controller and between the control module and the automatic driving controller is realized;
the control mode switching device is used for switching agricultural machinery control modes, and the agricultural machinery control modes comprise three types of manual control, automatic control and automatic driving;
when the control mode of the agricultural machine is switched to manual control, the control module receives a variable pump adjusting signal input by a user through a control handle, and directly adjusts the working state of the hydraulic transmission device set to control the running speed of the agricultural machine;
when the agricultural machinery control mode is switched to be automatically controlled by the agricultural machinery control system, the engine controller receives a target speed value input by a user through the man-machine interaction module, generates a corresponding variable pump adjusting signal by combining with an electric accelerator signal, sends the generated variable pump adjusting signal to the control module, and adjusts the working state of the hydraulic transmission device group by the control module so that the actual running speed approaches the target speed value;
when the agricultural machinery control mode is switched to automatic driving, the control module acquires a target speed value sent by a user through a CAN bus communication module, the engine controller judges whether the size of an accelerator needs to be adjusted or not according to the target speed value, if so, after the accelerator is adjusted by the engine controller, the control module generates a corresponding variable pump adjusting signal according to the target speed value, otherwise, the control module directly generates a corresponding variable pump adjusting signal according to the target speed value, and adjusts the working state of the hydraulic transmission device set to enable the actual driving speed to approach the target speed value;
when the agricultural machinery control mode is in an automatic control or automatic driving state of the agricultural machinery, the automatic driving controller acquires an actual driving speed value acquired by a driving speed sensor in real time in the driving process, calculates to obtain a difference value between the actual driving speed value and a target speed value, and if the difference value between the actual driving speed value and the target speed value is greater than a preset difference threshold value corresponding to the current control mode, the control device performs PID control on the hydraulic transmission device group according to a preset coordination control strategy to enable the actual driving speed value to approach the target speed value;
in the running process of the agricultural machinery, the control module responds to the received brake control signal or abnormal signal and executes a brake task by adjusting the working parameters of the brake device;
the control module monitors the type of the current agricultural machinery control mode and the type of the switched target control mode in real time:
when the agricultural machine control mode is switched from automatic control or automatic driving to manual control, the control module collects a variable pump adjusting signal input by a user through a control handle in real time and directly adjusts the working state of the hydraulic transmission device set to control the running speed of the agricultural machine;
when the agricultural machine control mode is switched from manual control or automatic driving to automatic control of the agricultural machine, the control module responds to a variable pump adjusting signal generated by calculation of an engine controller combined with a target speed value and an electric throttle signal input by a user through a man-machine interaction module within a preset waiting time, adjusts the working state of the hydraulic transmission device set according to the received variable pump adjusting signal to enable the actual running speed to approach the target speed value, completes control mode switching, shields the variable pump adjusting signal input by the operating handle and the target speed value acquired by the CAN bus communication module, and otherwise, sends an alarm signal to prompt control mode switching failure and switches the current control mode into the manual control mode;
when the agricultural machinery control mode is switched into automatic driving from manual control or automatic control, the control module acquires a target speed value sent by a user through the CAN bus communication module, drives the engine controller to adjust the size of an accelerator according to the target speed value if the acquisition is successful, then generates a corresponding variable pump adjusting signal by combining the target speed value, adjusts the working state of the hydraulic transmission device group to enable the actual driving speed to approach the target speed value, completes the switching of the control mode, shields the variable pump adjusting signal input by the operating handle and the target speed value acquired by the man-machine interaction module, and sends an alarm signal to prompt the failure of the switching of the control mode if the acquisition is failed, and switches the current control mode into the manual control mode;
and when the agricultural machinery control mode is switched from manual control to automatic control or automatic driving, starting the automatic driving controller, and adjusting the running speed by combining the control module until the agricultural machinery control mode is switched to the manual control mode again.
2. The agricultural machine universal chassis HST control device according to claim 1, wherein the travel speed sensor is mounted on a gearbox;
the running speed sensor is used for acquiring the rotating speed of an output shaft of the running mechanism, and a speed correction algorithm is embedded in the control module and used for correcting an acquisition result so as to eliminate the influence of running conditions and obtain an actual running speed value.
3. The agricultural machine universal chassis HST control device of claim 1, wherein the control mode switching device is integrated on a handlebar.
4. The agricultural machine universal chassis HST control device as claimed in claim 1, wherein the operating handle is provided with a travel direction switch and an HST position sensor;
the travel direction change-over switch comprises a forward gear, a middle gear and a reverse gear;
the HST position sensor is used for detecting the position information of the operating handle in real time and transmitting the position information to the control module, and the control module combines the control state of the traveling direction change-over switch and the position information of the operating handle to generate a manual control signal.
5. The agricultural machinery universal chassis HST control device as claimed in claim 1, wherein the brake device comprises a first motor, a brake pedal and a displacement sensor, the first motor is connected between the control module and the brake pedal, the rotation speed is adjusted according to a control command issued by the control module to change the stroke amount of the brake pedal, and the displacement sensor is mounted on the brake pedal, electrically connected with the control module, and used for detecting the stroke amount of the brake pedal in real time and feeding back the detection result to the control module.
6. The agricultural machinery general chassis HST control device according to claim 1, wherein the hydraulic transmission device group comprises a second motor, a hydraulic transmission device and a gearbox which are connected in sequence, the second motor is connected with the control module, the rotating speed is adjusted according to a control instruction sent by the control module to control the flow of the variable pump, the rotating speed of the hydraulic motor is further changed to realize a speed change function, the gearbox is used as a driving load of the hydraulic transmission device and is provided with N gears, each gear corresponds to one or more working machines, and the gearbox is installed on the chassis.
7. The agricultural machinery universal chassis HST control device as claimed in claim 1, wherein the control module comprises an analog output interface circuit and a plurality of or all types of interfaces of a wireless communication interface, a CAN interface and a 485 interface connected with the analog output interface circuit.
8. The agricultural machinery universal chassis HST control device as claimed in claim 1, wherein the preset coordination control strategy is:
s1, judging the current agricultural machine control mode, and determining the difference threshold value between the corresponding actual measurement speed value and the target speed value;
s2, acquiring and storing a target speed value, acquiring a current actual measurement speed value, and comparing the current actual measurement speed value with the stored target speed value: (1) if the difference between the current actual measurement speed value and the target speed value is greater than the difference threshold corresponding to the agricultural machinery control mode but less than the maximum difference threshold, directly performing PID control on the hydraulic transmission device group to enable the actual running speed value to gradually approach the target speed value, and ending the process, (2) if the current actual measurement speed value is higher than the target speed value and the difference between the actual measurement speed value and the target speed value reaches the maximum difference threshold, turning to step S3;
s3, generating an abnormal signal, reducing the actual driving speed of the agricultural machinery by adopting a braking device or directly braking, and when the braking device is adopted for speed reduction, corresponding to the actual measurement speed value, the full-range signal of the displacement sensor for measuring the stroke quantity of the brake pedal;
if the current actual measurement speed value is not collected in step S2, the braking device is forced to start, so that the actual driving speed value gradually approaches 0, and an alarm signal is sent.
9. The agricultural machinery universal chassis HST control device as claimed in claim 1, further comprising a data management module, wherein the data management module is connected with the control module and used for collecting driving parameters and control parameters of the agricultural machinery, analyzing faults of collected results, and sending the analyzed results to the control module.
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| CN104782329A (en) * | 2015-04-01 | 2015-07-22 | 洛阳理工学院 | Traveling speed control system and method for agricultural machine |
| CN208069645U (en) * | 2018-02-27 | 2018-11-09 | 黎万恩 | A kind of automatic driving of agricultural machinery control system |
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