CN112026766A - Starting control method and device for cruise switching of agricultural machinery and agricultural machinery - Google Patents

Starting control method and device for cruise switching of agricultural machinery and agricultural machinery Download PDF

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Publication number
CN112026766A
CN112026766A CN202010719850.2A CN202010719850A CN112026766A CN 112026766 A CN112026766 A CN 112026766A CN 202010719850 A CN202010719850 A CN 202010719850A CN 112026766 A CN112026766 A CN 112026766A
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speed
acceleration
agricultural machine
cruise
actual
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曹显利
韩慧仙
曹国廷
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Yiwu Shenyan Intelligent Technology Co ltd
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Yiwu Shenyan Intelligent Technology Co ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/15—Agricultural vehicles
    • B60W2300/152—Tractors

Abstract

The invention provides a starting control method and device for cruise switching of agricultural machinery and the agricultural machinery, wherein the starting control method and device comprise the following steps: obtaining a control command to enter a cruise state and a target cruise speed V1(ii) a Acquiring actual speed V of agricultural machinery2(ii) a Calculating the actual speed V2With target cruising speed V1The difference in velocity Δ V between; determining the actual acceleration A of the agricultural machine; judging whether the speed difference value delta V is larger than a speed difference threshold value delta V or not0And whether the magnitude of the actual acceleration A is less than the acceleration threshold A0(ii) a In response to the speed difference value DeltaV being greater than a speed difference threshold DeltaV0And the magnitude of the actual acceleration A is smaller than the acceleration threshold A0Outputting a first control signal S with a duration T1So that the acceleration of the agricultural machine is greater than the acceleration threshold A0Or instantaneous speed after duration T and target cruising speed V1The speed difference between them is less than the speed difference threshold value DeltaV0. The application improves the cruise switching in-process storage of the existing agricultural machineThe motion is not stable, the speed is slow and the like.

Description

Starting control method and device for cruise switching of agricultural machinery and agricultural machinery
Technical Field
The application relates to the technical field of agricultural machinery, in particular to a starting control method and device for cruise switching of agricultural machinery and the agricultural machinery.
Background
The agricultural machine mainly comprises a tractor, a harvester, a tillage planter, a low-speed truck and the like, and is mainly used for field operation. The working environment of the agricultural machinery is characterized in that: the shape of the land parcel is a regular or irregular geometric figure; the field may have fluctuating slowly-varying terrains such as ascending and descending slopes, and also may have abrupt terrains such as small ditches, small ridges and stones; there may be non-crashable, inaccessible objects within or at the edges of the field, such as boundary walls, trees, buildings, etc.; other agricultural machines may be in operation or multiple agricultural machines may be in cooperation.
The working process of different types of agricultural machines can be divided into two parts: running and operation, wherein the running refers to the movement of the agricultural machinery in the field according to the requirements; the operation means that the agricultural machine interacts with farmlands, crops and other agricultural machines. The important components of an agricultural machine therefore include a chassis and a working device, which in turn have their drive, state detection, control and auxiliary devices, respectively.
In the process of obtaining the technical scheme of the invention, the inventor finds that at least the following problems exist in the prior art: the existing agricultural machinery generally adopts drivers to drive and operate, has high labor intensity and high requirements on the drivers, and is not beneficial to the efficiency, safety, energy conservation and the like of the operation of the agricultural machinery. The problems of unstable motion, low speed and the like in the cruise switching process of the existing agricultural machine.
Disclosure of Invention
The application aims to solve the technical problem that aiming at the defects in the prior art, a starting control method and device for agricultural machine cruise switching and an agricultural machine are provided, so that the problems of unstable motion, low speed and the like in the existing agricultural machine cruise switching process are solved.
The starting control method for the cruising switching of the agricultural machine comprises the following steps:
obtaining a control command to enter a cruise state and a target cruise speed V1；
Acquiring actual speed V of agricultural machinery2；
Calculating the actual speed V2With target cruising speed V1The difference in velocity Δ V between;
determining the actual acceleration A of the agricultural machine;
judging whether the speed difference value delta V is larger than a speed difference threshold value delta V or not0And whether the magnitude of the actual acceleration A is less than the acceleration threshold A0；
In response to the speed difference value DeltaV being greater than a speed difference threshold DeltaV0And the magnitude of the actual acceleration A is smaller than the acceleration threshold A0Outputting a first control signal S with a duration T1So that the acceleration of the agricultural machine is greater than the acceleration threshold A0Or instantaneous speed after duration T and target cruising speed V1The speed difference between them is less than the speed difference threshold value DeltaV0。
Further, the starting control method for the cruising switching of the agricultural machine further comprises the following steps:
in response to the speed difference value DeltaV being less than a speed difference threshold DeltaV0Or the actual acceleration A is larger than the acceleration threshold A0Outputting a second control signal S with a duration T2So that the speed of the agricultural machine is equal to the target cruising speed V1The velocity difference between them is decreasing.
Further, the first control signal S is output with the duration T1The method comprises the following steps:
determining a first control signal S1(ii) a Wherein the first control signal S1Is a PWM signal for controlling a hydraulic motor of the agricultural machine;
calculating a first control signal S from the actual acceleration A1And outputting the duration T; wherein the content of the first and second substances,
Figure BDA0002599563310000021
wherein, C1 and C2 are preset constants.
Further, the first control signal S is output with the duration T1The method comprises the following steps:
determining a first control signal S1(ii) a Wherein the first control signal S1A variable mechanism which is a current signal and is used for controlling a hydraulic pump in a hydraulic system in the agricultural machine; wherein the first control signal S1Signal magnitude H0 of: h0 ═ cxΔ V; wherein C is a preset constant;
outputting the first control signal S with a fixed duration T01。
Further, the determining the actual acceleration a of the agricultural machine specifically includes:
the actual acceleration a of the agricultural machine is acquired from the acceleration sensor.
Further, the determining the actual acceleration a of the agricultural machine specifically includes:
repeatedly acquiring actual speed V of agricultural machinery2；
According to actual speed V of multiple time2Calculates the actual acceleration a of the agricultural machine.
On the other hand, this application has still proposed the start control device that agricultural machinery cruises and switches, includes:
an acquisition module for acquiring a control command to enter a cruise state and a target cruise speed V1；
An acquisition module for acquiring the actual speed V of the agricultural machine2；
A calculation module for calculating the actual speed V2With target cruising speed V1The difference in velocity Δ V between;
the determining module is used for determining the actual acceleration A of the agricultural machine;
a judging module for judging whether the speed difference value delta V is larger than the speed difference threshold value delta V0And whether the magnitude of the actual acceleration A is less than the acceleration threshold A0；
A first output module for responding to the speed difference value delta V being larger than the speed difference threshold value delta V0And the magnitude of the actual acceleration A is smaller than the acceleration threshold A0Outputting a first control signal S with a duration T1So that the acceleration of the agricultural machine is greater than the acceleration threshold A0Or instantaneous speed after duration T and target cruising speed V1The speed difference between them is less than the speed difference threshold value DeltaV0。
Further, the starting control device for agricultural machinery cruise switching further comprises:
a second output module for responding to the speed difference value DeltaV being less than a speed difference threshold DeltaV0Or the actual acceleration A is larger than the acceleration threshold A0Outputting a second control signal S with a duration T2So that the speed of the agricultural machine is equal to the target cruising speed V1The velocity difference between them is decreasing.
On the other hand, the application also provides an agricultural machine which is provided with a starting control device for cruise switching of any one of the agricultural machines.
In another aspect, the present application also provides an agricultural machine having a controller; the controller is used for running a program, and the program is used for executing any one of the starting control methods for the cruise switching of the agricultural machine during running.
In this application, the technical scheme of this application has improved the motion that current agricultural machinery cruises to switch the in-process and has not steadily, the slow scheduling problem of speed. The controller outputs a first control signal S during a duration T1The method can cause the agricultural machinery to apply a larger acceleration in the initial stage of the cruise switch, which is equivalent to generating a larger power output in a short time, thereby improving the response speed of the agricultural machinery in the cruise switch. Under the condition of meeting specific conditions, a larger output signal is output to overcome the large inertia and large time lag of the system, so that the system can quickly cross dead zones and integration links contained in the system and has expected output quickly.
Drawings
Fig. 1 is a flowchart of a starting control method for cruising switching of an agricultural machine in an embodiment of the present application.
Fig. 2 is a second flowchart of a starting control method for cruising switching of an agricultural machine according to an embodiment of the present application.
Fig. 3 is a third flowchart of a starting control method for cruising switching of an agricultural machine in the embodiment of the present application.
Fig. 4 is a schematic block diagram of an agricultural machine in an embodiment of the present application.
Fig. 5 is a schematic block diagram of a starting control device for cruising switching of an agricultural machine in the embodiment of the application.
Detailed Description
The following are specific embodiments of the present application and are further described with reference to the drawings, but the present application is not limited to these embodiments. In the following description, specific details such as specific configurations and components are provided only to help the embodiments of the present application be fully understood. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.
In addition, the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In various embodiments of the present invention, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Example one
Referring to fig. 1, the present embodiment proposes a start control method for agricultural machine cruise switching, where the start control method for agricultural machine cruise switching includes steps S101 to S106; the starting control method for the cruising switching of the agricultural machine is described in detail below with reference to the accompanying drawings.
Step S101, obtaining a control instruction for entering a cruise state and a target cruise speed V1。
In the embodiment of the application, the agricultural machine can be: a tractor, a harvester and a tillage planter. The working process of different types of agricultural machines can be divided into two parts: running and operation, wherein the running refers to the movement of the agricultural machinery in the field according to the requirements; the operation means that the agricultural machine interacts with farmlands, crops and other agricultural machines.
Referring to fig. 4, the agricultural machine has the following components: the device comprises a controller, a hydraulic system, a running mechanism, a vehicle state acquisition device, a driving parameter acquisition device, a local cruise switch and a cruise speed adjusting device.
The controller is used for controlling the whole vehicle, is an information center of an agricultural machinery system, can run a control program on the controller, and controls other components to realize the starting control method of the technical scheme in the embodiment of the application.
The hydraulic system is used for power transmission, transmits and converts the power of the prime motor, and drives a running mechanism and a working device of the agricultural machine to work. The hydraulic system is controlled and regulated by a controller. Specifically, the hydraulic system includes a hydraulic motor for driving the traveling mechanism, and a hydraulic pump for supplying oil. It should be understood that the hydraulic system is well known in the art and will not be described in detail herein.
The running mechanism is used for driving the agricultural machine to run in the field and the environment; in the embodiment of the application, the form mechanism can adopt a crawler mechanism and a wheel mechanism. The running mechanism is driven to run by a hydraulic system.
The vehicle state acquisition device is used for acquiring vehicle state parameters and inputting the vehicle state parameters into the controller. Further, the vehicle state acquisition device can be used for the running speed of the agricultural machine. Further, in some embodiments, the vehicle condition acquisition device may also be used to acquire acceleration of the agricultural machine.
And the driving information of the driver is input into the controller through the driving parameter acquisition device.
And the local cruise switch is used for switching on and off the cruise function of the agricultural machine and generating corresponding signals to be input into the controller.
The cruise speed adjusting device is used for adjusting the cruise speed of the agricultural machine and generating a corresponding signal to be input into the controller. Generally, the cruise speed adjustment device and the local cruise switch need to be controlled in a linkage manner.
The local driver drives the agricultural machinery through a driving device, and the driving device comprises an accelerator pedal, a brake pedal, a steering wheel, a handle, a button and other control switches. The driving parameter acquisition device can acquire the operation information generated by the driving devices and input the operation information into the controller so as to control the agricultural machine according to the driving intention of the driver.
It should be understood that the above component configurations of agricultural machines are merely exemplary, and that there are differences in component configurations and divisions of functional devices for different types of agricultural machines.
Specifically, when cruising at a constant speed, the agricultural machine automatically maintains a set speed in accordance with the speed requested by the driver, and the vehicle is caused to travel at the fixed set speed. The starting control method for agricultural machinery cruise switching provided by the embodiment of the application is applied to an initial control process for agricultural machinery cruise switching, so that the problem in the process in the prior art is solved.
In step S101, the control command for entering the cruise state may be generated by a local cruise switch, and the driver operates the local cruise switch to generate a corresponding control command for inputting to the controller. Target cruise speed V1Can be set by a cruise speed adjustment device, and the driver can set a target cruise speed V by operating the cruise speed adjustment device1The controller obtains a target cruising speed V set by the driver from the cruising speed adjusting device1. When the agricultural machine obtains the control instruction for entering the cruising state and the target cruising speed V1Thereafter, the agricultural machine is adjusted to the cruise condition.
Step S102, collecting the actual speed V of the agricultural machine2。
In this embodiment, the vehicle state acquisition device may be used to acquire the real-time operating speed of the agricultural machine; the controller may acquire the actual speed V of the agricultural machine from the vehicle state acquisition device after acquiring the control instruction to enter the cruise state2. It should be noted that the vehicle state acquisition device includes a sensor for measuring the operating speed of the agricultural machine.
It should be noted that in some embodiments, the vehicle state acquisition device may continuously acquire the speed of the agricultural machine. The speed acquisition can be generated independently of a control instruction, and the controller receives the control instruction of entering the cruise state and then the slave vehicleThe vehicle state acquisition device acquires a real-time speed as the actual speed V of the agricultural machine2。
Step S103, calculating the actual speed V2With target cruising speed V1The difference in speed Δ V between.
In the embodiment of the application, the agricultural machine is in the cruising state and the target cruising speed V1There is a certain speed difference between them, denoted as Δ V. When the speed difference Δ V is large, it is necessary to change the speed of the agricultural machine for a large acceleration so that the target cruising speed V can be reached within a predetermined time1. Here, the speed difference Δ V is an important parameter for the controller to control.
Here, the speed difference Δ V is a positive value.
Step S104, the actual acceleration A of the agricultural machine is determined.
In the embodiment of the application, the agricultural machine runs at a slow speed, and needs to go through an acceleration process when the agricultural machine needs to enter a high-speed cruising state from a low-speed state. In order to enable the agricultural machine to reach the target cruising speed V within a predetermined time1In the initial acceleration stage, the large inertia and the large time lag of the system need to be overcome, so that the system can quickly cross dead zones and integral links contained in the system, and expected output is quickly realized.
In some embodiments, determining the actual acceleration a of the agricultural machine is in particular: the actual acceleration a of the agricultural machine is acquired from the acceleration sensor. The acceleration sensor may be included in the vehicle state acquisition means here. The acceleration sensor is a sensor capable of measuring acceleration, and common acceleration sensors include capacitance type, inductance type, strain type, piezoresistive type, piezoelectric type, and the like according to different sensing elements of the sensor.
In some embodiments, the determining the actual acceleration a of the agricultural machine is specifically:
repeatedly acquiring actual speed V of agricultural machinery2；
According to actual speed V of multiple time2Calculates the actual acceleration a of the agricultural machine.
In particular, according to the actual speed V2The calculation formula for calculating the actual acceleration A of the agricultural machine is as follows: a ═ Δ V2A,/Δ t; wherein, is Δ V2Is the amount of speed change over time at. According to the actual speed V2The way of calculating the actual acceleration a of the agricultural machine does not require the provision of an acceleration sensor.
It should be understood that the above two ways can be used to obtain the actual acceleration a of the agricultural machine, and other ways of measuring the acceleration of the agricultural machine should also be included in the technical solution of the present application.
Step S105, judging whether the speed difference value delta V is larger than the speed difference threshold value delta V0And whether the magnitude of the actual acceleration A is less than the acceleration threshold A0。
In step S105, the controller compares the speed difference Δ V with the speed difference threshold Δ V0Comparing; actual acceleration A and acceleration threshold A0A comparison is made. The controller can adopt a corresponding control strategy according to the comparison result.
Step S106, in response to the speed difference value Δ V being greater than the speed difference threshold value Δ V0And the magnitude of the actual acceleration A is smaller than the acceleration threshold A0Outputting a first control signal S with a duration T1So that the acceleration of the agricultural machine is greater than the acceleration threshold A0Or instantaneous speed after duration T and target cruising speed V1The speed difference between them is less than the speed difference threshold value DeltaV0。
In the embodiment of the application, the running mechanism of the agricultural machine is driven by a hydraulic system. The hydraulic system includes: a hydraulic motor for driving the running gear, a hydraulic pump for supplying oil. The controller controls the hydraulic system to change the motion state of the agricultural machine.
Specifically, the controller controls the running mechanism of the agricultural machine by outputting a control signal. The control signal may be a current signal, a PWM signal, a pulse signal, a square wave, a sine wave, a triangular wave, or the like.
Further, a first control signal S is output1For acceleration of agricultural machinesGreater than an acceleration threshold A0Or instantaneous speed after duration T and target cruising speed V1The speed difference between them is less than the speed difference threshold value DeltaV0. Firstly, the instantaneous acceleration of the agricultural machine is greater than the acceleration threshold A0Therefore, enough acceleration is ensured to be provided in the initial stage of the cruise switching of the agricultural machinery, and the response speed is increased. Or after the initial period of the whole agricultural machinery cruising switching, namely after the duration T, the instantaneous speed of the agricultural machinery and the target cruising speed V1The speed difference between them is less than the speed difference threshold value DeltaV0This ensures that the agricultural machine obtains a sufficient speed after an initial acceleration. Therefore, the technical scheme of this application has improved the motion that current agricultural machinery cruises to switch the in-process and has not steadily, the slow scheduling problem of speed. The controller outputs a first control signal S during a duration T1The method can cause the agricultural machinery to apply a larger acceleration in the initial stage of the cruise switch, which is equivalent to generating a larger power output in a short time, thereby improving the response speed of the agricultural machinery in the cruise switch.
It should be noted that the agricultural machinery system includes a control system, a hydraulic system, a mechanical transmission system, etc., and is a typical large-inertia and large-time-lag system, when the difference between the target speed and the actual speed is large, in order to make the agricultural machinery system respond quickly, under the condition of meeting specific conditions, a large output signal is output, so as to overcome the large inertia and large time lag of the system, and make the system quickly cross the dead zone and the integral link included in the system, and have the expected output quickly.
In some embodiments, the starting control method for agricultural machine cruise switching provided by this embodiment further includes:
in response to the speed difference value DeltaV being less than a speed difference threshold DeltaV0Or the actual acceleration A is larger than the acceleration threshold A0Outputting a second control signal S with a duration T2So that the speed of the agricultural machine is equal to the target cruising speed V1The velocity difference between them is decreasing. It should be noted that the second control signal S2Corresponding to a normal signal for a speed difference value DeltaV smaller than a speed difference threshold DeltaV0Or the actual acceleration A is larger than the acceleration threshold A0Is output such that the speed of the agricultural machine is equal to the target cruising speed V1The velocity difference between them is decreasing.
In some embodiments, referring to fig. 2, the outputting of the first control signal S with the duration T1The method comprises the following steps:
step S201, determining a first control signal S1(ii) a Wherein the first control signal S1Is a PWM signal for controlling a hydraulic motor of the agricultural machine;
step S202, calculating a first control signal S according to the actual acceleration A1And outputting the duration T; wherein the content of the first and second substances,
Figure BDA0002599563310000101
wherein, C1 and C2 are preset constants.
A specific example will be described below.
The controller acquires the current actual speed V of the agricultural machinery through the vehicle state acquisition device250Km/h, simultaneously acquiring driving parameters of a driver to the vehicle, such as an accelerator pedal, a brake pedal, a steering wheel, a handle, a button and other control switches, and acquiring a target cruising speed V by a driving parameter acquisition device1With the actual speed V2The difference value delta V is used as a basis for controlling the vehicle, and a hydraulic system is controlled, so that the motion states of the running mechanism and the agricultural machine are changed.
The specific control method and the control process are as follows:
a threshold value DeltaV of the speed difference DeltaV is preset015Km/h and a threshold value A of the measured acceleration A0＝3m/s2。
When the speed difference Δ V satisfies: Δ V>ΔV0(ii) a The actually measured acceleration A satisfies: a. the<At a0, the controller outputs signal S.
Wherein:
V1＝10Km/h；
V2＝50Km/h；
ΔV＝|V1-V2|＝40Km/h；
measured acceleration A from measured velocity V2Calculated as V in unit time2The specific calculation method is as follows: a ═ Δ V2Calculated as,/Δ t, 1m/s2。
A first control signal S1Is a PWM signal for controlling a variable mechanism of a hydraulic motor in a hydraulic system, the set signal magnitude H0 being the magnitude of the PWM signal, and a duration T ═ f (a), wherein:
Figure BDA0002599563310000111
wherein, C1 and C2 are preset constants.
Because the speed difference Δ V satisfies: Δ V>ΔV0(ii) a The actually measured acceleration A satisfies: a. the<A0, the controller outputs a first control signal S1. That is, the controller outputs a PWM signal to the hydraulic motor for a duration T ═ f (a).
In some embodiments, referring to fig. 3, the outputting of the first control signal S with the duration T1The method comprises the following steps:
step S301, determining a first control signal S1(ii) a Wherein the first control signal S1A variable mechanism which is a current signal and is used for controlling a hydraulic pump in a hydraulic system in the agricultural machine; wherein the first control signal S1Signal magnitude H0 of: h0 ═ cxΔ V; wherein C is a preset constant;
step S302, outputting a first control signal S with a fixed duration T01。
A specific example will be described below.
When entering cruise, the local driver adjusts the agricultural machine driven by the local driver to a cruise state through the local cruise switch, and the cruise speed adjusting device adjusts the target cruise speed V1Setting, and inputting the cruise switch and the cruise speed regulation data into the controller. Target cruise speed V1Set to 50 Km/h.
The controller acquires the current actual speed V of the agricultural machinery through the vehicle state acquisition device2Is 30Km/h, and the target cruising speed V1With the actual speed V2The difference value delta V is used as a basis for controlling the vehicle, and a hydraulic system is controlled, so that the motion states of the running mechanism and the agricultural machine are changed.
The specific control method and the control process are as follows:
a threshold value DeltaV of the speed difference DeltaV is preset015Km/h and a threshold value A of the measured acceleration A0＝3m/s2When the absolute value Δ V of the speed difference Δ V satisfies: Δ V>ΔV0。
The actually measured acceleration A satisfies: a. the<A0The controller outputs a signal S.
Wherein:
V1＝50Km/h；
V2＝30Km/h；
ΔV＝|V1-V2|＝20Km/h；
the measured acceleration A is measured by an acceleration sensor, and the measured value is 1.3m/s2。
Output signal S1Is a current signal for controlling the variable mechanism of a hydraulic pump in a hydraulic system, the set signal magnitude H0 ═ f (Δ V) and the fixed duration T0 ═ 1s, wherein,
f(ΔV)＝C×ΔV；
wherein C is a preset constant.
Because the absolute value | Δ V | of the speed difference Δ V satisfies: Δ V>ΔV0(ii) a And the actually measured acceleration A meets the following conditions: a. the<A0The controller outputs a signal S. That is, the controller outputs a current signal to the hydraulic pump, the signal magnitude H0 being 100mA and the duration T0 being 1 s.
Further, the control signal of the controller may be used for controlling the hydraulic motor, controlling the hydraulic valve, controlling the rotation speed of the electric machine, controlling the rotation speed of the engine, controlling the transmission ratio of the gearbox, and the like, and the type of the control signal may be different according to different control objects. These foreseeable control schemes are all included in the technical solution of the present application.
Example two
The embodiment provides a starting control device for agricultural machine cruise switching, and referring to fig. 5, the starting control device for agricultural machine cruise switching at least includes: the device comprises an acquisition module 501, an acquisition module 502, a calculation module 503, a determination module 504 and a judgment module 505. The following describes the starting control device for agricultural machine cruise switching according to the present embodiment with reference to the accompanying drawings.
An obtaining module 501 for obtaining a control command to enter a cruise state and a target cruise speed V1；
An acquisition module 502 for acquiring the actual speed V of the agricultural machine2；
A calculation module 503 for calculating the actual speed V2With target cruising speed V1The difference in velocity Δ V between;
a determination module 504 for determining an actual acceleration a of the agricultural machine;
a determining module 505 for determining whether the speed difference Δ V is greater than the speed difference threshold Δ V0And whether the magnitude of the actual acceleration A is less than the acceleration threshold A0；
A first output module 506 for responding to the speed difference Δ V being greater than a speed difference threshold Δ V0And the magnitude of the actual acceleration A is smaller than the acceleration threshold A0Outputting a first control signal S with a duration T1So that the acceleration of the agricultural machine is greater than the acceleration threshold A0Or instantaneous speed after duration T and target cruising speed V1The speed difference between them is less than the speed difference threshold value DeltaV0。
In some embodiments, the starting control device for agricultural machine cruise switching further comprises:
a second output module for responding to the speed difference value DeltaV being less than a speed difference threshold DeltaV0Or the actual acceleration A is larger than the acceleration threshold A0Outputting a second control signal S with a duration T2So that the speed of the agricultural machine is equal to the target cruising speed V1The velocity difference between them is decreasing.
In some implementations, the first output module 506 includes:
a first determination submodule for determining a first control signal S1(ii) a Wherein the first control signal S1Is a PWM signal for controlling a hydraulic motor of the agricultural machine;
a first output submodule for calculating a first control signal S based on the actual acceleration A1And outputting the duration T; wherein the content of the first and second substances,
Figure BDA0002599563310000131
wherein, C1 and C2 are preset constants.
In some implementations, the first output module 506 includes:
a second determination submodule for determining the first control signal S1(ii) a Wherein the first control signal S1A variable mechanism which is a current signal and is used for controlling a hydraulic pump in a hydraulic system in the agricultural machine; wherein the first control signal S1Signal magnitude H0 of: h0 ═ cxΔ V; wherein C is a preset constant;
a second output submodule for outputting the first control signal S at a fixed duration T01。
In some embodiments, the determining module 504 is specifically configured to: the actual acceleration a of the agricultural machine is acquired from the acceleration sensor.
In some embodiments, the determining module 504 is specifically configured to:
repeatedly acquiring actual speed V of agricultural machinery2；
According to actual speed V of multiple time2Calculates the actual acceleration a of the agricultural machine.
The starting control device for agricultural machinery cruise switching in the embodiment of the invention can realize each process in the first method embodiment, has corresponding beneficial effects, and is not repeated herein for avoiding repetition.
EXAMPLE III
The embodiment provides an agricultural machine which is provided with a starting control device for cruising switching of the agricultural machine, wherein the starting control device is provided in the second embodiment. For avoiding repetition, the related contents can be referred to the description of the previous part, and are not described herein again.
Example four
The present embodiment provides an agricultural machine having a controller; the controller is used for running a program, and the program executes the starting control method for the cruising switching of the agricultural machine provided by the first embodiment when running. For avoiding repetition, the related contents can be referred to the description of the previous part, and are not described herein again.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
The specific embodiments described herein are merely illustrative of the spirit of the application. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the present application as defined by the appended claims.

Claims (10)

1. A starting control method for agricultural machinery cruise switching is characterized by comprising the following steps:
obtaining a control command to enter a cruise state and a target cruise speed V1；
Acquiring actual speed V of agricultural machinery2；
Calculating the actual speed V2With target cruising speed V1Speed in betweenThe degree difference value delta V;
determining the actual acceleration A of the agricultural machine;
judging whether the speed difference value delta V is larger than a speed difference threshold value delta V or not0And whether the magnitude of the actual acceleration A is less than the acceleration threshold A0；
In response to the speed difference value DeltaV being greater than a speed difference threshold DeltaV0And the magnitude of the actual acceleration A is smaller than the acceleration threshold A0Outputting a first control signal S with a duration T1So that the acceleration of the agricultural machine is greater than the acceleration threshold A0Or instantaneous speed after duration T and target cruising speed V1The speed difference between them is less than the speed difference threshold value DeltaV0。
2. The starting control method for agricultural mechanical cruise switching according to claim 1, further comprising:
in response to the speed difference value DeltaV being less than a speed difference threshold DeltaV0Or the actual acceleration A is larger than the acceleration threshold A0Outputting a second control signal S with a duration T2So that the speed of the agricultural machine is equal to the target cruising speed V1The velocity difference between them is decreasing.
3. Starting control method for agricultural mechanical cruise switching, according to claim 1, characterized in that said outputting of the first control signal S with a duration T1The method comprises the following steps:
determining a first control signal S1(ii) a Wherein the first control signal S1Is a PWM signal for controlling a hydraulic motor of the agricultural machine;
calculating a first control signal S from the actual acceleration A1And outputting the duration T; wherein the content of the first and second substances,
Figure FDA0002599563300000011
wherein, C1 and C2 are preset constants.
4. Agricultural machine according to claim 1Cruise switching start control method, characterized in that the first control signal S is output with a duration T1The method comprises the following steps:
determining a first control signal S1(ii) a Wherein the first control signal S1A variable mechanism which is a current signal and is used for controlling a hydraulic pump in a hydraulic system in the agricultural machine; wherein the first control signal S1Signal magnitude H0 of: h0 ═ cxΔ V; wherein C is a preset constant;
outputting the first control signal S with a fixed duration T01。
5. The starting control method for agricultural machine cruise switching according to claim 1, characterized in that said determining the actual acceleration a of the agricultural machine is specifically:
the actual acceleration a of the agricultural machine is acquired from the acceleration sensor.
6. The starting control method for agricultural machine cruise switching according to claim 1, characterized in that said determining the actual acceleration a of the agricultural machine is specifically:
repeatedly acquiring actual speed V of agricultural machinery2；
According to actual speed V of multiple time2Calculates the actual acceleration a of the agricultural machine.
7. A starting control device for agricultural machinery cruise switching is characterized by comprising:
an acquisition module for acquiring a control command to enter a cruise state and a target cruise speed V1；
An acquisition module for acquiring the actual speed V of the agricultural machine2；
A calculation module for calculating the actual speed V2With target cruising speed V1The difference in velocity Δ V between;
the determining module is used for determining the actual acceleration A of the agricultural machine;
a judging module for judging whether the speed difference value DeltaV isWhether or not it is greater than speed difference threshold value DeltaV0And whether the magnitude of the actual acceleration A is less than the acceleration threshold A0；
A first output module for responding to the speed difference value delta V being larger than the speed difference threshold value delta V0And the magnitude of the actual acceleration A is smaller than the acceleration threshold A0Outputting a first control signal S with a duration T1So that the acceleration of the agricultural machine is greater than the acceleration threshold A0Or instantaneous speed after duration T and target cruising speed V1The speed difference between them is less than the speed difference threshold value DeltaV0。
8. The agricultural mechanical cruise switch launch control device of claim 7, further comprising:
a second output module for responding to the speed difference value DeltaV being less than a speed difference threshold DeltaV0Or the actual acceleration A is larger than the acceleration threshold A0Outputting a second control signal S with a duration T2So that the speed of the agricultural machine is equal to the target cruising speed V1The velocity difference between them is decreasing.
9. An agricultural machine, characterized in that the agricultural machine has a cruise switch start control of the agricultural machine as claimed in claim 7 or 8.
10. An agricultural machine, comprising a controller; wherein the controller is configured to run a program which is operative to perform a method of start control for cruising switching of an agricultural machine as claimed in any one of claims 1 to 6.
CN202010719850.2A 2020-07-24 2020-07-24 Starting control method and device for cruise switching of agricultural machinery and agricultural machinery Withdrawn CN112026766A (en)

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US4835696A (en) * 1986-08-28 1989-05-30 Nissan Motor Company, Ltd. System and method for automatically controlling a vehicle speed to a desired cruising speed
JPH0446829A (en) * 1990-06-13 1992-02-17 Honda Motor Co Ltd Speed control device for automobile
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Application publication date: 20201204