CN112162553B - Automatic alignment control system and method for cotton picker - Google Patents
Automatic alignment control system and method for cotton picker Download PDFInfo
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
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Abstract
The invention provides an automatic alignment control system of a cotton picker, which comprises a course deviation angle sensor, a walking speed sensor, a rear wheel steering angle sensor and an automatic alignment controller, wherein the course deviation angle sensor is used for detecting the heading deviation angle of the cotton picker; the heading deviation angle sensor is arranged on a picking head of the cotton picker and is used for detecting a heading deviation angle and outputting a heading deviation angle signal to the automatic alignment controller; the walking speed sensor is used for detecting the rotating speed of the front wheel and outputting a walking speed pulse signal to the automatic alignment controller; the rear wheel steering angle sensor is arranged on the rear wheel steering hydraulic cylinder and is used for measuring the rear wheel steering angle and outputting a rear wheel steering angle signal to the automatic steering controller; the automatic alignment controller is used for collecting and calculating a course deviation angle, a walking speed and a rear wheel steering angle, judging the alignment deviation degree according to the course deviation angle, outputting a voltage signal to the hydraulic controller, and controlling the steering hydraulic cylinder to drive the rear wheel steering to achieve automatic alignment by the hydraulic controller.
Description
Technical Field
The invention relates to the field of agricultural machinery automation, in particular to an automatic alignment control system and method for a cotton picker.
Background
With the continuous development of the agricultural automation process, the requirements on the automation degree of the agricultural machinery are higher, and the requirements on the field operation efficiency and the quality are also higher. The cotton picker belongs to large-scale agricultural machinery, and mechanical structure is complicated, and the operation complexity is high, plays very important role in the cotton harvesting aspect, and when the machine receives the operation, need to aim at cotton row all the time with the head of picking, at present, the cotton picker is to the line operation generally by driver visual control realization, and the accurate degree of driver to the line influences the efficiency of gathering of cotton picker and quality, requires the driver to concentrate attention for a long time, especially in evening that the visibility is poor, very consumes driver's energy, also has a lot of potential safety hazards. In order to reduce the operation threshold of the cotton picker, reduce the working strength of a driver and improve the automation level of the cotton picker, the research on the automatic alignment technology of the cotton picker has important significance.
Disclosure of Invention
The invention aims at overcoming the defects in the prior art and provides an automatic alignment control system and method for a cotton picker.
The method adopts the following technical scheme:
the automatic alignment control system of the cotton picker comprises a course deviation angle sensor, a walking speed sensor, a rear wheel steering angle sensor and an automatic alignment controller; the heading deviation angle sensor is arranged on the mining head and outputs a 4-20mA heading deviation angle signal to the automatic alignment controller; the walking speed sensor is used for detecting the rotating speed of the front wheel and outputting a walking speed pulse signal to the automatic alignment controller; the rear wheel steering angle sensor is arranged on the rear wheel steering hydraulic cylinder and is used for measuring the rear wheel steering angle and outputting 4-20mA rear wheel steering angle signals to the automatic steering controller; the automatic alignment controller collects and calculates a course deviation angle, a walking speed and a rear wheel steering angle in real time, determines the alignment deviation degree according to the course deviation angle, adopts an automatic alignment control method, outputs a 0-10V voltage signal to the hydraulic controller, and further controls the steering hydraulic cylinder to drive the rear wheel to steer by the hydraulic controller, so that automatic alignment is realized.
The automatic alignment control method comprises the following steps:
step 11: setting a heading deviation target angle as A0, setting an allowable deviation range as beta, starting the operation of the cotton picker, and starting automatic alignment.
Step 12: the method comprises the steps of reading a course deviation angle sensor signal, obtaining a course deviation angle A1 after filtering, reading a rear wheel steering angle sensor, obtaining a rear wheel steering angle A2 after filtering, reading a walking speed sensor signal, and obtaining a walking speed V through pulse counting calculation.
Step 13: calculating the deviation degree of A1 relative to A0, if the absolute value of A1-A0 is smaller than the absolute value of beta, indicating that the route is not deviated, and moving to the step 17; otherwise, if |A1-A0| > β, the course is deemed to be off, and the process proceeds to step 14.
Step 14: when the course deviation detection device reaches the motion limit, the corresponding angle sensor values are H1 and H2 respectively, the H1 and H2 are symmetrical about A0, the value of the motion process in the period is delta (t), and the deviation is converted into the angle deviation
The control target is 90 deg., and the process goes to step 15.
Step 15: transmitting sigma (t) to a PID algorithm adapted to the walking speed parameter to obtain PID control output u pid And (t) taking the current walking speed as V, taking the V as a parameter, and carrying out speed adaptation correction to obtain the optimal control voltage u (t) adapting to the walking speed
Wherein [0.5.4.5] and [5.5,9.5] are control voltage ranges transmitted to the hydraulic controller, respectively control left and right turns of the rear wheel, k is a speed adaptive scaling factor, and the step 16 is performed according to different vehicle conditions.
Step 16: the automatic alignment controller outputs the optimal control voltage u (t) to the hydraulic controller, so that the rear wheel steering is controlled, and the effect of controlling the heading of the vehicle body in real time to reduce the heading error is achieved.
Step 17: calculating limit value of rear wheel steering control using walking speed V as parameter
As the rear wheel limit return threshold, the rear wheel deflection limit h0 is set when the speed is extremely small, the proportionality coefficient is f, and the process goes to step 12.
Step 21: setting the target length of the rear wheel pull sensor as L0, allowing the deviation limit position value as + -G (V), correcting the minimum threshold value + -alpha, controlling the voltage minimum threshold value epsilon, and starting an automatic correcting control program.
Step 22: reading a stay wire sensor signal, obtaining a stay wire length L1 after filtering treatment, judging whether the stay wire sensor is larger than a limit threshold value, and setting G (V) to be L1-L0; the condition is satisfied, the process proceeds to step 23, and the process proceeds to step 24 without being satisfied.
Step 23: output according to the current detection state
And controlling the hydraulic controller to automatically return to the normal position.
Step 24: judging whether the automatic alignment adjustment process reaches the vicinity of a control target L0, setting the control target L0 to be |L1-L0| < alpha, setting alpha as a set value, judging the automatic alignment control voltage |u-5| < epsilon, and if the conditions are met at the same time, considering that the course and the heading of the cotton picker are consistent in the cotton queue direction by means of turning positive inertia at the moment, turning to the step 25, and turning to the step 22 is not met.
Step 25: output according to the current detection state
Control transfers to step 22 where the hydraulic controller automatically returns to normal.
The technical scheme of the invention has the technical effects that: the single control rear wheel achieves the effect that the car body heading is consistent with the cotton queue, and the single control rear wheel is updated to the rear wheel accurate closed-loop control rear wheel, so that the closed-loop control of the car body heading is realized. Compared with the current domestic opposite research method, the control effectiveness is stronger, the control action is more accurate, the adaptability is stronger, and the stability and the reliability of the cotton picker during the variable speed operation are improved.
Drawings
FIG. 1 is a diagram of the control logic of the automatic alignment of cotton pickers in an embodiment of the present application.
Fig. 2 is a main flow chart of automatic alignment control of the cotton picker in the embodiment of the present application.
Fig. 3 is a flow chart of automatic return control of the rear wheel of the cotton picker in an embodiment of the present application.
The specific embodiment is as follows:
the technical scheme of the invention is further described below with reference to the accompanying drawings and examples. It will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Taking a certain brand of 6-row cotton picker as an example, as shown in fig. 1, the automatic row alignment system of the whole cotton picker comprises a course deviation detection device (comprising an angle sensor), a walking speed sensor, a stay wire sensor, an automatic row alignment controller and a hydraulic controller. Meanwhile, a man-machine interaction touch screen is arranged on the vehicle and can be communicated with an automatic alignment controller for adjusting parameters. The course deviation detection device is used for measuring the course angle deviation of the cotton picker; the controller outputs 0-10V voltage to control the hydraulic controller, and the hydraulic controller controls the rear wheel to rotate; the stay wire sensor measures the rear wheel rotation angle; the travelling speed sensor is used for measuring the travelling speed of the cotton picker.
The cotton picker is controlled to stably operate along the cotton queue through the operation of the whole set of automatic alignment system. The following is a further description of an example of an automatic alignment control procedure initiated during operation of the cotton picker.
The automatic alignment of the cotton picker mainly comprises a main flow and an automatic alignment flow, wherein the main flow and the automatic alignment flow mainly comprise the speed adaptation control of measuring course deviation, and the automatic alignment function is triggered in the alignment process of the cotton picker, so that the aim of automatic alignment is fulfilled.
As shown in fig. 2, the main flow process of controlling the row of the cotton picker includes the following steps.
Step 11: setting a heading deviation target angle as A0, setting an allowable deviation range as beta=15, starting cotton picker operation, and starting automatic alignment.
Step 12: the filtered heading deviation angle sensor signal A1, the filtered pull-wire sensor signal A2 and the calculated pulse speed sensor signal V are respectively read in 30ms periods.
Step 13: calculating the deviation degree of A1 relative to A0, namely the deviation delta (t), wherein delta (t) =A1-A0, and if the deviation degree of the cotton picker route is not deviated from the cotton queue direction and is equal to |A1-A0| <15, turning to step 17; otherwise, if |A1-A0| >15, the course is considered off, and the process goes to step 14.
Step 14: when the course deviation detection device reaches the motion limit, the corresponding angle sensor values are H1 and H2 respectively, the H1 and H2 are symmetrical about A0, the value of the motion process in the period is delta (t), and the deviation delta (t) is converted into the angle deviation
The control target is 90 deg., and the process goes to step 15.
Step 15: sigma (t) is transferred to a PID algorithm adapted to the speed parameter to obtain a PID control output out (PID), denoted as u pid (t) setting the current speed as V, taking the V as a parameter by the algorithm to carry out speed adaptation correction to obtain the optimal control voltage u (t) adapting to the speed,
wherein [0.5.4.5] and [5.5,9.5] are control voltage ranges transmitted to the hydraulic controller, respectively control left and right turns of the rear wheel, u (t) is used for controlling steering of the rear wheel, [0.5.4.5] controls left turn of the rear wheel and [5.5,9.5] controls right turn of the rear wheel, k is a speed adaptation proportionality coefficient, in this example, k=0.12, and the process goes to step 16 because of different vehicle conditions.
Step 16: the automatic alignment controller outputs the optimal control voltage u to the hydraulic controller, so that the rear wheel steering is controlled, the effect of controlling the car body heading in real time to reduce heading errors is achieved, and the step 17 is reached.
Step 17: calculating limit value of rear wheel steering control using speed V as parameter
As the rear wheel limit return threshold, the rear wheel deflection limit h0 is set when the speed is extremely small, the proportionality coefficient is f, in this example, f=0.8, and the process goes to step 12.
As shown in fig. 3, when the automatic return process is triggered, the following steps are included:
step 21: setting the target length of the rear wheel pull sensor as L0, allowing the deviation limit position value as + -G (V), correcting the minimum threshold value + -alpha, controlling the voltage minimum threshold value epsilon, and starting an automatic correcting control program.
Step 22: reading a stay wire sensor signal, obtaining a stay wire length L1 after filtering treatment, judging whether the stay wire sensor is larger than a limit threshold value, and setting G (V) to be L1-L0; the condition is satisfied, the process proceeds to step 23, and the process proceeds to step 24 without being satisfied.
Step 23: output according to the current detection state
And controlling the hydraulic controller to automatically return to the normal position.
Step 24: judging whether the automatic alignment adjustment process reaches the vicinity of the control target L0, setting the control target to be |L1-L0| < alpha, wherein alpha is a set value, alpha=34 in the example, judging that the automatic alignment control voltage is |u-5| < epsilon, and |u-5|=epsilon=1.1 in the example, if the conditions are met simultaneously, considering that the course and the heading of the cotton picker are consistent in the direction of the cotton queue by means of turning correction inertia at the moment, turning to the step 25, and turning to the step 22 is not met.
Step 25: output according to the current detection state
Control transfers to step 22 where the hydraulic controller automatically returns to normal.
The automatic alignment function is started again when the alignment is finished, so that the cycle is completed.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related arts are included in the scope of the present invention.
Claims (4)
1. An automatic alignment control system of a cotton picker is characterized by comprising a course deviation angle sensor, a walking speed sensor, a rear wheel steering angle sensor and an automatic alignment controller;
the heading deviation angle sensor is arranged on a picking head of the cotton picker and is used for detecting a heading deviation angle and outputting a heading deviation angle signal to the automatic alignment controller; the walking speed sensor is used for detecting the rotating speed of the front wheel and outputting a walking speed pulse signal to the automatic alignment controller; the rear wheel steering angle sensor is arranged on the rear wheel steering hydraulic cylinder and is used for measuring the rear wheel steering angle and outputting a rear wheel steering angle signal to the automatic steering controller; the automatic alignment controller is used for collecting and calculating a course deviation angle, a walking speed and a rear wheel steering angle, judging the alignment deviation degree according to the course deviation angle, outputting a voltage signal to the hydraulic controller, and controlling the steering hydraulic cylinder to drive the rear wheel steering to achieve automatic alignment by the hydraulic controller;
the system realizes automatic alignment control and comprises the following steps:
reading a heading deviation angle sensor signal to obtain a heading deviation angle A1;
reading a rear wheel steering angle sensor signal to obtain a rear wheel steering angle A2;
reading a walking speed sensor signal, and calculating to obtain a walking speed V;
calculating the deviation degree of A1 relative to A0, and judging the route deviation if the deviation degree of A1-A0 is I & gt beta, wherein A0 is a heading deviation target angle, and beta is an allowable deviation range of the heading deviation angle;
when the course deviation detection reaches the motion limit, the corresponding course deviation angle sensor values are H1 and H2 respectively, the H1 and H2 are symmetrical about A0, the value of the motion process in the period is delta (t), and the course deviation delta (t)) Conversion into angular deviation
Transmitting sigma (t) to a PID algorithm with speed parameter adaptation to obtain PID control output u pid (t) taking V as a parameter, obtaining the optimal control voltage u (t) of the adaptive speed,
where k is the speed adaptation scaling factor, u pid And (t) is the control voltage transmitted to the hydraulic controller, u (t) is the optimal control voltage transmitted to the hydraulic controller by the automatic alignment controller, and then the rear wheel steering is controlled, so that the heading of the vehicle body is controlled in real time to reduce the heading error.
2. The automatic alignment control system of a cotton picker according to claim 1 further comprising the steps of:
calculating limit value of rear wheel steering control using walking speed V as parameter
and controlling the steering of the rear wheel to automatically return to the normal state.
3. The automatic alignment control system of a cotton picker according to claim 2 wherein controlling the automatic alignment of the rear wheel steering comprises the steps of:
reading a stay wire sensor signal of the rear wheel, and calculating to obtain a stay wire length L1;
judging whether the pull line sensor is larger than a limit threshold value, namely whether G (V) <|L1-L0| is met, wherein L0 is the target length of the pull line sensor, the allowable deviation limit position value is + -G (V), and correcting to judge the minimum threshold value + -alpha;
control voltage for converting back to positive after output
And controlling the hydraulic controller to automatically return the rear wheels.
4. The automatic registration control system of a cotton picker according to claim 3 further comprising the steps of:
judging whether the automatic alignment control process reaches the vicinity of a control target L0 or not, namely whether the automatic alignment control process accords with |L1-L0| < alpha, wherein alpha is a set value;
judging whether the control voltage u of the automatic row control accords with |u-5| < epsilon, wherein epsilon is a control voltage minimum threshold value;
if the |L1-L0| < alpha and the |u-5| < epsilon are simultaneously established, the course of the air route and the cotton picker are considered to be consistent with the direction of the cotton queue by means of turning positive inertia;
outputting according to the current detection state and returning to positive control voltage
And controlling the hydraulic controller to automatically return to the normal position.
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