CN112189443B - Electro-hydraulic height control method and system for cutting table of soybean harvester - Google Patents
Electro-hydraulic height control method and system for cutting table of soybean harvester Download PDFInfo
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Abstract
The invention discloses an electro-hydraulic height regulating method and system for a header of a soybean harvester. The method comprises the following steps: acquiring a detection value of an angle sensor in a header profiling system of the combine harvester at the current moment; inputting the detection value into a header height calculation model to obtain a header contour height value at the current moment; the header profile height value is the height of a profile plate in the profile mechanism moving relative to the header at the current moment; calculating the height of the header from the ground at the current moment according to a preset height difference between the header and the lowest point of the profile plate and the header profile height value; determining the difference between the height of the header from the ground and a preset target value of the profile modeling height as the header height difference at the current moment; the header is controlled to descend or ascend at the current moment by the header height difference. The invention can realize the accurate control of the height of the cutting table of the soybean harvester.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to an electro-hydraulic height regulating method and system for a header of a soybean harvester.
Background
In recent years, the intelligent technology of the grain combine harvester is more and more emphasized and developed, and the intelligent technology mainly focuses on monitoring the operation condition of the harvester, monitoring the operation quality, adjusting operation parts on line and the like. Header height adjustment is a key ring of online adjustment and control of operation parts of a grain combine harvester, a domestic harvester does not have a mature mechanism and an adjustment and control system to be applied, foreign large wheel harvesters such as Class, Kais and the like are equipped with a similar adjustment and control system, but a crawler-type small harvester is not applied to maturity. Therefore, the self-adaptive header height control has important significance on the intelligent technical development of the harvester.
As shown in figure 1, the pod position of the soybean plant 2 is low, usually 10-20cm, the height of the cutting table 4 is improperly controlled in the harvesting process, the cutting loss is easily caused, the soil shoveling of the cutting table 4 is easily caused, and the soybean harvesting quality is greatly influenced. In order to avoid missed cutting or soil shoveling caused by improper height adjustment of the cutting table 4, the cutting table should be as close to the ground 1 as possible to run when the soybean harvester operates, if the height of the cutting table 4 is too high and is higher than the soybean bottom pods 3, the soybean missed cutting is caused, and the actual yield is reduced; if the height of the cutting table 4 is too low, the cutting table 4 is easy to shovel soil on a sloping field, and the phenomenon of mud flower faces on the surface of the harvested soybeans is caused.
The prior combine harvester is mainly composed of a profiling mechanism 5, an angle sensor 6, a double-acting hydraulic cylinder 8, a controller 9, an electromagnetic reversing valve 10, an industrial personal computer 11 and the like, wherein the profiling mechanism 5 and the angle sensor 6 are installed on a side plate of a harvester header 4, the double-acting hydraulic cylinder 8 is connected with a gap bridge of the harvester through a hinge mechanism 7, and the controller 9, the electromagnetic reversing valve 10 and the industrial personal computer 11 are respectively installed in a cab of the harvester, as shown in figure 1. The height of the header is adjusted in time during harvesting operation under the influence of factors such as growth characteristics of soybean plants and different heights of field blocks, and the adaptive control of the height of the header is required to be realized in order to avoid the problems of high labor intensity of manual operation, large adjusting error and the like.
When the height regulating and controlling system of the cutting table of the soybean harvester works, the profiling height is set on the industrial personal computer according to the actual height data of the bottom pods of soybeans to be harvested, and the controller 9 continuously regulates the electromagnetic directional valve 10 to control the double-acting hydraulic cylinder 8 to lift the cutting table 4 to enable the height of the cutting table to be matched with the set profiling height. In the operation process, when a sloping field is met, the profiling mechanism 5 moves upwards, the angle sensor 6 rotates forwards, and the controller 9 lifts the header through the double-acting hydraulic cylinder 8; when a depression is encountered, the angle sensor 6 reverses, at which time the controller 9 lowers the header via the double acting hydraulic cylinder 8. The existing control mode only adjusts the height of the cutting table through the rotating direction of the angle sensor 6, and the accurate control of the height of the cutting table of the soybean harvester cannot be realized. And the accurate control of the height of the cutting table of the soybean harvester has important practical production significance for improving the soybean harvesting quality and reducing the cutting loss. Therefore, how to realize the accurate control of the height of the cutting table of the soybean harvester becomes a problem to be solved urgently at present.
Disclosure of Invention
Therefore, an electro-hydraulic control method and system for the height of the cutting table of the soybean harvester are needed to realize accurate control of the height of the cutting table of the soybean harvester.
In order to achieve the purpose, the invention provides the following scheme:
an electro-hydraulic height control method for a header of a soybean harvester comprises the following steps:
acquiring a detection value of an angle sensor in a header profiling system of the combine harvester at the current moment;
inputting the detection value into a header height calculation model to obtain a header contour height value at the current moment; the header profiling height value is the moving height of a profiling plate in the profiling mechanism relative to the header at the current moment;
calculating the height of the header from the ground at the current moment according to a preset height difference between the header and the lowest point of the profile plate and the profile height value of the header;
determining the difference between the height of the header from the ground and a preset target value of the profile modeling height as the header height difference at the current moment;
controlling the header to descend or ascend at the current moment by the header height difference;
the header height calculation model is
Wherein the content of the first and second substances,
in order to detect the value of the angle sensor,
the driving rods are opposite when the profiling plates in the profiling mechanism are stressed to rotate
The angle of the change is such that,
is an initial included angle between a driving rod in the profiling mechanism and a mounting central line of a sensor fixing seat,
is the shape-imitated height value of the cutting table.
Optionally, the controlling, by the header height difference, the header to descend or ascend at the current time specifically includes:
judging whether the header height difference is within a preset error range to obtain a first judgment result;
if the first judgment result is yes, returning to the step of obtaining the detection value of the angle sensor in the combine harvester header profiling system at the current moment after updating the current moment;
if the first judgment result is negative, judging whether the height of the header from the ground is greater than the preset profile modeling height target value or not to obtain a second judgment result;
if the second judgment result is yes, controlling the header to descend at the current moment;
and if the second judgment result is negative, controlling the header to ascend at the current moment.
Optionally, the height of the header from the ground at the current moment is calculated by the preset height difference between the header and the lowest point of the profile plate and the profile height value of the header, specifically, the height is calculated
Wherein the content of the first and second substances,
the height of the header from the ground is taken as the height,
is a preset height difference between the header and the lowest point of the profiling plate,
is the shape-imitated height value of the cutting table.
The invention also provides an electro-hydraulic height regulating system of the cutting table of the soybean harvester, which comprises the following components:
the angle detection value acquisition module is used for acquiring the detection value of an angle sensor in a header profiling system of the combine harvester at the current moment;
the first calculation module is used for inputting the detection value into a header height calculation model to obtain a header contour height value at the current moment; the header profiling height value is the moving height of a profiling plate in the profiling mechanism relative to the header at the current moment;
the second calculation module is used for calculating the height of the header from the ground at the current moment according to the preset height difference between the header and the lowest point of the profile plate and the header profile height value;
the height difference determining module is used for determining the difference value between the height of the header from the ground and a preset profile modeling height target value as the header height difference at the current moment;
the header control module is used for controlling the header to descend or ascend at the current moment according to the header height difference;
the header height calculation model in the first calculation module is
Wherein the content of the first and second substances,
in order to detect the value of the angle sensor,
the driving rods are opposite when the profiling plates in the profiling mechanism are stressed to rotate
The angle of the change is such that,
is an initial included angle between a driving rod in the profiling mechanism and a mounting central line of a sensor fixing seat,
is the shape-imitated height value of the cutting table.
Optionally, the header control module specifically includes:
the first judgment unit is used for judging whether the header height difference is within a preset error range or not to obtain a first judgment result;
the updating unit is used for returning to the angle detection value acquisition module after updating the current moment if the first judgment result is yes;
the second judgment unit is used for judging whether the height of the header from the ground is greater than the preset profile modeling height target value or not if the first judgment result is negative, and obtaining a second judgment result;
a descending control unit, configured to control the header to descend at the current time if the second determination result is yes;
and the ascending control unit is used for controlling the header to ascend at the current moment if the second judgment result is negative.
Alternatively to this, the first and second parts may,
the calculation formula of the height of the header from the ground in the second calculation module is
Wherein the content of the first and second substances,
the height of the header from the ground is taken as the height,
is a preset height difference between the header and the lowest point of the profiling plate,
is the shape-imitated height value of the cutting table.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an electro-hydraulic control method and system for the height of a cutting table of a soybean harvester. Compare in current control mode through angle sensor's rotation direction control header height, considered ground to the counterforce of profiling mechanism, improved the degree of accuracy of header control, realized the accurate control of soybean harvester header height.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural view of a combine harvester;
FIG. 2 is a schematic diagram of a hydraulic drive system;
FIG. 3 is a block diagram of a profiling mechanism;
fig. 4 is a flowchart of a method for electrohydraulic height control of a header of a soybean harvester according to an embodiment of the present invention;
FIG. 5 is a schematic view of the force applied to the profiling mechanism during the operation of the combine harvester;
FIG. 6 is a schematic diagram of the movement of the profiling mechanism;
FIG. 7 is a diagram of a specific implementation process of the electro-hydraulic height control method for the header of the soybean harvester;
fig. 8 is a structural diagram of a height electro-hydraulic control system of a header of a soybean harvester according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
In the combine shown in fig. 1, the hydraulic drive system controls the lifting of the header, and the hydraulic drive system is shown in fig. 2. The hydraulic drive system comprises a pump P1, a relief valve Y1, an electromagnetic directional valve set Y2, a manual directional valve Y3 and a one-way valve Y4. The hydraulic driving system mainly comprises two hydraulic loops, one loop is used for manual regulation, and the other loop realizes automatic profiling control. The manual adjustment is mainly used for transferring, running and the like of a vehicle under the non-operation state of the harvester, when the manual adjustment function is switched by the industrial personal computer, the electromagnetic directional valve DT1 and the electromagnetic directional valve DT2 are not powered, the automatic profiling control function is closed, the manual adjustment S1 moves leftwards, the oil is fed from the left end of the double-acting hydraulic cylinder 8, the piston rod is ejected out, and the header is lifted; manually adjusting S1 to move right, feeding oil into the right end of the double-acting hydraulic cylinder 8, retracting the piston rod, and descending the header; under the shutdown state of the harvester, S1 is adjusted to the meso position, the hydraulic oil way is in the self-protecting state under the action of the one-way valve, and the header height is fixed. The automatic profiling control is switched by the industrial personal computer, after the profiling height is set, the automatic profiling function is started, when the soybean harvester meets a sloping field in the operation process, the profiling mechanism moves upwards, the angle sensor rotates forwards, the controller receives a signal, the electromagnetic reversing valve DT1 is electrified, the left end of the double-acting hydraulic cylinder 8 takes oil, the piston rod is ejected out, and the header is lifted; when the harvester encounters a depression, the profiling mechanism falls back, the angle sensor rotates reversely, the controller receives signals to control the electromagnetic directional valve, the electromagnetic directional valve DT2 is electrified, the right end of the double-acting hydraulic cylinder 8 is fed with oil, the piston rod retracts, and the harvester descends.
In the combine shown in fig. 1, the profiling mechanism is structured as shown in fig. 3. The profiling mechanism mainly comprises a limiting plate 5-1, a profiling plate 5-2, a profiling plate fixing seat 5-3, a driving rod 5-4, a joint bearing connecting rod 5-5, a sensor driving plate 5-6, a sensor fixing seat 5-7, a torsion spring 5-8 and the like. The profile plate 5-2 and the driving rod 5-4 are connected through a bolt and hinged on the profile plate fixing seat 5-3; the torsion spring 5-8 is arranged between the profile plate 5-2 and the profile plate fixing seat 5-3, one end of the torsion arm is clamped on the profile plate 5-2, the other end of the torsion arm is clamped on the profile plate fixing seat 5-3, and when the profile plate 5-2 rotates anticlockwise, the torsion spring 5-8 is pressed and twisted; two ends of a joint bearing connecting rod 5-5 are respectively hinged with a driving rod 5-4 and a sensor driving plate 5-6, and the sensor driving plate 5-6 is hinged with an angle sensor.
When the soybean harvester works on a sloping field, the profile plate 5-2 touches the surface of soil to apply pressure, the soil is stressed and compacted, the soil compaction process applies a reaction force to the profile plate 5-2 to enable the profile plate to rotate anticlockwise around the center of the profile plate fixing seat 5-3, meanwhile, the torsion spring 5-8 is pressed, under the linkage action of the profile plate 5-2, the driving rod 5-4, the joint bearing connecting rod 5-5 and the angle sensor 6 rotate in sequence, the angle sensor transmits signal change data to the industrial personal computer, and the controller controls the electromagnetic reversing valve after the signal change data is processed by the industrial personal computer, so that the lifting of the double-acting hydraulic cylinder is controlled; when the operation process encounters a depression, the profiling plates 5-2 are instantaneously separated from the soil surface and rotate clockwise under the action of the torsion springs 5-8, the angle sensor rotates reversely, the double-acting hydraulic cylinder descends the header until the profiling plates 5-2 contact the soil surface to be stressed again, the industrial personal computer judges whether the real-time height of the header needs to be lifted or not, and therefore the operation is repeated, and the height of the header is continuously adjusted under the condition of soil-machine contact stress.
In order to realize accurate control of the height of the soybean harvester header, the embodiment provides an electrohydraulic height control method for the soybean harvester header, and the specific idea is as follows: setting profiling height on an industrial personal computer according to the actual height data of the soybean pods to be collected, and continuously adjusting the electromagnetic directional valve by a controller to control the double-acting hydraulic cylinder lifting cutting table to enable the height of the double-acting hydraulic cylinder lifting cutting table to be matched with the set profiling height. In the operation process, when the profiling mechanism touches the ground and rotates, the angle sensor is driven to rotate, the angle sensor transmits an electric signal to the industrial personal computer, the industrial personal computer calculates the actual ground clearance of the header and judges whether the actual ground clearance is in a safe range, if the actual ground clearance exceeds the safe range, the controller adjusts the electromagnetic reversing valve, the double-acting hydraulic cylinder is controlled to lift the header, and soil shoveling on the sloping field is avoided; when the soybean pod cutting machine runs into a depression, the profiling mechanism rotates in the reverse direction under the action of the torsion spring to drive the angle sensor to rotate reversely, the angle sensor transmits an electric signal to the industrial personal computer, the industrial personal computer calculates the actual ground clearance of the cutting table and judges whether the actual ground clearance is in a safety range, if the actual ground clearance exceeds the safety range, the electromagnetic directional valve is adjusted through the controller, the double-acting hydraulic cylinder is controlled to lower the cutting table, and the soybean pod cutting missing is reduced. As shown in fig. 4, the method specifically includes:
step 101: and acquiring the detection value of an angle sensor in the header profiling system of the combine harvester at the current moment.
Step 102: inputting the detection value into a header height calculation model to obtain a header contour height value at the current moment; the header profile height value is the height of a profile plate in the profiling mechanism moving relative to the header at the current moment.
The header height calculation model is constructed by considering the reaction force (soil reaction force) of the ground to the profiling mechanism, and the header height calculation model is determined in the following process:
as shown in figure 5, when the header is low relative to the ground during the operation of the soybean harvester, the profile plate touches the ground to press the ground, and the soil compaction process applies reaction force to the profile plate
When the profile plate rotates anticlockwise, the torsion spring is pressed and twisted to apply torque to the profile plate reversely
Because each pin joint of the profiling mechanism is connected by adopting a bearing and is sufficient in lubrication, and the friction force can be ignored, the friction force of each rotating pair in the profiling mechanism and the gravity of each part are not considered in the stress analysis process in order to simplify the calculation model. Therefore, the first law of thermodynamics can be used to:
in the above formula, the first and second carbon atoms are,
the counterforce to the profile plate in the soil compaction process is N;
the height of the profile plate moving upwards relative to the cutting table is equal to the compacted depth of the soil by mm;
the value of the torsion angle of the torsion spring is equal to the anticlockwise rotation angle, rad, of the profile plate;kis the torsional spring rate, N-mm/rad.
The drive rod of the profiling mechanism, the joint bearing connecting rod and the sensor drive plate are connectedThe whole profiling mechanism can be simplified into a double-link mechanism, as shown in fig. 6, a CO section is a drive rod of the profiling mechanism, a BC section is a joint bearing connecting rod, an AB section is a sensor drive plate, an OD section is a profiling plate, and a hinge four-bar mechanism ABCD is regarded as a closed vector polygon to use
、
、
、
The vector of each component is respectively expressed, and the closed vector equation of the mechanism is as follows:
specified angleθSo as to makexThe positive counter-clockwise direction of the shaft, measured, is then expressed in complex form as:
in the above formula
The length of a CO section driving rod is mm;
the length of a connecting rod of the joint bearing at the BC section is mm;
the length of the AB section sensor drive plate is mm;
for profile plate holders andthe mounting center distance of the sensor fixing seat is mm;
is an initial included angle, rad, between the driving rod and the installation center line of the sensor fixing seat;
is an initial included angle, rad, between a sensor driving plate and a sensor fixing seat installation central line;
for the relative initial angle of the driving rod when the profile-plate is forced to rotate
Angle of change, rad;
relative initial angle of sensor drive plate after profile plate is stressed to rotate
Angle of change (detection value of angle sensor), rad;
is the included angle between the joint bearing connecting rod and the installation center line of the sensor fixing seat, and is rad.
Developed by the euler formula:
namely:
elimination
After finishing to obtain corners
And
the relationship model of (1) is:
in the above formula, design size
，
，
，
，
，
. Namely:
the external force that soybean harvester operation process profile plate received mainly derives from soil reaction force, and soil reaction force size is determined by soil compaction degree and soil by the compaction degree of depth, and along with soil compaction degree of depth increase, soil compaction degree also crescent, demonstrates linear function relation between the two:
design width of profile plate
The contact section of the profile plate and the ground in the profiling process is mostly a smooth transition section designed by the profile plate, and the length of the smooth transition section
Then, soil compaction resistance in the profiling process is as follows:
in the profiling operation process of the cutting table of the soybean harvester, the soil compaction depth is the height change value of the profiling plate relative to the cutting table, the torsion angle value of the torsion spring is the angle change value of the driving rod when the profiling plate rotates under stress, the reaction force of the soil compaction process to the profiling plate is the soil compaction resistance, namely in the formulas (1), (2) and (3),
，
，
regardless of other energy losses during the soil compaction process, equation (1) is:
the torsion spring being selected for use in the embodiment
Therefore, it is
In summary, the detected value by the angle sensor
Solving the shape height value of the cutting table
The header height calculation model is as follows:
in the operation process, when the header height calculation model is adopted to calculate the header profiling height value, when the header encounters a sloping field, the profiling mechanism moves upwards, the angle sensor rotates forwards, and the detection value of the angle sensor
Is positive, and is obtained by calculation
The positive value of the table is used as the shape-imitated height value of the cutting table; when the depression is met, the profiling mechanism moves downwards, the angle sensor rotates reversely, and the detection value of the angle sensor
Is negative, and is obtained by calculation
The negative value of (2) is used as the shape-imitated height value of the cutting table.
Step 103: and calculating the height of the header from the ground at the current moment according to the preset height difference between the header and the lowest point of the profile plate and the profile height value of the header. The method specifically comprises the following steps:
wherein the content of the first and second substances,
the height of the header from the ground is taken as the height,
is a preset height difference between the header and the lowest point of the profiling plate,
is the imitated height value of the cutting table,
the method is set by adjusting the connecting bolts of the profile plates and the limiting plates according to the soybean variety characteristics and the actual field growth in the calibration process.
Step 104: and determining the difference value between the height of the header from the ground and a preset profile height target value as the header height difference at the current moment.
Step 105: and controlling the header to descend or ascend at the current moment by the header height difference. The method specifically comprises the following steps:
judging whether the header height difference is within a preset error range
Obtaining a first judgment result; if the first judgment result is yes, returning to the step 101 after updating the current moment; if the first judgment result is negative, judging whether the height of the header from the ground is greater than the preset profile modeling height target value or not to obtain a second judgment result; if the second judgment result is yes, controlling the header to descend at the current moment; and if the second judgment result is negative, controlling the header to ascend at the current moment.
In practical application, the electro-hydraulic height regulating method of the cutting table of the soybean harvester is specifically realized in the following steps:
the height of the cutting table of the soybean harvester is controlled to restrict the harvesting operation height of the cutting knife, and the preset height difference between the cutting table of the soybean harvester and the lowest point of the profile plate
The height of the cutting table from the ground under the working state (the real-time height of the cutting knife harvesting operation) can be adjusted by adjusting the connecting bolt of the profile plate and the limiting plate according to the soybean variety characteristics and the actual field growth vigor
. Under the condition of avoiding cutting leakage and shoveling soil, in order to reduce frequent regulation and control of the electromagnetic directional valve, the operation height of the cutting knife can not exceed the upper and lower floating height in a proper range
。
According to the header height calculation model, an electro-hydraulic header height regulation and control method of the soybean harvester is designed, and the specific process is shown in fig. 7. Before the soybean harvester works, the profile height value (the preset profile height target value) is input according to the actual working requirement
And acceptable cutter height float error value
After the harvest operation is started, the central control machine obtains the signal value transmitted back by the angle sensor through signal processing
And is obtained by a header height calculation model
、
、 
By judgment
、
Difference value and height floating error value of cutting knife
The electromagnetic directional valve is controlled in relation to realize the real-time regulation and control of the header height.
The invention also provides an electro-hydraulic height regulating system of the soybean harvester header, and fig. 8 is a structural diagram of the electro-hydraulic height regulating system of the soybean harvester header provided by the embodiment of the invention. Referring to fig. 8, the height electro-hydraulic control system for the header of the soybean harvester comprises:
an angle detection value acquisition module 201, configured to acquire a detection value of an angle sensor in a combine harvester header profiling system at a current moment.
The first calculation module 202 is configured to input the detection value into a header height calculation model to obtain a header contour height value at the current moment; the header profile height value is the height of a profile plate in the profiling mechanism moving relative to the header at the current moment.
The header height calculation model in the first calculation module 202 is
Wherein the content of the first and second substances,
in order to detect the value of the angle sensor,
the driving rods are opposite when the profiling plates in the profiling mechanism are stressed to rotate
The angle of the change is such that,
is an initial included angle between a driving rod in the profiling mechanism and a mounting central line of a sensor fixing seat,
is the shape-imitated height value of the cutting table.
And the second calculating module 203 is used for calculating the height of the header from the ground at the current moment according to the preset height difference between the header and the lowest point of the profile plate and the header profile height value.
A height difference determination module 204, configured to determine a difference between the height of the header from the ground and a preset target profile height value as a header height difference at the current time.
A header control module 205 configured to control the header to descend or ascend at a current time by the header height difference.
As an optional implementation manner, the header control module 205 specifically includes:
and the first judgment unit is used for judging whether the header height difference is within a preset error range to obtain a first judgment result.
And the updating unit is used for returning to the angle detection value acquisition module after updating the current moment if the first judgment result is yes.
And the second judgment unit is used for judging whether the height of the header from the ground is greater than the preset profile modeling height target value or not if the first judgment result is negative, so as to obtain a second judgment result.
And the descending control unit is used for controlling the header to descend at the current moment if the second judgment result is positive.
And the ascending control unit is used for controlling the header to ascend at the current moment if the second judgment result is negative.
As an alternative embodiment, the calculation formula of the height of the header from the ground in the second calculation module 203 is
Wherein the content of the first and second substances,
the height of the header from the ground is taken as the height,
is a preset height difference between the header and the lowest point of the profiling plate,
is the shape-imitated height value of the cutting table.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. An electro-hydraulic height control method for a header of a soybean harvester comprises the following steps: acquiring a detection value of an angle sensor in a header profiling system of the combine harvester at the current moment; it is characterized in that the preparation method is characterized in that,
inputting the detection value into a header height calculation model to obtain a header contour height value at the current moment; the header profiling height value is the moving height of a profiling plate in the profiling mechanism relative to the header at the current moment;
calculating the height of the header from the ground at the current moment according to a preset height difference between the header and the lowest point of the profile plate and the profile height value of the header;
determining the difference between the height of the header from the ground and a preset target value of the profile modeling height as the header height difference at the current moment;
controlling the header to descend or ascend at the current moment by the header height difference;
the header height calculation model is
Wherein the content of the first and second substances,
in order to detect the value of the angle sensor,
the driving rods are opposite when the profiling plates in the profiling mechanism are stressed to rotate
The angle of the change is such that,
is an initial included angle between a driving rod in the profiling mechanism and a mounting central line of a sensor fixing seat,
is the shape-imitated height value of the cutting table.
2. The method for electrohydraulic header height regulation and control of a soybean harvester according to claim 1, wherein the header height difference is used for controlling the header to descend or ascend at the current moment, and specifically comprises the following steps:
judging whether the header height difference is within a preset error range to obtain a first judgment result;
if the first judgment result is yes, returning to the step of obtaining the detection value of the angle sensor in the combine harvester header profiling system at the current moment after updating the current moment;
if the first judgment result is negative, judging whether the height of the header from the ground is greater than the preset profile modeling height target value or not to obtain a second judgment result;
if the second judgment result is yes, controlling the header to descend at the current moment;
and if the second judgment result is negative, controlling the header to ascend at the current moment.
3. The method for electro-hydraulically regulating the height of a header of a soybean harvester according to claim 1, characterized in that the height of the header from the ground at the current moment is calculated by a preset height difference between the header and the lowest point of the profile plate and the profile height value of the header, specifically the height of the header from the ground at the current moment
Wherein the content of the first and second substances,
the height of the header from the ground is taken as the height,
is a preset height difference between the header and the lowest point of the profiling plate,
is the shape-imitated height value of the cutting table.
4. A soybean harvester header height electro-hydraulic regulation and control system comprises: the angle detection value acquisition module is used for acquiring the detection value of an angle sensor in a header profiling system of the combine harvester at the current moment; it is characterized in that the preparation method is characterized in that,
the first calculation module is used for inputting the detection value into a header height calculation model to obtain a header contour height value at the current moment; the header profiling height value is the moving height of a profiling plate in the profiling mechanism relative to the header at the current moment;
the second calculation module is used for calculating the height of the header from the ground at the current moment according to the preset height difference between the header and the lowest point of the profile plate and the header profile height value;
the height difference determining module is used for determining the difference value between the height of the header from the ground and a preset profile modeling height target value as the header height difference at the current moment;
the header control module is used for controlling the header to descend or ascend at the current moment according to the header height difference;
the header height calculation model in the first calculation module is
Wherein the content of the first and second substances,
in order to detect the value of the angle sensor,
the driving rods are opposite when the profiling plates in the profiling mechanism are stressed to rotate
The angle of the change is such that,
is an initial included angle between a driving rod in the profiling mechanism and a mounting central line of a sensor fixing seat,
is the shape-imitated height value of the cutting table.
5. The soybean harvester header height electro-hydraulic regulation and control system of claim 4, wherein the header control module specifically comprises:
the first judgment unit is used for judging whether the header height difference is within a preset error range or not to obtain a first judgment result;
the updating unit is used for returning to the angle detection value acquisition module after updating the current moment if the first judgment result is yes;
the second judgment unit is used for judging whether the height of the header from the ground is greater than the preset profile modeling height target value or not if the first judgment result is negative, and obtaining a second judgment result;
a descending control unit, configured to control the header to descend at the current time if the second determination result is yes;
and the ascending control unit is used for controlling the header to ascend at the current moment if the second judgment result is negative.
6. The electro-hydraulic header height regulating system of a soybean harvester according to claim 4, wherein the calculation formula of the height of the header from the ground in the second calculation module is
Wherein the content of the first and second substances,
the height of the header from the ground is taken as the height,
is a header and a profile plateA preset height difference between the lowest points,
is the shape-imitated height value of the cutting table.
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| CN114631425B (en) * | 2021-12-13 | 2023-05-09 | 江苏大学 | Sectional profiling device and profiling method for soybean header of combine harvester |
| CN114342646A (en) * | 2022-01-19 | 2022-04-15 | 华中农业大学 | Profiling detection and self-adaptive adjustment system for header ground clearance |
| CN114223386B (en) * | 2022-02-25 | 2022-05-17 | 农业农村部南京农业机械化研究所 | Regulation and control method of combined harvester reel operation parameter regulation and control system |
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