CN112976979B - Air suspension control method and device of high-ground-clearance spraying machine - Google Patents
Air suspension control method and device of high-ground-clearance spraying machine Download PDFInfo
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- CN112976979B CN112976979B CN202110391011.7A CN202110391011A CN112976979B CN 112976979 B CN112976979 B CN 112976979B CN 202110391011 A CN202110391011 A CN 202110391011A CN 112976979 B CN112976979 B CN 112976979B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0025—Mechanical sprayers
- A01M7/0032—Pressure sprayers
- A01M7/0042—Field sprayers, e.g. self-propelled, drawn or tractor-mounted
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0165—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input to an external condition, e.g. rough road surface, side wind
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/052—Pneumatic spring characteristics
- B60G17/0523—Regulating distributors or valves for pneumatic springs
- B60G17/0525—Height adjusting or levelling valves
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
- Zoology (AREA)
- Environmental Sciences (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses an air suspension control method and device of a high-clearance sprayer, which relate to the technical field of sprayer operation, can eliminate or weaken adverse effects on the performance operation of the whole sprayer to a greater extent, and further meet the requirements of the smoothness, the operating stability and the road friendliness of the sprayer, and the main technical scheme of the invention is as follows: calculating the time-varying property of the sprung mass in the processes of adding and spraying liquid by the spraying machine; acquiring different road surface information in the driving process of the spraying machine; and adjusting the opening of the throttle valve hole and simultaneously adjusting the height of the body of the spraying machine according to the time-varying property of the sprung mass and the road surface information.
Description
Technical Field
The invention relates to the technical field of sprayer operation, in particular to an air suspension control method and device of a high-clearance sprayer.
Background
The method is characterized in that the running operation requirement of the spraying machine is analyzed, and the change rules of suspension parameters such as spring load mass, suspension height and the like in the running process of the spraying machine are analyzed, so that the method is of great importance to the formulation of a suspension control strategy of a chassis of the spraying machine. The sprayer not only needs to be transported on a common road in a transition way, but also needs to finish the spraying and plant protection operation in the field.
At present, the requirements on the aspect of suspension damping are different under two different working conditions. During transition transportation, the speed is high (generally 20-40 Km/h), road conditions are good (generally national roads, provincial roads, county roads, asphalt roads, cement roads and the like), the riding comfort of a driver and the operation stability of the whole sprayer are performance indexes which need to be considered preferentially, and meanwhile, the sprayer is high in preparation quality, and road friendliness is also considered, so that impact and damage to the road surface are reduced. In the process of plant protection operation, on one hand, although the driving conditions of different land blocks are greatly influenced by the landforms of regions, the wet viscosity of soil and the like, the requirements on the whole machine are similar, namely the dynamic load of tires is reduced as much as possible to prevent the compaction and the damage of the soil. On the other hand, although the plant protection operation speed is low (not more than 20Km/h), the vibration of the vehicle body is severe without road transportation, the vibration, swing and rotation of the spray rod can be caused by the slight inclination and vibration of the vehicle body due to the complex field ground and the large spray rod width, the spraying effect is greatly reduced, and therefore the smoothness of the vehicle body is also an important factor to be considered in the plant protection operation process. Meanwhile, the sprayer has high ground clearance, high gravity center and large loading capacity, and is easy to turn on one side.
However, the complexity of the operating condition of the sprayer and the time-varying property of the sprung mass in the existing operation process can cause adverse effects on the performance of the sprayer, and the existing air suspension control method has no better countermeasures.
Disclosure of Invention
The invention provides an air suspension control method and device of a high-clearance spraying machine, and mainly aims to realize air suspension control of the high-clearance spraying machine by integrating the complexity of the operating condition of the spraying machine and the time-varying property of spring-loaded mass, eliminate or weaken the influence of the factors on the whole machine performance to a greater extent, and further meet the requirements of the running smoothness, the operation stability and the road friendliness of the spraying machine.
The application provides in a first aspect a method for controlling an air suspension of a high-clearance sprayer, the method comprising:
calculating the time-varying property of the sprung mass in the process of adding and spraying liquid by the spraying machine;
acquiring different road surface information in the driving process of the spraying machine;
and adjusting the opening of the throttle valve hole and simultaneously adjusting the height of the body of the spraying machine according to the time-varying property of the sprung mass and the road surface information.
In some modified embodiments of the first aspect of the present application, the calculating the time-varying property of the sprung mass during the liquid feeding and spraying of the sprayer includes:
acquiring the spring load mass of the sprayer when the sprayer is in no load;
acquiring the mass of liquid pumped into a tank in unit time by the centrifugal pump;
and calculating the time-varying property of the sprung mass according to a preset formula by combining the atmospheric pressure and the absolute gas pressure in the air suspension.
In some modified embodiments of the first aspect of the present application, the adjusting the opening of the throttle valve hole and the adjusting of the body height of the sprayer at the same time based on the time-varying property of the sprung mass and the road surface information includes:
in the working process of the working condition that the sprayer sprays liquid or adds liquid, searching a corresponding strategy for adjusting the opening of the throttle valve hole according to different road surface information so as to adjust the opening of the throttle valve hole;
marking a first height value of liquid and detecting a corresponding first vehicle height value in the working process of spraying or adding liquid to a sprayer;
acquiring a second height value of the liquid according to a preset time interval;
judging whether the difference value between the second height value and the first height value reaches a preset threshold value or not;
and if so, controlling to open the electromagnetic valve to adjust the opening of the throttle valve hole and adjust the height of the spraying machine body on the basis of the first height value of the spraying machine body.
The present application provides in a second aspect an air suspension control arrangement for a high clearance sprayer, the arrangement comprising:
the calculation unit is used for calculating the time-varying property of the sprung mass in the liquid adding and spraying processes of the spraying machine;
the acquisition unit is used for acquiring different road surface information in the driving process of the spraying machine;
and the adjusting unit is used for adjusting the opening of the throttle valve hole and adjusting the height of the body of the spraying machine at the same time according to the time-varying property of the sprung mass and the road surface information.
In some modified embodiments of the second aspect of the present application, the calculation unit includes:
the acquisition module is used for acquiring the sprung mass of the sprayer when the sprayer is in no load;
the acquisition module is also used for acquiring the mass of the liquid pumped into the tank in unit time of the centrifugal pump;
and the calculating module is used for calculating the time-varying property of the sprung mass according to a preset formula by combining the atmospheric pressure and the absolute gas pressure in the air suspension.
In some modified embodiments of the second aspect of the present application, the adjusting unit includes:
the adjusting module is used for searching a corresponding adjusting throttle valve opening strategy according to different road surface information to adjust the throttle valve opening in the working process of spraying liquid or adding liquid on the sprayer;
the marking module is used for marking a first height value of liquid and detecting a corresponding first vehicle height value in the working process of liquid spraying or liquid adding working conditions of the spraying machine;
the acquisition module is used for acquiring a second height value of the liquid according to a preset time interval;
the judging module is used for judging whether the difference value between the second height value and the first height value reaches a preset threshold value or not;
and the control module is used for judging that the difference value between the second height value and the first height value reaches a preset threshold value, controlling to open the electromagnetic valve to adjust the opening of the throttle valve hole and adjust the height of the spraying machine body on the basis of the first height value.
A third aspect of the present application provides a storage medium comprising a stored program, wherein the program when executed controls an apparatus on which the storage medium is located to perform the air suspension control method of a high-clearance spraying machine as described above.
A fourth aspect of the present application provides an electronic device comprising at least one processor, and at least one memory, a bus, connected to the processor;
the processor and the memory are communicated with each other through the bus;
the processor is configured to invoke program instructions in the memory to perform the air suspension control method of the high-clearance sprayer as described above.
By means of the technical scheme, the technical scheme provided by the invention at least has the following advantages:
the invention provides an air suspension control method and device of a high-clearance spraying machine. Compared with the prior art, the invention solves the technical problems that the complexity of the running condition of the atomizer and the influence of the time-varying factor of the spring-loaded mass on the operation are not eliminated in the operation process of the atomizer.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of an air suspension control method for a high-clearance sprayer according to an embodiment of the invention;
FIG. 2 is a flowchart illustrating height adjustment control of a vehicle body during time-varying sprung mass according to an embodiment of the present invention;
FIG. 3 is a schematic view of an air suspension control system according to an embodiment of the present invention;
FIG. 4 is a block diagram of an air suspension control apparatus of a high-clearance sprayer according to an embodiment of the present invention;
FIG. 5 is a block diagram of an air suspension control apparatus for a high-clearance sprayer according to an embodiment of the present invention;
fig. 6 is an electronic device for air suspension control of a high-clearance sprayer provided by an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The embodiment of the invention provides an air suspension control method of a high-clearance sprayer, and as shown in fig. 1, the embodiment of the invention provides the following specific steps:
101. and calculating the time-varying property of the sprung mass in the liquid adding and spraying processes of the spraying machine.
In the embodiment of the invention, the steps are detailed as follows: acquiring the sprung mass of the sprayer in no load, acquiring the mass of liquid pumped into a tank in unit time of the centrifugal pump, and calculating the time-varying property of the sprung mass according to a preset formula by combining atmospheric pressure and absolute gas pressure in an air suspension.
For example, in a spraying machine, when water is added for spraying and medicine is sprayed, the sprung mass can change, so that the height of the vehicle body can change in a large range, and a proper adjusting device and a control strategy are needed to counteract the influence of load change on the height of the vehicle body, wherein the Δ m bs The calculation formula is the mass of the liquid medicine pumped into the medicine chest in unit time of the centrifugal pump and is as the following formula (1):
wherein gamma is the density ratio of the liquid medicine to water, different types of liquid medicines have different standard concentrations, and gamma is different and generally ranges from 1.0 to 1.6; v L Application rate per unit area, unit L/hm, recommended for chemical manufacturers 2 (ii) a v is the running speed of the sprayer during the plant protection operation, and the unit is m/s; l is the width of the spray boom in m. The application amount of different liquid medicines in unit area is different from the standard concentration, so the quality of the sprayed liquid medicines in unit time is different.
In the process of plant protection operation, the sprayer is assumed to be uniformly applied and is irrelevant to the running state of the vehicle. Let m bp0 The unit kg is the full load spring load mass of the spraying machine; time t p The unit s is the time for spraying the medicine; delta m bp The mass of the sprayed medicine in unit time of the sprayer is unit kg; sprung mass m b Can be expressed with respect to t as shown in equation (2) p The piecewise function of (2).
From the mathematical model, the sprung mass displacement and the suspension internal pressure have a relationship of the following formula (3).
The derivation of the two sides of the formula (3) can obtain the following relation among the variables of the air suspension when spraying the medicine:
in the same way, the relational expression among the variables of the air suspension during the medicine feeding is obtained, and the following formula (5) is obtained:
wherein, in the formula (4) and the formula (5), m bs0 The unit kg is the spring load mass of the sprayer when the sprayer is unloaded; delta m bs The mass of the liquid medicine pumped into the medicine chest in unit time of the centrifugal pump is unit kg. P a And P 1 Respectively atmospheric pressure and absolute gas pressure in the air suspension at any state, A e Is the effective area of the air suspension, W g Gravity, Z, due to sprung mass b For vehicle body flexing, Z t For unsprung mass deflection, C s The self damping coefficient of the rubber air suspension is shown, and g is the gravity acceleration.
102. Different road surface information is obtained in the driving process of the spraying machine.
Wherein, different road surface information is mainly to two kinds of different operating modes: the working conditions of transition transportation and field pesticide spraying plant protection operation are carried out on a common road.
In the embodiment of the invention, as an example, an industrial camera can be used for shooting road surface image data in the running process of the spraying machine, the road surface image data is preprocessed by a data amplification method such as noise adding, random blurring, translation, horizontal and vertical mirror image, diagonal inversion and the like to achieve data amplification, then, more and richer road surface image information obtained by amplification is used as a training sample to train a road surface model of a deep learning algorithm, and the road surface model is used for processing and outputting corresponding road surface information according to the shot road surface image data in the running process of the spraying machine.
103. And adjusting the opening of the throttle valve hole and simultaneously adjusting the height of the body of the spraying machine according to the time-varying property of the sprung mass and the road surface information.
It should be noted that, in the embodiment of the present invention, in consideration of the influence of different road conditions on the spraying operation, in the process of adjusting the height of the vehicle body, different road surface information is also used as a reference factor, for example, a preset strategy for adjusting the opening degree of the throttle valve opening is found according to the detected different road surface information, and exemplarily, the opening degree of the throttle valve opening can be adjusted to be switched between [3.5mm, fully open ], [4.5mm, fully open ], or [5mm, fully open ], so as to adjust the damping of the suspension stiffness of the system.
Further, in addition to considering different road surface information, the influence of the sprung mass time variation on the spray operation is also considered, and is generally more influenced than the road condition, so the priority to be considered should be higher than that.
In the embodiment of the invention, in combination with a control flow chart of vehicle height adjustment in the time varying process of the sprung mass shown in fig. 2, the strategy for adjusting the vehicle height of the spraying machine in the time varying process of the sprung mass is specifically stated as follows:
firstly, marking a first height value of liquid and detecting a corresponding first vehicle height value in the working process of spraying or adding liquid to a sprayer. It should be noted that the first height value is a liquid initial height value marked for detecting a liquid height change in the liquid spraying or liquid adding process subsequently by using the initial height value as a standard, the first vehicle height value is a vehicle height value obtained when the first height value is marked, and in addition, "first" and "second" mentioned in the embodiment of the present invention are only used for clearly and clearly distinguishing different liquid heights or vehicle body heights, and there is no sequence of objects to be referred.
Secondly, according to a preset time interval, a second height value of the liquid is obtained, and whether the difference value between the second height value and the first height value reaches a preset threshold value or not is judged. The judgment comparison operation is equivalent to triggering the time whether to control the opening of the electromagnetic valve, if so, the electromagnetic valve is controlled to be opened to adjust the opening of the throttle valve hole and adjust the height of the sprayer body on the basis of the first height value of the sprayer body.
It should be noted that, for example, when the spraying machine adds water and sprays medicine, the sprung mass may change, which may cause a large-scale change in the height of the vehicle body, and a proper adjusting device and control strategy may be required to counteract the influence of the load change on the height of the vehicle body, but if the height of the vehicle body is adjusted too frequently, the operation performance of the spraying machine may be adversely affected, so that the height value of the liquid medicine at the next time is obtained by comparing according to a preset time interval, and then the difference between the height value and the initial height value of the liquid medicine is compared with a preset threshold, and the comparison operation is used to trigger the judgment of whether the current height of the vehicle body needs to be adjusted.
In the embodiment of the invention, a combined control mode of a sensor and an electromagnetic valve is adopted, and through a proper control strategy and algorithm, not only can the accurate tracking of the height of the vehicle body be realized, but also the leveling of the posture of the vehicle body and the adjustment of the load of a suspension can be carried out. In view of possible load unbalance in the operation process of the spraying machine, the air suspension displacement signal is fed back by the sensor, the height of the vehicle body is controlled, and signals measured by the sensor are processed through the Kalman filter.
For example, the relevant operation required by the height adjustment control of the vehicle body in the time-varying process of the sprung mass is specifically stated as follows:
first, a vibration differential equation of the suspension system is obtained as the following equation (6):
wherein k is t 、c t Tire stiffness and damping; m is b 、m t Sprung and unsprung masses; x is the number of b 、x t W is the sprung mass, the unsprung mass and the ground excitation displacement, a is the rate of change of the air suspension volume with height, and is calculated to be 0.06 through fitting; v 10 Is the volume of the suspension in the initial equilibrium position, and V 10 ＝0.33V 2 ；
Acceleration and velocity of the sprung mass;
acceleration and velocity of the unsprung mass;
the ground excitation speed.
Secondly, real-time vehicle body height xCLOG (displacement sensor), spring load acceleration, unsprung load acceleration, roll angle theta and pitch angle are obtained through corresponding sensors
(the gyroscope is placed in the center of the vehicle chassis), and is compared with a target value, the inflation/deflation amount of each air suspension is calculated by the controller, the air suspensions are controlled, and finally the sprayer obtains the best driving smoothness and road friendliness. Measuring the inclination degrees of the front direction, the rear direction, the left direction and the right direction when the sprayer runs on a slope, and calculating the adjustment amount Dt according to the inclination angle, the wheelbase and the like, wherein the adjustment amount Dt is obtained according to the following formula (7):
wherein x is bij Four-wheel displacement, theta,
Roll and pitch angles of the vehicle body measured for gyroscopes L, B F Respectively wheel base and wheel track.
In addition, it should be further noted that temperature has a great influence on the air suspension, and the static stiffness of the air suspension under different temperature conditions is compared with the influence of the change of each parameter on the static stiffness of the air suspension, so as to summarize that the stiffness of the air suspension changes with the temperature. As the temperature decreases, the air suspension vertical and lateral static stiffness increases. For different parameters, when only the cord thread material parameter is changed, the vertical static stiffness and the transverse static stiffness are increased along with the temperature reduction; only when the parameters of the rubber material are changed, the vertical static stiffness is reduced and then increased, and the transverse static stiffness is increased along with the reduction of the temperature. The increased volume of the additional air chamber can reduce the sensitivity of vertical static rigidity to temperature change; the static transverse stiffness is greatest at a cord angle of 16 deg. and smallest at 64 deg., this tendency being unaffected by temperature.
In an embodiment of the invention, an air suspension control system is exemplarily shown in fig. 3, and comprises an air suspension, an air supply system and a height control valve; the height control valve is used for detecting the relative height of the vehicle body and the chassis; the air suspension and the height control valve are communicated with an air supply system; when the height of the vehicle body relative to the chassis changes, the left end and the right end of the height control valve generate pressure difference, and the gas supply system supplies gas or releases gas into the control valve to reduce the pressure difference of 0 at the two ends of the height control valve.
The air suspension control system further comprises an air storage tank, the air storage tank is communicated with the air supply system, and the air storage tank is further communicated with the height control valve and the atmosphere. The air suspension control system also comprises a compressor which is respectively communicated with the air supply system and the air storage tank.
Detecting the relative heights of the vehicle body and the chassis by a height control valve; when the height control valve detects that the vehicle posture is higher, the height control valve is opened, air flows reversely to the air storage tank, and the air storage tank exhausts to the atmosphere; when the height control valve detects that the posture is stable, the height control valve is closed, and the air supply system cannot charge air; when the height control valve detects that the vehicle posture is low, the height control valve is opened, and the air supply system supplies air to the air suspension.
When the gas in the gas storage tank is insufficient and the air suspension needs to be adjusted in posture, the compressor directly pumps gas into the air suspension.
When the gas in the gas storage tank is insufficient, and the air suspension does not need to adjust the posture, the compressor pumps gas to the gas storage tank.
When the air storage tank is sufficient in air and the air suspension needs to adjust the posture, the air storage tank pumps air.
Including, encountering a variety of work road conditions.
Replace traditional suspension structure for air suspension, the change of the whole set of suspension is accomplished to parts such as air supply system. The control system controls the air suspension, the air supply system works and then is leveled into the suspension, so that the aim of stabilizing the posture of the vehicle body is fulfilled. The suspension capable of adapting to the height of the vehicle body in due time can be carried out according to road conditions.
The valve core of the electromagnetic valve is switched to realize the active adjustment of the height of the suspension of the spraying machine, and compared with the traditional mechanical height adjustment, the height of the spraying machine can be adjusted according to different running conditions of the spraying machine. In the height adjusting process, the air suspension carries out air quality exchange with the air storage tank through inflation or exhaust, the opening time of the electromagnetic valve is determined according to the exchanged air quality due to the fact that the opening degree of the electromagnetic valve is fixed, the adjusting height of the suspension is further determined, and the height adjusting of the air suspension of the spraying machine is achieved through inflation and exhaust of the suspension. In the spraying process of the spraying machine, the mass of a vehicle body changes along with the change of the liquid medicine amount in the medicine box, and the air suspension generates deformation under the action of the load of the vehicle body and the internal air pressure of the vehicle body, so that the swing rods of the height sensors arranged on the upper side and the lower side of the suspension synchronously swing, and the swinging angle is converted into an electric pulse signal. The controller compares a real-time electric pulse signal measured by the sensor with an initial signal, converts a difference value between the current vehicle body height and the target vehicle body height into an electric pulse signal and transmits the electric pulse signal to the electromagnetic valve to determine whether a valve core of the electromagnetic valve is positioned at an upper position (inflation) or a lower position (exhaust), and the duration of the position of the valve core is determined by the time length of the pulse, so that the vehicle height control is realized by controlling the amount of gas charged into or discharged from a suspension.
In summary, the embodiment of the invention provides an air suspension control method for a high-clearance spraying machine, and the method is characterized in that the time variation of a sprung mass is calculated in the processes of adding liquid and spraying liquid by the spraying machine, and the opening of a throttle valve hole is adjusted and the height of a vehicle body of the spraying machine is adjusted simultaneously according to the time variation of the sprung mass and different traveling road surface information. Compared with the prior art, the technical problem that the complexity of the operation condition of the sprayer is not eliminated in the operation process of the sprayer and the influence of the time-varying factor of the spring-loaded mass on the operation is solved.
Further, as an implementation of the method shown in fig. 1, the embodiment of the invention provides an air suspension control device of a high-clearance spraying machine. The embodiment of the apparatus corresponds to the embodiment of the method, and for convenience of reading, details in the embodiment of the apparatus are not repeated one by one, but it should be clear that the apparatus in the embodiment can correspondingly implement all the contents in the embodiment of the method. The device is applied to the comprehensive multi-factor control of the air suspension of the high-clearance sprayer, and particularly as shown in figure 4, the device comprises:
the calculating unit 31 is used for calculating the time-varying property of the sprung mass in the liquid adding and spraying processes of the spraying machine;
the acquisition unit 32 is used for acquiring different road surface information during the running process of the spraying machine;
and the adjusting unit 33 is used for adjusting the opening of the throttle valve hole and adjusting the height of the body of the spraying machine at the same time according to the time-varying property of the sprung mass and the road surface information.
Further, as shown in fig. 5, the calculating unit 31 includes:
the acquiring module 311 is used for acquiring the sprung mass of the sprayer when the sprayer is unloaded;
the acquiring module 311 is further configured to acquire the mass of the liquid pumped into the tank in unit time of the centrifugal pump;
and a calculating module 312, configured to calculate a time-varying property of the sprung mass according to a preset formula by combining the atmospheric pressure and the absolute gas pressure in the air suspension.
Further, as shown in fig. 5, the adjusting unit 33 includes:
the adjusting module 331 is used for searching a corresponding adjusting throttle valve opening degree strategy according to different road surface information to adjust the throttle valve opening degree in the working process of liquid spraying or liquid adding working condition of the spraying machine;
the marking module 332 is used for marking a first height value of liquid and detecting a corresponding first vehicle height value in the working process of liquid spraying or liquid adding working condition of the spraying machine;
an obtaining module 333, configured to obtain a second height value of the liquid according to a preset time interval;
a determining module 334, configured to determine whether a difference between the second height value and the first height value reaches a preset threshold;
and the control module 334 is used for judging that the difference value between the second height value and the first height value reaches a preset threshold value, controlling to open the electromagnetic valve to adjust the opening of the throttle valve hole and adjust the height of the spraying machine body on the basis of the first height value.
The air suspension control device of the high-clearance sprayer comprises a processor and a memory, wherein the calculating unit, the acquiring unit, the adjusting unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, the air suspension control of the high-clearance spraying machine is realized by adjusting kernel parameters to synthesize the complexity of the operating condition of the spraying machine and the time-varying property of the spring-loaded mass, the influence of the factors on the performance of the whole spraying machine can be eliminated or weakened to a greater extent, and the requirements of the running smoothness, the operation stability and the road friendliness of the spraying machine are further met.
Embodiments of the present invention provide a storage medium having a program stored thereon, which when executed by a processor, implements the air suspension control method of the high-clearance sprayer.
Embodiments of the present invention provide a processor for running a program, wherein the program is run to perform the air suspension control method of the high-clearance sprayer.
An embodiment of the present invention provides an electronic device 40, as shown in fig. 6, the device includes at least one processor 401, and at least one memory 402 and a bus 403 connected to the processor 401; the processor 401 and the memory 402 complete communication with each other through the bus 403; the processor 401 is used to invoke program instructions in the memory 402 to perform the air suspension control method of the high-clearance sprayer described above.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a device includes one or more processors (CPUs), memory, and a bus. The device may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), including at least one memory chip. The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (6)
1. A method of controlling an air suspension of a high-clearance sprayer, the method comprising:
calculating the time-varying property of the sprung mass in the process of adding and spraying liquid by the spraying machine;
acquiring different road surface information in the driving process of the sprayer;
adjusting the opening of a throttle valve hole and simultaneously adjusting the height of the body of the spraying machine according to the time-varying property of the sprung mass and the road surface information;
according to the time-varying property of the sprung mass and the road surface information, the opening degree of the throttle valve hole is adjusted, and the height of the body of the spraying machine is adjusted at the same time, and the method comprises the following steps:
in the working process of the working condition that the sprayer sprays liquid or adds liquid, searching a corresponding strategy for adjusting the opening of the throttle valve hole according to different road surface information so as to adjust the opening of the throttle valve hole;
marking a first height value of liquid and detecting a corresponding first vehicle height value in the working process of spraying or adding liquid to a sprayer;
acquiring a second height value of the liquid according to a preset time interval;
judging whether the difference value between the second height value and the first height value reaches a preset threshold value or not;
and if so, controlling to open the electromagnetic valve to adjust the opening of the throttle valve hole and adjust the height of the spraying machine body on the basis of the first height value of the spraying machine body.
2. The method of claim 1, wherein calculating the time-varying behavior of the sprung mass during the dispensing and spraying of the liquid comprises:
acquiring the spring load mass of the sprayer when the sprayer is in no load;
acquiring the mass of liquid pumped into a tank in unit time by the centrifugal pump;
the time-varying property of the sprung mass is calculated according to a preset formula in combination with the atmospheric pressure and the absolute gas pressure in the air suspension.
3. An air suspension control device for a high-clearance sprayer, the device comprising:
the calculation unit is used for calculating the time-varying property of the sprung mass in the liquid adding and spraying processes of the spraying machine;
the acquisition unit is used for acquiring different road surface information in the driving process of the spraying machine;
the adjusting unit is used for adjusting the opening of the throttle valve hole and adjusting the height of the body of the spraying machine at the same time according to the time-varying property of the sprung mass and the road surface information;
the adjusting unit includes:
the adjusting module is used for searching a corresponding adjusting throttle valve opening strategy according to different road surface information to adjust the throttle valve opening in the working process of spraying liquid or adding liquid on the sprayer;
the marking module is used for marking a first height value of liquid and detecting a corresponding first vehicle height value in the working process of liquid spraying or liquid adding working conditions of the spraying machine;
the acquisition module is used for acquiring a second height value of the liquid according to a preset time interval;
the judging module is used for judging whether the difference value between the second height value and the first height value reaches a preset threshold value or not;
and the control module is used for judging that the difference value between the second height value and the first height value reaches a preset threshold value, controlling to open the electromagnetic valve to adjust the opening of the throttle valve hole and adjust the height of the spraying machine body on the basis of the first height value.
4. The apparatus of claim 3, wherein the computing unit comprises:
the acquisition module is used for acquiring the spring load mass of the sprayer in no-load;
the acquisition module is also used for acquiring the mass of the liquid pumped into the tank in unit time of the centrifugal pump;
and the calculating module is used for calculating the time-varying property of the sprung mass according to a preset formula by combining the atmospheric pressure and the absolute gas pressure in the air suspension.
5. A storage medium, characterized in that the storage medium comprises a stored program, wherein the program, when running, controls an apparatus in which the storage medium is located to perform the air suspension control method of a high-clearance spraying machine according to any one of claims 1-2.
6. An electronic device, comprising at least one processor, and at least one memory, bus connected to the processor;
the processor and the memory complete mutual communication through the bus;
the processor is configured to invoke program instructions in the memory to perform the air suspension control method of the high-clearance sprayer according to any one of claims 1-2.
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