CN113303049A - Lifter control method based on proportional control valve - Google Patents
Lifter control method based on proportional control valve Download PDFInfo
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- CN113303049A CN113303049A CN202110546141.3A CN202110546141A CN113303049A CN 113303049 A CN113303049 A CN 113303049A CN 202110546141 A CN202110546141 A CN 202110546141A CN 113303049 A CN113303049 A CN 113303049A
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- Prior art keywords
- control valve
- penetration depth
- lifting arm
- agricultural implement
- adjusting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/1006—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means the hydraulic or pneumatic means structurally belonging to the tractor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
- A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention provides a lifter control method based on a proportional control valve, which relates to the field of agricultural machinery and comprises the following steps: respectively obtaining the angles of the two lifting arms, and processing to obtain the actual soil penetration depth of the agricultural implement; comparing the set soil penetration depth with the actual soil penetration depth, judging and outputting an adjusting parameter; adjusting the action of the control valve group according to the adjusting parameters, and adjusting the angle of the lifting arm to change the soil penetration depth of the agricultural implement to meet the set soil penetration depth; the state of the agricultural implement is adjusted in real time through the independently-acting lifting arm, the action of the lifting arm is fed back and adjusted according to the state of the agricultural implement, the stable operation of the agricultural implement is kept, and the operation quality is improved.
Description
Technical Field
The disclosure relates to the field of agricultural machinery, in particular to a lifter control method based on a proportional control valve.
Background
The electro-hydraulic lifter is used as a key hydraulic part of a tractor suspension operation unit and used for controlling the lifting of a suspended farm tool, and the quality of the electro-hydraulic lifter directly influences the field operation quality and efficiency of the tractor. At present, the domestic tractor lifter is mainly composed of a lifter shell, a lifting arm, a single-action independent oil cylinder, a distributor, a safety valve, a speed regulating valve, a force feedback sub-assembly, an operating mechanism and the like, and self-regulation performance is low.
The inventor finds that in the process of working on hills and mountains, the tractor often encounters the conditions of fluctuation and unevenness of terrain, sudden change of short-term terrain such as ridges, tree roots and the like, sudden change of resistance and the like, so that the tractor tool fluctuates up and down, the requirement of agricultural operation cannot be met, the agricultural tool and a hydraulic element can be damaged, and the quality of the tractor operation is finally influenced.
Disclosure of Invention
In order to solve the above problems, the present disclosure provides a lifter control method based on a proportional control valve, which adjusts the state of an agricultural implement in real time through an independently acting lifting arm, and feeds back and adjusts the action of the lifting arm according to the state of the agricultural implement, so as to keep the stable operation of the agricultural implement and improve the operation quality.
In order to realize the purpose, the following technical scheme is adopted:
a method for controlling a lifter based on a proportional control valve comprises the following steps:
respectively obtaining the angles of the two lifting arms, and processing to obtain the actual soil penetration depth of the agricultural implement;
comparing the set soil penetration depth with the actual soil penetration depth, judging and outputting an adjusting parameter;
and adjusting the action of the control valve group according to the adjusting parameters, and adjusting the angle of the lifting arm to change the soil penetration depth of the agricultural implement so as to meet the set soil penetration depth.
Furthermore, the two lifting arms act independently and respectively acquire the included angles between the two lifting arms and the reference surface for processing.
Further, after the angle of the lifting arm is obtained, the position of the lifting arm is determined, and the state of the agricultural implement and the relative position of the lifting arm are obtained according to the position of the lifting arm and the structure of the matched agricultural implement, so that the actual soil penetration depth is obtained.
And further, the comparison result of the set soil penetration depth and the actual soil penetration depth is input into a fuzzy controller for fuzzy judgment, and the PID controller drives the lifting arm to act according to the fuzzy judgment.
Furthermore, the PID controller outputs corresponding voltage according to fuzzy decision control, and drives the control valve group to act, so that the hydraulic cylinder pushes the lifting arm to act.
Further, the motion of the lift arms is individually adjusted by adjusting the input and output of the hydraulic cylinder corresponding to each lift arm.
Furthermore, the control valve group is a proportional poppet valve, and the output flow of the oil inlet joint is changed by sensing the change of the load, so that automatic adjustment and overload protection are realized.
Furthermore, the proportional poppet valve is of a modular structure, and a plurality of reversing links can be sequentially superposed.
Furthermore, each lifting arm is matched with a corresponding hydraulic cylinder, and the actions of the hydraulic cylinders are respectively controlled to realize the independent movement of the lifting arms.
Furthermore, the angle of the lifting arm is adjusted, so that the agricultural implement can work stably.
Compared with the prior art, the utility model has the advantages and positive effects that:
(1) the lifting device is provided with double hydraulic cylinders, the middle of a transmission shaft of the lifting arm is disconnected, the two oil cylinders are independently controlled by an independent hydraulic loop system and are not interfered with each other, the two lifting arms can be respectively controlled, and asynchronous movement of the two lifting arms is realized, so that the agricultural implement is more suitable for different farming environments, has better self-adaptive adjustability and is more suitable for agricultural farming operation of a tractor in hilly mountainous regions or uneven terrain areas;
(2) the operation quality and the operation efficiency of the tractor are improved, the damage rate of agricultural implements and hydraulic elements is reduced, and the loss of fuel oil is reduced;
(3) by adopting a self-adaptive adjusting mode, the working position of the lifting arm is monitored in real time through the angle sensor, the working state of the farm tool can be determined more quickly and accurately, and quick adjustment is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic structural diagram of a lifter in embodiment 1 of the present disclosure;
FIG. 2 is a schematic diagram of a control oil path of a lift arm according to embodiment 1 of the present disclosure;
FIG. 3 is a schematic diagram of the fuzzy PID control in embodiment 1 of the disclosure;
fig. 4 is a schematic structural diagram of a proportional poppet valve in embodiment 1 of the present disclosure.
In the figure, 1, a hydraulic cylinder, 2, a lifting arm, 3, an angle sensor, 4, a control feedback rod, 5, a one-way valve, 6 and a proportional lift valve.
Detailed Description
Example 1
In an exemplary embodiment of the present disclosure, a method of controlling a riser based on a proportional control valve is provided, as shown in fig. 1-4.
A lifter element for a tractor comprises a lifter housing, a lifting arm 2, a hydraulic cylinder 1 linked between the lifter housing and the lifting arm 2 by a pin shaft.
The two lifting arms 2 are symmetrically arranged on two sides of the lifter shell; each lifting arm 2 is matched with a corresponding hydraulic cylinder 1, and each hydraulic cylinder 1 is controlled to act respectively to realize the independent motion of the lifting arm 2; the angle of the lifting arm 2 is adjusted, so that the agricultural implement can work stably.
Two sides of a shell of the lifter are fixedly provided with reversing control valves for controlling two hydraulic cylinders 1 at two sides, two oil outlets on the reversing control valves are respectively connected to a lifting oil inlet and a descending oil inlet on the hydraulic cylinders 1, the lifter can perform self-adaptive work according to environmental conditions, and two lifting arms 2 can perform asynchronous lifting action.
Two ends of the lifter shell are respectively provided with a control feedback rod 4, one end of each control feedback rod 4 is connected with the control valve through a pin shaft, and the other end of each control feedback rod 4 is connected with the lifting arm 2 through a pin shaft. The control feedback rod 4 is provided with the angle sensor 3, the angle sensor 3 swings along with the rotation of the lifting arm 2, so that the change of the angle of the lifting arm 2 is monitored in real time, the position of the lifting arm 2 is determined, the state and the position of a suspended agricultural implement are deduced according to the position of the outer lifting arm 2, and a driver adjusts the suspension system or the automatic adjustment of the tilling depth of the suspension system.
The lifting arm 2 is connected with the hydraulic cylinder 1, the hydraulic cylinder 1 and the hydraulic cylinder 1 bracket through pin shafts, and the pin shafts are good in connection guidance, large in transmission torque and convenient to detach. At the same time, the requirement of relative rotation between the lifting arm 2 and the hydraulic cylinder 1 can be met.
The raiser is provided with a corresponding electric control module, as shown in figure 2, the electric control raiser is provided with two hydraulic cylinders 1, the middle of the transmission shaft of each lifting arm 2 is disconnected, two oil cylinders are independently controlled by an independent hydraulic loop system and do not interfere with each other, two lifting arms 2 can be respectively controlled, asynchronous movement of the two lifting arms 2 is realized, so that the agricultural implement is more suitable for different farming environments, the electric control raiser is better adaptive to adjustment, and is more suitable for agricultural farming operation of a tractor in hilly mountainous regions or uneven terrain regions, the operation quality and the operation efficiency of the tractor are improved, the damage rate of the agricultural implement and a hydraulic element is reduced, and the loss of fuel is reduced.
A control method for a hoist, comprising the steps of:
respectively obtaining the angles of the two lifting arms 2, and processing to obtain the actual soil penetration depth of the agricultural implement;
comparing the set soil penetration depth with the actual soil penetration depth, judging and outputting an adjusting parameter;
and adjusting the action of the control valve group according to the adjusting parameters, and adjusting the angle of the lifting arm 2 to change the soil penetration depth of the agricultural implement, so as to meet the set soil penetration depth.
Specifically, as for the control valve group, as shown in fig. 4, the modularized configurable proportional control valve has a modularized property, and a plurality of reversing links can be carried through the link bolt holes, so that simultaneous actions of the plurality of reversing links can be realized, and simultaneous actions can be performed. The manual and electric control schemes provide user selection, the lifter carries an electric control proportional control valve to realize accurate control of the subdivided displacement of the heavy-duty agricultural implement, and the response time is less than or equal to 50 ms.
The hydraulic system in the lifter has a quick response function. The variable pump control proportional lift valve 6 is adopted, the proportional overload function is achieved, when the position of the load A changes, the output flow of an oil inlet joint is changed by sensing the change of the position of the load A, the automatic adjustment and overload protection functions are achieved, the ascending, descending and hanging of the lifting arm 2 are adjusted by changing the working position of the valve core of the electro-hydraulic reversing valve, and therefore the farm tool is driven to be located at different working positions. The oil inlet path is provided with a hydraulic control one-way valve 5 which can lift the arm 2 to stop at any position.
The acquisition process of the adjusting parameters comprises the following steps:
the two lifting arms 2 act independently and respectively acquire the included angles between the lifting arms and the reference surface for processing;
after the angle of the lifting arm 2 is obtained, the position of the lifting arm 2 is determined, and the state of the agricultural implement and the relative position of the lifting arm 2 are obtained according to the position of the lifting arm 2 and the structure of the matched agricultural implement, so that the actual soil penetration depth is obtained;
and inputting the comparison result of the set soil penetration depth and the actual soil penetration depth into a fuzzy controller for fuzzy judgment, and outputting an adjusting parameter.
Further, the PID controller drives the lifting arm 2 to act according to fuzzy decision, outputs corresponding voltage according to fuzzy decision control, and drives the control valve group to act, so that the hydraulic cylinder 1 pushes the lifting arm 2 to act.
The process for fuzzy PID control is described below with reference to the accompanying drawings:
the method and the system adopt a variable-discourse-domain fuzzy PID control method and the algorithm consists of a telescopic factor (an angle sensor 3 parameter), a fuzzy controller and a PID controller, a tilling depth signal is obtained by calculation according to the magnitude of a weighting coefficient through a feedback signal provided by the angle sensor 3 and is compared with a set tilling depth to generate a deviation signal, and force and position comprehensive control is formed.
When the system works, the collected signals of the angle sensor 3 are used as input signals and output judgment results, the signals are input into a fuzzy controller through a control feedback rod 4 to carry out fuzzy judgment, a telescopic factor alpha (x) for adjusting the input variable domain size and a telescopic factor beta (y) for adjusting the output variable domain size are designed in the fuzzy controller, the domains corresponding to the input variable and the output variable are multiplied by the telescopic factors alpha (x) and beta (y) respectively, so that the goal of changing the domains is realized, the judgment results are adjusted through the output telescopic factors to obtain correction parameters, the correction parameters are input into a PID controller, the PID controller controls and outputs corresponding voltages according to final control parameters, a control valve is driven to act, a suspension mechanism is adjusted, the soil penetration depth of a plough body is changed, and the stability of the plough depth is adjusted. The problem that the self-adaptive capacity of a general fuzzy control method is not strong when the method is applied to environment variable conditions is solved, and the reasonability of weight coefficient selection during cross-region operation of the tractor is improved.
And adopting a self-adaptive adjusting mode. The working position of the lifting arm 2 is monitored in real time through the angle sensor 3, the working state of the farm tool can be determined more quickly and accurately, and quick adjustment is achieved.
The state of the agricultural implement is adjusted in real time through the independently-acting lifting arm 2, the action of the lifting arm 2 is fed back and adjusted according to the state of the agricultural implement, the stable operation of the agricultural implement is kept, and the operation quality is improved.
The tractor is suitable for the terrain operation process of the tractor in hills and mountains, overcomes the conditions of short-term terrain mutation, resistance mutation and the like such as terrain fluctuation, uneven height, ridges, tree roots and the like, solves the problems of up-and-down fluctuation of tractor tools and incapability of meeting the requirement of agricultural operation, protects the agricultural tools and hydraulic elements, and ensures the operation quality of the tractor.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (10)
1. A method for controlling a lifter based on a proportional control valve is characterized by comprising the following steps:
respectively obtaining the angles of the two lifting arms, and processing to obtain the actual soil penetration depth of the agricultural implement;
comparing the set soil penetration depth with the actual soil penetration depth, judging and outputting an adjusting parameter;
and adjusting the action of the control valve group according to the adjusting parameters, and adjusting the angle of the lifting arm to change the soil penetration depth of the agricultural implement so as to meet the set soil penetration depth.
2. The proportional control valve-based lifter control method of claim 1, wherein the two lifting arms are independent from each other and respectively obtain their included angles with the reference plane for processing.
3. The proportional control valve-based lifter control method of claim 1, wherein after the angle of the lifting arm is obtained, the position of the lifting arm is determined, and the state of the agricultural implement and the relative position of the lifting arm are obtained according to the position of the lifting arm and the structure of the engaged agricultural implement, so as to obtain the actual penetration depth.
4. The proportional control valve-based control method for a lift of claim 1, wherein the comparison result between the set penetration depth and the actual penetration depth is inputted to a fuzzy controller for fuzzy decision, and the PID controller drives the lift arm to operate according to the fuzzy decision.
5. The proportional control valve-based lifter control method of claim 4, wherein the PID controller outputs a corresponding voltage according to fuzzy decision control to drive the control valve set to operate, so that the hydraulic cylinder pushes the lifting arm to operate.
6. The proportional control valve-based lifter control method of claim 1, wherein the motion of the lift arms is individually adjusted by adjusting the input and output of the hydraulic cylinder corresponding to each lift arm.
7. The proportional control valve-based poppet control method of claim 1, wherein the control valve group is a proportional poppet valve, and the output flow of the oil inlet manifold is changed by sensing the change of the load, so that automatic adjustment and overload protection are achieved.
8. The proportional control valve-based poppet control method of claim 7, wherein the proportional poppet valve is a modular structure, and a plurality of directional links can be sequentially stacked.
9. The proportional control valve-based lifter control method of claim 1, wherein each lifting arm is fitted with a corresponding hydraulic cylinder, and each hydraulic cylinder is controlled to act to realize independent movement of the lifting arm.
10. The proportional control valve-based lifter control method of claim 1, wherein adjusting a lift arm angle allows smooth operation of the agricultural implement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110546141.3A CN113303049A (en) | 2021-05-19 | 2021-05-19 | Lifter control method based on proportional control valve |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110546141.3A CN113303049A (en) | 2021-05-19 | 2021-05-19 | Lifter control method based on proportional control valve |
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| Publication Number | Publication Date |
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| CN113303049A true CN113303049A (en) | 2021-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110546141.3A Pending CN113303049A (en) | 2021-05-19 | 2021-05-19 | Lifter control method based on proportional control valve |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115004893A (en) * | 2022-05-20 | 2022-09-06 | 河南科技大学 | Self-adaptive control system and control method for electric suspension of tractor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012235700A (en) * | 2011-05-09 | 2012-12-06 | Yanmar Co Ltd | Rice transplanter |
| CN106870480A (en) * | 2015-12-13 | 2017-06-20 | 田佳聪 | A kind of tractor hydraulic hitch pressurizing control system |
| CN110583130A (en) * | 2019-09-26 | 2019-12-20 | 华中农业大学 | Tractor tilling depth electro-hydraulic control device and method based on angle adjustment |
| CN112352490A (en) * | 2020-10-20 | 2021-02-12 | 山东大学 | Double-cylinder hydraulic lifter for tractor |
| CN112650054A (en) * | 2020-12-31 | 2021-04-13 | 山东大学 | Fuzzy PID control method and system for variable pitch field of tractor |
-
2021
- 2021-05-19 CN CN202110546141.3A patent/CN113303049A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012235700A (en) * | 2011-05-09 | 2012-12-06 | Yanmar Co Ltd | Rice transplanter |
| CN106870480A (en) * | 2015-12-13 | 2017-06-20 | 田佳聪 | A kind of tractor hydraulic hitch pressurizing control system |
| CN110583130A (en) * | 2019-09-26 | 2019-12-20 | 华中农业大学 | Tractor tilling depth electro-hydraulic control device and method based on angle adjustment |
| CN112352490A (en) * | 2020-10-20 | 2021-02-12 | 山东大学 | Double-cylinder hydraulic lifter for tractor |
| CN112650054A (en) * | 2020-12-31 | 2021-04-13 | 山东大学 | Fuzzy PID control method and system for variable pitch field of tractor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115004893A (en) * | 2022-05-20 | 2022-09-06 | 河南科技大学 | Self-adaptive control system and control method for electric suspension of tractor |
| CN115004893B (en) * | 2022-05-20 | 2024-02-06 | 河南科技大学 | Electric suspension self-adaptive control system and control method for tractor |
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Application publication date: 20210827 |