CN114430950A - Tractor lifter control method and device, storage medium and tractor - Google Patents
Tractor lifter control method and device, storage medium and tractor Download PDFInfo
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- CN114430950A CN114430950A CN202210080714.2A CN202210080714A CN114430950A CN 114430950 A CN114430950 A CN 114430950A CN 202210080714 A CN202210080714 A CN 202210080714A CN 114430950 A CN114430950 A CN 114430950A
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- engine
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- force control
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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
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D2700/00—Mechanical control of speed or power of a single cylinder piston engine
- F02D2700/07—Automatic control systems according to one of the preceding groups in combination with control of the mechanism receiving the engine power
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention relates to the technical field of electric control, and discloses a tractor lifter control method, a tractor lifter control device, a storage medium and a tractor. The method comprises the following steps: acquiring operating parameters of an electronic control engine; determining a load mutation coefficient, a soil hardness change coefficient and an actual engine-torque percentage according to the operating parameters of the electric control engine; determining force control parameters of the lifter according to the load mutation coefficient, the soil hardness change coefficient and the actual engine-torque percentage; and adjusting the rotating speed of the electric control engine or the height of the lifter according to the force control parameters to enable the force control parameters to be within a preset range. The invention does not need to be provided with a force sensor, thereby reducing the product cost and simultaneously reducing the fault points; the invention simplifies the system structure and reduces the cost; not only is suitable for plowing operation, but also improves the adaptability of power output operation working conditions such as rotary tillage and the like.
Description
Technical Field
The invention relates to the technical field of electric control, in particular to a tractor lifter control method, a device storage medium and a tractor.
Background
In the farmland operation of the tractor, the lifter controls the soil penetration depth of the matched machine tool, and the operation quality is greatly influenced. The existing electric control lifter generally has three modes of position control, force control and force-position comprehensive control. The position control is to keep the position of the lifter relative to the whole vehicle in the operation process unchanged, the force control is to keep the traction force in the operation process unchanged, and the force position comprehensive control integrates the force control and the position control, so that the traction force and the position of the lifter are adjusted according to the proportion selected by a user.
In order to realize force control and position control, a position sensor and a tension sensor are generally configured in the existing electric control lifter. The tension sensor is usually in the form of a pin shaft and is arranged at the joint of the lower pull rod and the tractor, and usually, a force sensor is respectively arranged on the left lower pull rod and the right lower pull rod of each trolley, and a technical scheme that a force sensor is arranged on the upper pull rod is also provided.
The prior art scheme needs to be provided with two force sensors usually, so that the product cost is increased, fault points are increased, the scheme of the force sensors is better in applicability to ploughing operation, and poor in adaptability to operation conditions using power output, such as rotary tillage and the like.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a tractor lifter control method and device and a tractor.
In order to solve the above technical problem, an embodiment of the present invention provides a control method for a tractor lifter, including: acquiring operating parameters of an electronic control engine; determining a load mutation coefficient, a soil hardness change coefficient and an actual engine-torque percentage according to the operating parameters of the electronic control engine; determining force control parameters of the lifter according to the load mutation coefficient, the soil hardness change coefficient and the actual engine-torque percentage; and adjusting the rotating speed of the electric control engine or the height of the lifter according to the force control parameter to enable the force control parameter to be in a preset range.
The invention has the beneficial effects that: the method estimates the force control parameter of the lifter by using the running parameter of the electric control engine, and adjusts the rotating speed of the engine or the height of the lifter by using the force control parameter so that the force control parameter of the lifter is in a preset range; the invention does not need to be provided with a force sensor, thereby reducing the product cost and simultaneously reducing the fault points; the invention simplifies the system structure and reduces the cost; the invention is not only suitable for plowing operation, but also improves the adaptability of power output operation working conditions such as rotary tillage and the like.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the operation parameter information of the electronic control engine includes an engine load of a current rotation speed, and the determining a load sudden change coefficient according to the operation parameter of the electronic control engine includes: and when the lifter is in an operating state, carrying out differential operation on the engine load of the current rotating speed, and determining the load sudden change coefficient according to an operation result.
The beneficial effect of adopting above-mentioned further scheme is that, load sudden change coefficient mainly reflects the load sudden change condition in the operation process, controls the lifting mechanism according to the load sudden change condition, can increase the responsiveness of lifting mechanism to the sudden change of load of quick response operation process, for example soil hardens suddenly, or has the condition of foreign matter such as root.
Further, the operation parameter information of the electronic control engine comprises an average load coefficient in a running process, and the determining of the soil hardness change coefficient according to the operation parameter of the electronic control engine comprises: and carrying out differential operation on the average load coefficient in the running process, and determining the soil hardness change coefficient according to the operation result.
The method has the advantages that the soil hardness change coefficient is obtained by differential operation based on the average load coefficient in the running process, the original data of the average load coefficient in the running process is an average value, cannot be suddenly changed, but can reflect the change trend of the operation load, and can reflect the change trend of the soil hardness under the conditions that the height of the lifter is fixed and the operation types are the same; and controlling the lifter according to the soil hardness variation trend, for example, the height of the lifter can be actively increased under the condition that the hardness trend is increased, so that the force control parameter of the lifter is kept within a preset range.
Further, the force control parameter of the lifter is determined according to the load mutation coefficient, the soil hardness change coefficient and the actual engine-torque percentage, and the formula is as follows:
F＝K1*L1+K2*L2+T；
wherein F is a force control parameter, L1 is a load mutation coefficient, L2 is a soil hardness change coefficient, and T is an actual engine-torque percentage; k1 and K2 are proportionality coefficients and are obtained by calibration according to the actual operation condition of the tractor.
The method has the advantages that the actual engine-torque percentage refers to the output torque calculated by the engine, the force control parameters are fused with the actual output torque of the engine, load sudden change and soil hardness change conditions, and the method can be used for dealing with various working conditions in actual operation, mainly the actual output torque and also can adapt to the conditions of load sudden change or inconsistent soil conditions.
Further, the adjusting the rotation speed or the height of the lifter of the electric control engine according to the force control parameter to make the force control parameter in a preset range includes: when the engine speed is less than or equal to the maximum torque speed of the engine and the force control parameter is greater than or equal to the set threshold value, the lifter controls to increase the engine speed through a control command or prompts a user to increase the engine speed.
The method has the advantages that when the engine rotating speed is less than or equal to the maximum torque rotating speed of the engine and the force control parameter is greater than or equal to the set threshold, the engine can improve the output torque of the engine by increasing the engine rotating speed, and at the moment, the force control parameter exceeds the user threshold, the condition that the operation is weak or the engine is shut down may exist, and at the moment, the situation can be improved by increasing the engine rotating speed.
Further, the above technical solution further comprises: and when the rotating speed of the engine is greater than the maximum torque rotating speed of the engine, carrying out closed-loop control on the height of the lifter according to the force control parameter to keep the force control parameter within a preset range.
The method has the advantages that when the force control parameter is larger, the height of the lifter is increased, the depth of the machine tool entering the soil becomes shallow, and therefore the operation load can be reduced; in a similar way, when the force control parameters are smaller, the height of the lifter is reduced, the depth of the machine tool entering the soil can be deepened, so that the work load can be increased, and the relative stability of the force control parameters is ensured.
In order to solve the above technical problem, an embodiment of the present invention further provides a tractor lifter control device, including: the device comprises an operation parameter acquisition module, a force control parameter determination module and an adjustment control module; the operation parameter acquisition module is used for acquiring operation parameters of the electric control engine; a force control parameter determination module for determining a load jump coefficient, a soil hardness change coefficient, and an actual engine-torque percentage based on operating parameters of the engine; determining force control parameters of the lifter according to the load mutation coefficient, the soil hardness change coefficient and the actual engine-torque percentage; and the adjusting control module is used for adjusting and controlling the rotating speed of the electric control engine or the height of the lifter according to the force control parameter so that the force control parameter is in a preset range.
In order to solve the above technical problem, an embodiment of the present invention further provides a computer-readable storage medium, which includes instructions, and when the instructions are executed on a computer, the instructions cause the computer to execute the tractor lifter control method according to the above technical solution.
In order to solve the above technical problem, an embodiment of the present invention further provides a tractor lifter control device, including a memory, a processor, and a computer program stored in the memory and capable of running on the processor, where the processor implements the tractor lifter control method according to the above technical solution when executing the program.
In order to solve the technical problem, an embodiment of the invention further provides a tractor, which comprises an electric control generator and the tractor lifter control device in the technical scheme, wherein the tractor lifter control device acquires the operation parameters of the electric control generator.
Additional aspects of the invention and its advantages will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method for controlling a tractor hoist according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a force control parameter determination process provided by an embodiment of the present invention;
fig. 3 is a block diagram of a tractor hoist control apparatus according to an embodiment of the present invention.
Detailed Description
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
The tractor is a power source and provides power for various machines. Wherein the plowing industry mainly provides power through traction force, and the force sensor scheme can measure the magnitude of the traction force in real time, so the method is suitable for plowing operation. The rotary tillage industry mainly provides power through the rotation of a PTO shaft at the tail of a tractor, the power output by the PTO can cause the rotation speed fluctuation of an engine of the tractor even if the soil quality is uneven, and the power cannot be measured through a force sensor, so that the scheme of the force sensor is not suitable for a rotary tillage operation mode.
The tractor applicable to the embodiment of the invention is provided with the electric control engine, the electric control engine is communicated with the tractor lifter control device through a bus or other modes, and the updating time of data communication is less than 100 ms. The tractor lifter control device receives the operation parameters sent by the electric control engine in real time, processes and calculates the operation parameters, and applies the calculation result to the force control of the lifter. The invention does not need to be provided with a force sensor, thereby reducing the product cost and simultaneously reducing the fault points; the invention simplifies the system structure and reduces the cost; the control method of the tractor lifter provided by the embodiment of the invention is not only suitable for ploughing operation, but also improves the adaptability of power output operation working conditions such as rotary tillage and the like.
Fig. 1 is a flowchart of a control method for a tractor lifter according to an embodiment of the invention. As shown in fig. 1, the method includes:
and S110, acquiring the operating parameters of the electronic control engine.
Specifically, the operating parameters of the electronically controlled engine may include: engine load at the current speed, average load factor during driving, and actual engine-torque percentage.
And S120, determining a load mutation coefficient, a soil hardness change coefficient and an actual engine-torque percentage according to the operation parameters of the electric control engine.
The load sudden change coefficient can be determined according to the engine load of the current rotating speed, and the soil hardness change coefficient can be determined according to the average load coefficient in the running process.
And S130, determining force control parameters of the lifter according to the load mutation coefficient, the soil hardness change coefficient and the actual engine-torque percentage.
And S140, adjusting the rotating speed of the electric control engine or the height of the lifter according to the force control parameter to enable the force control parameter to be within a preset range. The preset range can be set by a user according to the operation requirement.
In the embodiment, the force control parameter of the lifter is estimated by using the running parameter of the electric control engine, and the rotating speed of the engine or the height of the lifter is adjusted by using the force control parameter, so that the force control parameter of the lifter is in a preset range; the invention does not need to be provided with a force sensor, thereby reducing the product cost and simultaneously reducing the fault points; the invention simplifies the system structure and reduces the cost; the power output device is not only suitable for plowing operation, but also improves the adaptability to plowing and other power output operation working conditions.
In one embodiment, the information on the operating parameter of the electronically controlled engine includes an engine load at a current speed, and the determining the load discontinuity factor based on the operating parameter of the electronically controlled engine includes: when the lifter is in an operation state, the engine load of the current rotating speed is subjected to differential operation, the differential result reflects the load sudden change condition in the operation process, and the load sudden change coefficient is represented by L1.
The load sudden change coefficient mainly reflects the load sudden change condition in the operation process, the lifter is controlled according to the load sudden change condition, and the responsiveness of the lifter can be improved, so that the load sudden change in the operation process is quickly responded, for example, soil is suddenly hardened, or the condition that foreign matters such as tree roots exist is met.
In one embodiment, the information on the operating parameters of the electronically controlled engine includes an average load factor during driving, and the determining the soil hardness change factor according to the operating parameters of the electronically controlled engine includes: and carrying out differential operation on the average load coefficient in the running process, and determining the soil hardness change coefficient according to the operation result.
The average load factor during driving is a parameter calculated internally in the engine and is a standard parameter in the SEA J1939 protocol. The difference between the soil hardness change coefficient and the load mutation coefficient is that the soil hardness change coefficient is obtained by carrying out differential operation on the basis of the average load coefficient in the driving process, the original data of the average load coefficient in the driving process is an average value, cannot be mutated, but can reflect the change trend of the operation load, and can reflect the change trend of the soil hardness under the conditions that the height of the lifter is fixed and the operation types are the same; the lifter is controlled according to the soil hardness change trend, and the height of the lifter can be actively improved under the condition that the hardness trend is increased, so that the accuracy of the lifter control is improved.
And resetting the data of the average load coefficient in the running process when the lifter is at the working position, wherein the updated data is the average load coefficient in the working process. The data reflects the average load value in the operation process and is closely related to the height of the lifter, the soil state and the operation type. The "average load factor during travel" is differentiated and the result of this differentiation, which indicates a change in soil hardness in one actual operation, is denoted by L2.
In one embodiment, as shown in FIG. 2, the force control parameters of the hoist are determined based on the load jump factor, the soil hardness change factor, and the actual engine-torque percentage, as follows:
F＝K1*L1+K2*L2+T；
wherein F is a force control parameter, L1 is a load mutation coefficient, L2 is a soil hardness change coefficient, and T is an actual engine-torque percentage; k1 and K2 are proportionality coefficients and are obtained by calibration according to the actual operation condition of the tractor. For example, when the calibration data of a certain type of 140-horsepower four-wheel drive tractor is taken as an example, the operation effect is better when the K1 is calibrated to be 5.2 and the K2 is calibrated to be 23 according to the field actual operation data analysis.
The actual engine-torque percentage refers to the output torque calculated by the engine, and the force control parameters are combined with the actual output torque of the engine, sudden change of load and soil hardness change situation, so that the method can be applied to various working conditions in actual operation, mainly the actual output torque, and can also be applied to the situation of sudden change of load or inconsistent soil situation.
When the engine speed is less than or equal to the maximum torque speed of the engine and the force control parameter is greater than or equal to the set threshold value, the lifter controls to increase the engine speed through a control command or prompts a user to increase the engine speed. In the force control mode, a user can adjust the set threshold of the force control parameter through the control panel, and the maximum value of the set threshold is obtained according to actual operation calibration.
And when the rotating speed of the engine is greater than the maximum torque rotating speed of the engine, carrying out closed-loop control on the height of the lifter according to the force control parameter, and keeping the force control parameter within a preset range. If the force control parameter is larger, the height of the lifter is increased, the soil penetration depth of the machine tool becomes shallow, and thus the work load can be reduced; in a similar way, when the force control parameters are smaller, the height of the lifter is reduced, the depth of the machine tool entering the soil can be deepened, so that the work load can be increased, and the relative stability of the force control parameters is ensured.
The control method of the tractor lifter provided by the embodiment of the invention is described in detail in conjunction with fig. 1 to 2. The following describes in detail a tractor lifter control apparatus according to an embodiment of the present invention with reference to fig. 3.
As shown in fig. 3, a tractor hoist control apparatus 300 according to an embodiment of the present invention includes: an operational parameter acquisition module 310, a force control parameter determination module 320, and an adjustment control module 330.
The operation parameter acquiring module 310 is used for acquiring operation parameters of the electronic control engine; the force control parameter determination module 320 is configured to determine a load jump coefficient, a soil hardness change coefficient, and an actual engine-torque percentage based on the operating parameters of the engine; determining force control parameters of the lifter according to the load mutation coefficient, the soil hardness change coefficient and the actual engine-torque percentage; the adjusting control module 330 is configured to adjust and control the rotation speed of the electronically controlled engine or the height of the lifter according to the force control parameter, so that the force control parameter is within a preset range.
According to the embodiment of the invention, the relevant operation parameters of the electric control engine are processed and calculated, and the calculation result is applied to the force control of the lifter. The invention does not need to be provided with a force sensor, thereby reducing the product cost and simultaneously reducing the fault points; the invention simplifies the system structure and reduces the cost; the adaptation condition of power output operation working conditions such as plowing and the like is improved.
Embodiments of the present invention also provide a computer-readable storage medium, which includes instructions, and when the instructions are executed on a computer, the instructions cause the computer to execute the tractor lifter control method provided in the above embodiments.
The embodiment of the invention also provides a control device of the tractor lifter, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the control method of the tractor lifter provided by the embodiment is realized.
The embodiment of the invention also provides a tractor, which comprises an electric control generator and the tractor lifter control device provided by the embodiment, wherein the tractor lifter control device acquires the operating parameters of the electric control generator; determining a load mutation coefficient, a soil hardness change coefficient and an actual engine-torque percentage according to the operating parameters of the engine; determining force control parameters of the lifter according to the load mutation coefficient, the soil hardness change coefficient and the actual engine-torque percentage; and adjusting and controlling the rotating speed of the electric control engine or the height of the lifter according to the force control parameters to enable the force control parameters to be within a preset range.
In one embodiment, the information on the operating parameter of the electronically controlled engine includes an engine load at a current speed, and the determining the load discontinuity factor based on the operating parameter of the electronically controlled engine includes: and when the lifter is in an operating state, carrying out differential operation on the engine load of the current rotating speed, and determining the load sudden change coefficient according to an operation result.
In one embodiment, the information on the operating parameters of the electronically controlled engine includes an average load factor during driving, and the determining the soil hardness change factor according to the operating parameters of the electronically controlled engine includes: and carrying out differential operation on the average load coefficient in the running process, and determining the soil hardness change coefficient according to the operation result.
In one embodiment, a force control parameter for the hoist is determined based on the load jump factor, the soil hardness change factor, and the actual engine-torque percentage, as follows:
F＝K1*L1+K2*L2+T；
wherein F is a force control parameter, L1 is a load mutation coefficient, L2 is a soil hardness change coefficient, and T is an actual engine-torque percentage; k1 and K2 are proportionality coefficients and are obtained by calibration according to the actual operation condition of the tractor.
In one embodiment, adjusting the rotation speed or the lifter height of the electronically controlled engine according to the force control parameter to make the force control parameter within a preset range comprises: when the engine speed is less than or equal to the maximum torque speed of the engine and the force control parameter is greater than or equal to the set threshold value, the lifter controls to increase the engine speed through a control command or prompts a user to increase the engine speed.
And when the rotating speed of the engine is greater than the maximum torque rotating speed of the engine, carrying out closed-loop control on the height of the lifter according to the force control parameter so as to keep the holding force control parameter within a preset range. If the force control parameter is larger, the height of the lifter is increased, the soil penetration depth of the machine tool becomes shallow, and thus the work load can be reduced; in a similar way, when the force control parameters are smaller, the height of the lifter is reduced, the soil penetration depth of the machine tool becomes deeper, and thus the work load can be increased, so that the relative stability of the force control parameters is ensured.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention essentially or partially contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A method of controlling a tractor lifter, comprising:
acquiring operating parameters of an electronic control engine;
determining a load mutation coefficient, a soil hardness change coefficient and an actual engine-torque percentage according to the operating parameters of the electronic control engine;
determining force control parameters of the lifter according to the load mutation coefficient, the soil hardness change coefficient and the actual engine-torque percentage;
and adjusting the rotating speed of the electric control engine or the height of the lifter according to the force control parameter to enable the force control parameter to be in a preset range.
2. The method of claim 1, wherein the operating parameter information of the electronically controlled engine includes an engine load at a current speed, and wherein determining a load ramp factor based on the operating parameter of the electronically controlled engine comprises: and when the lifter is in an operating state, carrying out differential operation on the engine load of the current rotating speed, and determining the load sudden change coefficient according to an operation result.
3. The method of claim 1, wherein the information on the operating parameters of the electronically controlled engine includes an average load factor during driving, and wherein determining a soil hardness change factor based on the operating parameters of the electronically controlled engine comprises: and carrying out differential operation on the average load coefficient in the running process, and determining the soil hardness change coefficient according to the operation result.
4. A method according to any one of claims 1 to 3, wherein said determining force control parameters for the lifter from said load jump factor, soil hardness change factor and actual engine-torque percentage is performed as follows:
F＝K1*L1+K2*L2+T；
wherein F is a force control parameter, L1 is a load mutation coefficient, L2 is a soil hardness change coefficient, and T is an actual engine-torque percentage; k1 and K2 are proportionality coefficients and are obtained by calibration according to the actual operation condition of the tractor.
5. The method of claim 4, wherein said adjusting an electronically controlled engine speed or a lifter height according to the force control parameter to within a preset range comprises:
when the engine speed is less than or equal to the maximum torque speed of the engine and the force control parameter is greater than or equal to the set threshold value, the lifter controls to increase the engine speed through a control command or prompts a user to increase the engine speed.
6. The method of claim 5, further comprising: and when the rotating speed of the engine is greater than the maximum torque rotating speed of the engine, carrying out closed-loop control on the height of the lifter according to the force control parameter so as to keep the force control parameter within a preset range.
7. A tractor hoist control device, comprising:
the operation parameter acquisition module is used for acquiring operation parameters of the electric control engine;
a force control parameter determination module for determining a load jump coefficient, a soil hardness change coefficient, and an actual engine-torque percentage based on operating parameters of the engine; determining force control parameters of the lifter according to the load mutation coefficient, the soil hardness change coefficient and the actual engine-torque percentage;
and the adjusting control module is used for adjusting and controlling the rotating speed of the electric control engine or the height of the lifter according to the force control parameter so that the force control parameter is in a preset range.
8. A computer readable storage medium comprising instructions which, when run on a computer, cause the computer to perform a tractor hoist control method according to any one of claims 1 to 6.
9. A tractor hoist control apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterised in that the processor when executing the program implements a tractor hoist control method as claimed in any one of claims 1 to 6.
10. A tractor comprising an electronically controlled generator and a tractor hoist control device as claimed in claim 9, the tractor hoist control device acquiring operating parameters of the electronically controlled generator.
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| CN202210080714.2A CN114430950B (en) | 2022-01-24 | 2022-01-24 | Tractor lifter control method and device, storage medium and tractor |
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| CN202210080714.2A CN114430950B (en) | 2022-01-24 | 2022-01-24 | Tractor lifter control method and device, storage medium and tractor |
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Citations (7)
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| JPH11332309A (en) * | 1998-05-25 | 1999-12-07 | Iseki & Co Ltd | Load controller of tractor |
| JP2012050354A (en) * | 2010-08-31 | 2012-03-15 | Iseki & Co Ltd | Working vehicle |
| CN103048148A (en) * | 2013-01-18 | 2013-04-17 | 中国农业大学 | Semi-physical simulation test platform of high-power tractor electro-hydraulic suspension system |
| CN106717212A (en) * | 2016-11-27 | 2017-05-31 | 雷沃重工股份有限公司 | Tractor equipment management control method |
| CN111452800A (en) * | 2020-03-06 | 2020-07-28 | 武汉理工大学 | Parameter output method and device of amphibious vehicle and storage medium |
| CN112814069A (en) * | 2020-12-30 | 2021-05-18 | 天津工程机械研究院有限公司 | Wheel loader and control method |
| CN112956289A (en) * | 2021-02-02 | 2021-06-15 | 安徽农业大学 | Tractor power distribution device and method based on soil roughness |
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2022
- 2022-01-24 CN CN202210080714.2A patent/CN114430950B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11332309A (en) * | 1998-05-25 | 1999-12-07 | Iseki & Co Ltd | Load controller of tractor |
| JP2012050354A (en) * | 2010-08-31 | 2012-03-15 | Iseki & Co Ltd | Working vehicle |
| CN103048148A (en) * | 2013-01-18 | 2013-04-17 | 中国农业大学 | Semi-physical simulation test platform of high-power tractor electro-hydraulic suspension system |
| CN106717212A (en) * | 2016-11-27 | 2017-05-31 | 雷沃重工股份有限公司 | Tractor equipment management control method |
| CN111452800A (en) * | 2020-03-06 | 2020-07-28 | 武汉理工大学 | Parameter output method and device of amphibious vehicle and storage medium |
| CN112814069A (en) * | 2020-12-30 | 2021-05-18 | 天津工程机械研究院有限公司 | Wheel loader and control method |
| CN112956289A (en) * | 2021-02-02 | 2021-06-15 | 安徽农业大学 | Tractor power distribution device and method based on soil roughness |
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| CN114430950B (en) | 2022-12-27 |
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