CN1145159A

CN1145159A - Speed control device of harvester

Info

Publication number: CN1145159A
Application number: CN96105102A
Authority: CN
Inventors: 仲岛铁弥
Original assignee: Kubota Corp
Current assignee: Kubota Corp
Priority date: 1995-09-07
Filing date: 1996-04-18
Publication date: 1997-03-19
Anticipated expiration: 2016-04-18
Also published as: CN1063009C; KR970014541A; JPH0974876A; KR0175160B1

Abstract

A speed-controlling apparatus for reaping machine is provided with a speed-change calculation means 102 to obtain the speed change by subtracting the present rotational speed of an engine from the rotational speed before a unit time, a deviation calculation means 103 to obtain a deviation by subtracting the rotational speed of the engine from a preset rotational speed and a speed- reduction controlling means 101 to reduce the speed of an electric motor for changing the speed of a traveling speed changer. When the change is large, the machine is deemed to be in an overloaded state, independently of the positive or negative deviation, and a larger speed reduction ratio is set according to larger speed change ratio and larger deviation in the overloaded state to reduce the speed of the working machine.

Description

The speed controller of harvesting machine

The present invention relates to a kind of speed controller of harvesting machine, this harvesting machine have to the speed change gear of the usefulness of advancing carry out variable speed operation variable-speed motor, detect the rotary speed tester structure of engine speed and detect the job state testing agency that whether is in the harvesting job state.

As everyone knows, when operation is gathered in common field, crops, shown in Fig. 3 a, both end sides at the length direction in farmland is gathered in operation in advance, so that in length direction both side ends (the upper and lower end parts A of Fig. 3 a, A) space that harvesting machine is turned is set.And for example shown in Fig. 3 b, harvesting operation (the path 1a that is equivalent to Fig. 3 b) above grain header finishes left end afterwards, then be for carry out right-hand end downwards harvesting operation (the path 2a that is equivalent to Fig. 3 b) and make body move (the path 1b that is equivalent to Fig. 3 b, 1c, 1d).Then, when finishing the harvesting operation of path 2a part, make the left of body in figure move (being equivalent to

path

2b, 2c, 2d), then, carry out the harvesting operation of path 3a.After, repeating this step, carry out the harvesting operation in whole farmland, this is well-known method.After the harvesting that is comprising left end in this harvesting machine moves finishes, be equivalent to the body path 1b that turns of 90 degree to the right; Path 1c after 90 degree are turned, that be equivalent to directly advance part; After directly advance finishing, be equivalent to the path 1d of 90 degree turnings to the right.In common harvesting operation process, on above-mentioned turn fractions to the right, the resistance maximum that is subjected to of workover rig, that is, can be contemplated to the decline maximum of engine speed when turning.Like this, when gathering in operation in common field, crops, the variation of the engine speed of workover rig will be shown in Fig. 4 a or Fig. 4 b.As by these figure also clear find out can be contemplated to like that, when carrying out common harvesting operation, when body is made 90 degree and turned, engine speed reduces maximum, to be equivalent on the 1c path shown in Fig. 3 b in the moving process rotating speed of engine the highest when body.Certainly, because field, crops pavement behavior difference also has the occasion of the unforeseeable surface resistance of many appearance, this point is that those skilled in the art can fine understanding.

Like this, be to adopt such structure before in the speed controller of above-mentioned harvesting machine, promptly, detect from harvesting after job state is transformed into non-harvesting job state in above-mentioned job state testing agency, detection information according to the rotary speed tester structure, drop to lower than predefined setting value (engine speed is also low when having set for than the harvesting operation usually) in current engine speed, and engine speed does not have the trend of increase, promptly, detecting when being in the state that load do not alleviate, with current engine speed with set the deviation of rotating speed, promptly use the proportional amount of deceleration of slippage with engine speed to make executing agency carry out speed-down action from the setting value beginning.Workover rig with this structure, after the harvesting end of job of operation stroke (the path 1a that is equivalent to Fig. 3 b), when next operation stroke (the path 2a that is equivalent to Fig. 3 b) is advanced and body is turned, avoid along with turn (the path 1b, the path 1d that are equivalent to Fig. 3 b) makes the load increase of advancing as far as possible, thereby make unfavoured states such as engine stops.

But,, thereby following shortcoming is arranged because above-mentioned existing structure is to drop to than setting the rotating speed control of just slowing down after low detecting current engine speed.

Promptly, the engine speed of harvesting during the end of job than the high state of above-mentioned setting rotating speed under, for example, even along with the turning of body makes engine speed sharply reduce under the occasion, be reduced to than before setting the low rotating speed of rotating speed the control of not slowing down in engine speed.Like this, be increased to gait of march from the load of advancing and time delay taken place between reducing speed now, the load of no matter advancing in the meantime is much, does not carry out deceleration-operation.

Its result, because the increase of advancing and loading for reality, the carrying out of the speed-down action of body gait of march postponed, thereby following shortcoming is arranged: the slippage of the engine speed that is caused by the load increase might become unnecessarily excessive, it is big that the deceleration-operation amount also becomes thereupon, because rapid deceleration can make the operator that unhappy sensation is arranged, when the load of advancing is big, engine is stopped or the like.

The present invention makes in order to overcome above-mentioned shortcoming, its objective is the speed controller that a kind of harvesting machine is provided, it can with the body of advancing advance load condition accordingly, gait of march is slowed down with suitable timing and suitable amount of deceleration.

The speed controller of the harvesting machine of the present invention with first kind of technical scheme of making in order to achieve the above object deducts the variable quantity of the value before the unit interval with what variable quantity calculated that mechanism obtains the engine speed that detected by the rotary speed tester structure from currency.Calculate mechanism with deviation then and obtain the deviation that deducts predefined setting rotating speed from the engine speed of above-mentioned rotary speed tester structure detection.

Then, the deceleration controlling organization is according to being calculated above-mentioned variable quantity that mechanism obtains by above-mentioned variable quantity and calculating the above-mentioned deviation that mechanism obtains by above-mentioned deviation, no matter above-mentioned deviation is in arbitrary scope of plus or minus, when above-mentioned variable quantity is negative value as overload state, under this overload state, the absolute value of above-mentioned variable quantity is big more, sets above-mentioned amount of deceleration greatly more.

Like this, when the variable quantity of the value of engine speed before currency deducts the unit interval is big, in other words, when the slippage of the time per unit of engine speed is big, no matter what kind of value is above-mentioned deviation be, because be to be in the state that engine speed is reduced by the load of advancing jumpy, so as overload state, under this state, the absolute value of variable quantity is big more, that is, strong by the engine speed reduction Shaoxing opera that the load of advancing causes, set amount of deceleration greatly more.

Its result, no matter whether engine speed is also lower than setting rotating speed as being reduced to preceding example, under the big overload state of the variable quantity of negative value, variable quantity is big more, amount of deceleration is set greatly more, owing to be gait of march to be slowed down, thereby be under the little state of the delay of response that the load of advancing is increased, to slow down with this amount of deceleration.

In the present invention with other architectural features, above-mentioned deceleration controlling organization be made into when above-mentioned variable quantity be negative value and its value when being certain value, above-mentioned engine speed is low more, set amount of deceleration big more.Thereby, being negative value and being under the occasion of certain value that at variable quantity engine speed is low more, the engine load that is judged to be broken into harvesting machine is big more, carries out the deceleration of the gait of march of workover rig effectively.

In the present invention with other architectural features, though above-mentioned deceleration controlling organization be made into above-mentioned variable quantity be on the occasion of, that is, increase trend even engine speed has, when above-mentioned engine speed is lower than setting, the setting amount of deceleration.Use this structure,, under the engine speed of the harvesting machine state lower, that is, under the also sizable state of the engine load of harvesting machine, just the body gait of march is slowed down than setting even engine speed has the trend of increase.Thereby the engine load of the body of advancing is promptly alleviated, can gather in operation more smoothly and body is advanced.

In the present invention with other architectural features, above-mentioned deceleration controlling organization is made into above-mentioned variable quantity and deviation and remembers in advance in above-mentioned deceleration controlling organization through the amount of deceleration of fuzzy algorithmic approach inference, obtains amount of deceleration according to this memory value.Use this structure, corresponding with various travel condition, compare according to the value of experimental result instrumentation with the structure that graph data is set, can not consider can easily set more suitably value by situations such as departing from of causing of individual difference.

In the present invention with other architectural features, during the harvesting job state detects in above-mentioned operation testing agency, in order to dwindle, make above-mentioned gear to speedup one side or the side of slowing down action by the engine speed of above-mentioned rotary speed tester structure detection and the deviation between the predefined rotating speed of target; Above-mentioned deceleration controlling organization is made into the rotating speed of only high than above-mentioned rotating speed of target set amount as above-mentioned setting rotating speed.

In the harvesting operation, engine speed is controlled, so that it maintains on the rotating speed of target.That is, the speed of a motor vehicle is controlled, so that handle maintains on the suitable value with the engine load of the working load that gathers in corresponding generations such as operation with the load addition of advancing.And, after job state becomes non-harvesting job state from harvesting, the rotating speed of only high than rotating speed of target set amount is set as above-mentioned setting rotating speed, set rotating speed control of slowing down according to this.

Also be, because after becoming non-job state, there has not been load at once with harvesting operation generation, therefore engine load is little, thereby the setting speed setting of differentiating engine load state benchmark become only to exceed to be equivalent to the rotating speed of the load that produces with the harvesting operation, just may more correctly differentiate the load condition of engine in when not operation, turning thus.

Fig. 1 is the unitary side view of expression combine,

Fig. 2 is expression control structure figure,

Fig. 3 a represents that the cropland as the preparatory stage of carrying out the harvesting operation prepares the schematic diagram of harvesting state,

Fig. 3 b is the path schematic diagram that gathers in operation the cropland,

Fig. 4 a shows the figure that concerns between engine speed and the job state with the time coordinates table,

Fig. 4 b shows the figure that concerns between engine speed and the job state with the time coordinates table,

Fig. 5 is the member function of expression about deviation,

Fig. 6 is the member function of expression about variable quantity,

Fig. 7 is the member function of expression about amount of deceleration,

Fig. 8 is the control law in the expression fuzzy algorithmic approach inference,

Fig. 9 is the flow chart about the control of slowing down.

Below, with reference to the description of drawings embodiments of the invention.

Explanation is as the combine of harvesting machine of the present invention earlier.

As shown in Figure 1, combine be equipped with pair of right and left cover the band moving device 1 car body V on install sheller unit 2, be provided with in the front portion of this car body V and taking advantage of a manoeuvre portion 4, this take advantage of a manoeuvre portion 4 horizontal side the place ahead, can harvesting pre-treatment portion 3 be set free lifting drivingly.The cutter 6 that above-mentioned harvesting pre-treatment portion 3 is respectively equipped with raising apparatus 5 that the grain stalk in field is propped up, cut off the root of the grain stalk of propping up, with the grain stalk of the harvesting in addition conveying plant 7 carried towards the threshing feeding chain 8 of car body rear side simultaneously of posture changing of posture that becomes laterally to fall down.

And be provided with at the side place, conveying top of above-mentioned conveying plant 7 to contact and just make it connect the root sensor SO of ground action with the root of the grain stalk that is transferred.In more detail, beginning along with the harvesting operation, with above-mentioned cutter 6 grain stalk that root cuts off is contacted with root sensor S0, just make root sensor S0 ON Action, and along with the end of harvesting operation, from the supply of thing stem stalk be stopped the back, root sensor S0 just is cut off action.That is, this root sensor S0 is equivalent to detect the job state testing agency whether combine is in the harvesting job state.

As shown in Figure 2, the power of engine E is delivered to oil pressure endless gearing device 9 by belt gear (needn't be defined in oil pressure endless gearing device, for example also can be belt-drive variable-speed transmission), cover band moving device 1 about passing to after by the output after its curved speed by the gearbox 10 of advancing.On the other hand, constituted power-transmission system, the power of engine E can freely be disconnected by threshing clutch 11 or passed to sheller unit 2 with connecting.

Below, with reference to Fig. 2, the formation of speed of a motor vehicle variable speed operation is described.Electro-motor 14 as the executing agency of the above-mentioned speed change gear 9 of variable speed operation is being connected by the bindiny mechanism 12 of friction-type transmission mechanism 15 with gear-change hand lever 13 and above-mentioned speed change gear 9.That is, can carry out variable speed operation with in gear-change hand lever 13 and the electro-motor 14 any one, its form is to make to utilize manual variable speed operation to have precedence over the variable speed operation that utilizes electro-motor 14.

In addition, speed probe S1 is being set on engine E, it is as the rotary speed tester structure that detects engine speed (RPM); Also be provided with in the course of action of transmission system of advancing, detecting the vehicle speed sensor S2 of the speed of a motor vehicle of advancing of workover rig according to the rotating speed of power transmission shaft.

Below, the control structure of combine is described.As shown in Figure 2, be provided with and utilizing control of microcomputer device 16, the signal of root sensor S0, speed probe S1, vehicle speed sensor S2 output is being input in this control device 16, simultaneously from control device 16 to above-mentioned electro-motor 14 output drive signals.

And above-mentioned control device 16 also is provided with speed of a motor vehicle controlling organization 100.This speed of a motor vehicle controlling organization 100 is during above-mentioned root sensor S0 detects harvesting job state (on-state), make above-mentioned electro-motor 14 towards speedup one side or the side of slowing down action, so that dwindle engine speed and the predefined the 1st deviation of setting between the rotating speed (perhaps gathering in rotating speed) that above-mentioned speed probe S1 detects.Above-mentioned control device 16 is respectively equipped with that deceleration controlling organization 101, variable quantity are calculated mechanism 102, deviation is calculated mechanism 103; Above-mentioned deceleration controlling organization 101 correspondingly makes electro-motor 14 speed-down action along with above-mentioned root sensor S0 detects from harvesting job state (on-state) to the variation of non-harvesting job state (dissengaged positions); Above-mentioned variable quantity is calculated currency that mechanism 102 obtains the engine speed that detects from above-mentioned speed probe S1 and is deducted variable quantity in unit interval (Δ t) value before; Deviation is calculated mechanism 103 and is then obtained the engine speed that detects from above-mentioned speed probe S1 and deduct the deviation of not deciding the reference rotation speed of rotating speed (rotating speed of perhaps advancing) as the predefined the 2nd.

And, deceleration controlling organization 101 is made into only exceeding a set amount than above-mentioned the 1st setting rotating speed (harvesting rotating speed), promptly only exceed the rotating speed that is equivalent to the rotating speed reduction amount that produces of harvesting operation, set rotating speed (walking rotating speed) as the above-mentioned the 2nd and set.

Wherein, the 2nd setting rotating speed promptly is that it is at random set in the engine speed of not implementing to gather under the job state, when workover rig is advanced in the cropland.And so-called the 1st setting rotating speed is the engine speed of expecting when gathering in operation usually.Therefore, the above-mentioned the 1st set rotating speed and the 2nd difference of setting rotating speed and be equivalent to the engine speed reduction amount that causes by common harvesting operation.Relation between them is clear and definite by some following formulas.

The load of the advancing+harvesting working load of the load=body of body when the harvesting operation

The 1st engine speed when setting the harvesting operation of rotating speed=common

The engine speed reduction amount that rotating speed+harvesting working load forms is set in engine speed=1st when the 2nd setting rotating speed=workover rig is advanced

Zero load rotating speed=2nd is set rotating speed+by the harvesting machine engine speed reduction amount that load forms of advancing

Deviation=current engine speed-the 2nd is set rotating speed

Below, the relation between engine speed and flow chart is described.In Fig. 4 a, expression is as the typical example of the engine speed on the said path that the operation body moves when gathering in operation of Fig. 3 b, and (path wherein is respectively 1a, 1b, 1c, 1d, 2a ...).That is, on common harvesting operation path 1a, speed of a motor vehicle controlling organization 100 actions described later make engine near rotating speed of target (perhaps the 1st setting rotating speed).Then, after the harvesting operation of path 1a has just finished, carry out 90 degree suitable and turn with path 1b.At this moment, though workover rig finishes the harvesting operation, the resistance between the tire of workover rig and cropland road surface becomes maximum, and engine load is increased.Its result can be contemplated to, and promptly on the path 1b suitable with 90 degree turnings, makes engine speed be reduced to minimum.Then, after finishing 90 turnings, owing to be to be traveling on the cropland road surface of the straight line portion that is equivalent to path 1c, thereby the load of workover rig is reduced, under this state, engine speed becomes the highest.Finish after path 1c moves at workover rig in this wise, just advance along the path 1d that move to 90 degree turnings before the next harvesting path 2a.When the operation body when this path 1d turns the same load of path 1b because engine is subjected to and turns, thereby engine speed is lowered into the degree same with path 1b.Behind the mobile end of path 1d, workover rig just carries out the harvesting operation along path 2a.Like this, just shown in Fig. 3 b, carry out the cycle of path 1a-1d, and carry out repeatedly path 2a-2d, such cycle of path 3a-3d, will gather in operation the cropland successively and go on.

With the upset condition of these paths 2a-2d, the corresponding engine speed of 3a-3d be same with the engine speed change suitable shown in Fig. 4 a in fact with path 1a-1d.

Above-mentioned speed of a motor vehicle controlling organization 100 reads in the engine speed under the preceding no load condition of harvesting operation, the rotating speed that begins the corresponding slippage of the only low load that produces with common operation (promptly advance load and harvesting working load) from this zero load rotating speed is set rotating speed as the above-mentioned the 1st preestablish.Then in the harvesting operation, for the engine speed and the above-mentioned the 1st of dwindling speed probe S1 detection is set the poor of rotating speed (harvesting rotating speed), make above-mentioned electro-motor 14 to speedup one side or the side of slowing down action, go to control the speed of a motor vehicle, so that the load of engine E often is in proper states.

And above-mentioned deceleration controlling organization 101 is made into such, promptly, according to calculating variable quantity that mechanism 102 obtains by above-mentioned variable quantity and calculating the deviation that mechanism 103 obtains by above-mentioned deviation, no matter above-mentioned deviation is how to be worth, when above-mentioned variable quantity is negative value as overload state, the absolute value of above-mentioned variable quantity is big more, finishes above-mentioned amount of deceleration setting big more.

Above-mentioned deceleration controlling organization 101 also is made into such,, sets value (deviation) that rotating speed (rotating speed when advancing) deducts current engine speed when being negative value from the above-mentioned the 2nd that is, and its absolute value is big more, has established above-mentioned amount of deceleration greatly more.

When above-mentioned deceleration controlling organization 101 is set amount of deceleration as described above, remember with above-mentioned deviation and variable quantity in advance, pass through fuzzy algorithmic approach inference amount of deceleration, obtain amount of deceleration according to this recall info.

Below, the setting of the amount of deceleration of being determined by the fuzzy algorithmic approach inference is described.That is, above-mentioned amount of deceleration is according to Fig. 5～member function shown in Figure 7 and control law shown in Figure 8, calculates with the fuzzy algorithmic approach inference.

Fig. 5 represents the member function of above-mentioned deviation, and Fig. 6 represents the member function of above-mentioned variable quantity, and Fig. 7 is illustrated in the member function that is used as the amount of deceleration of weight coefficient when calculating amount of deceleration.Control law is deviation and variable quantity two fuzzy variables as preceding incident portion, and amount of deceleration is put down in writing as back incident portion.And be in the grade of fit to above-mentioned each member function (Fig. 5, Fig. 6) to the grade of fit of the control law of deviation and variable quantity, numerical value is less gets into grade of fit.According to the grade of fit of obtaining like this, (Fig. 7) obtains amount of deceleration by member function again.

Can be known by Fig. 5～Fig. 8 and to find out no matter above-mentioned deviation is in positive and negative any one scope, when above-mentioned variable quantity is negative value, all thinks overload state, its absolute value is big more, and the absolute value of deviation is big more, and amount of deceleration just is set greatly more.In addition, above-mentioned deviation is more little, and above-mentioned variable quantity is a negative value, along with this variable quantity absolute value increases, just becomes overload state; Even under the little occasion of deviation, variable quantity is a negative value,, also set amount of deceleration as overload state if its absolute value is big.

And when the value of above-mentioned variable quantity is equivalent to PB shown in Figure 8, deviation is a negative value, when its absolute value is big value NB, is to be set to NS on the occasion of irrelevant, speed change amount with variable quantity.This phenomenon is equivalent to the Pa point of Fig. 4 a, promptly has been equivalent to roughly finish that moment that 90 degree after operation of harvesting operation finishes are turned.That is, be equivalent to cross the transitional period that the highest engine load, body are advanced gradually smoothly.Because the load of body is descended by time per unit (Δ t), thereby engine speed is increased, but since engine speed to compare with the rotating speed of setting be low-down, thereby the amount of deceleration of deceleration controlling organization 101 is set for little value.

By setting in this wise, even finishing operation of harvesting operation, and make body finish to turn behind 90 degree, during low of short duration of engine speed, the gait of march of operation body still is manipulated into deceleration.

In addition, in this embodiment, little and to change be negative value, its absolute value little (NS that is equivalent to Fig. 8) in deviation; Perhaps be 0 (ZE that is equivalent to Fig. 8); Or under the big occasion of (PB that is equivalent to Fig. 8), its absolute value, amount of deceleration just is set to the state of zero (state shown in the ZE of Fig. 8),, is set as the state that does not carry out slowing down that is.

Below, the flow chart that slows down and control is described.Control flow chart with reference to shown in Figure 9 illustrates the deceleration control action that is formed by deceleration controlling organization 101.This control is to carry out repeatedly in each setting unit interval Δ t second (for example, several milliseconds～a few tens of milliseconds).

Converted disconnections (OFF) state to from connecting (ON) state, detected when the harvesting job state becomes non-harvesting job state as root sensor S0 before this, being equivalent to be set (step 1,2) as reference rotation speed (being equivalent to the 2nd setting rotating speed or the rotating speed of advancing) because of the rotating speed that gathers in the rotating speed amount that operation descends than only high one of above-mentioned rotating speed of target (be equivalent to the above-mentioned the 1st and set rotating speed or harvesting rotating speed).

Then, read in (detected value (engine speed) of step 3) speed probe S1 and the detected value (current vehicle speed) of vehicle speed sensor S2, deduct the engine speed of reading in last time from the engine speed of reading in specifically, calculate the variable quantity (step 4) of engine speed.

And for example the above ground, deduct predefined reference rotation speed from the engine speed of reading in specifically, calculate deviation (step 5).

Then, as described above, according to the fuzzy algorithmic approach inference, (step 6) only reduces the amount of deceleration of being obtained in order to make the speed of a motor vehicle from the current speed of a motor vehicle, makes electro-motor 14 make speed-down action (step 7) to obtain amount of deceleration by the control information of memory in advance.

Like this, just can reason such as advance when advancing load is increased in transformation, under the least possible state of time delay, with only carrying out speed-down action with the corresponding suitable amount of deceleration of load condition, just can avoid slowing down to not feeling soon that the operator brings, prevent degradation shortcoming under the operating efficiency because of the necessary speed of a motor vehicle that surpasses that delay of response causes.

Below, other embodiment of the present invention are described.

(1) the foregoing description is that the deceleration controlling organization is made more little, the above-mentioned variable quantity of above-mentioned deviation is that negative value and its absolute value are decided to be overload state when big more; Little for deviation, and the little occasion of the absolute value of variable quantity, be expressed as and set the occasion that amount of deceleration is zero, does not promptly carry out speed-down action for.Even but under the little occasion of the absolute value that also can make and variable quantity little, carry out speed-down action with less amount of deceleration in deviation, to replace said structure.

(2) also can replace according to above-mentioned deviation and variable quantity, setting the structure of above-mentioned amount of deceleration with the fuzzy algorithmic approach inference, for example according to experimental result, is parameter with deviation and variable quantity, after obtaining suitable amount of deceleration, with this experimental result as structure with graph data memory.

(3) replace above-mentioned handle than with respect to the used the 1st setting rotating speed that rotating speed (harvesting rotating speed) only exceeds set amount in the speed of a motor vehicle controlling organization, can make and set rotating speed to the above-mentioned the 1st intactly as the structure of the 2nd setting rotating speed (rotating speed of advancing) as the above-mentioned the 2nd structure of setting rotating speed (rotating speed of advancing).When adopting this structure, the heart is not set reference rotation speed, the control of just promptly slowing down at every turn when the harvesting job state becomes non-harvesting job state.

And for example shown in Fig. 4 b, also can set rotating speed to zero load rotating speed as the 2nd.Under this occasion, because the deviation of the engine speed on whole points of the non-harvesting operation (being equivalent to path 1b-1d) of body all becomes negative value, thereby the absolute value of this deviation is big more, and expression engine speed number is low more.

(4) also can replace above-mentioned root sensor S0, harvesting pre-treatment portion be detected risen to the above limit switch of set amount as above-mentioned job state testing agency.

That is,, make harvesting pre-treatment portion rise to maximum position owing to after the harvesting end of job of operation stroke, turn when advancing, thereby can be according to the beginning of the non-harvesting job state of this operation detection that rises.

(5) can replace oil pressure endless gearing device, various speed change gears such as belt-drive variable-speed transmission or friction-type stepless speed change device are used as above-mentioned speed change gear.

(6) can replace electro-motor, other executing agencies such as oil hydraulic cylinder are used as above-mentioned executing agency.

(7) be that the example of combine as harvesting machine illustrated above, but the present invention also may be applicable to the speed of a motor vehicle control as the rice transplanter of working in paddy field.This speed of a motor vehicle control is not only applicable to the paddy-field-working on the level land, also may be applicable on all the agricultural operation machines on the field that is arranged on the hillside.

Make the rotating speed descending manner when (8) this engine adds load.

In claims, in order easily to contrast with accompanying drawing and to have put down in writing symbol, but the present invention is not confined to the structure of accompanying drawing because of these records.

Claims

1, a kind of speed controller of harvesting machine, this harvesting machine is provided with: the rotary speed tester structure (S1) that detects engine speed; Detect the speed of a motor vehicle testing agency (S2) of the gait of march of above-mentioned harvesting machine body; Detect the job state testing agency (S0) whether workover rig is in the harvesting state; The advance speed change gear (9) of usefulness of body; Make the gear (13,14) of above-mentioned speed change gear (9) speed change; Above-mentioned speed controller contains:

Variable quantity is calculated mechanism (102), and it deducts the engine speed of Δ t before second by the current engine speed that detects from above-mentioned rotary speed tester structure (S1) and calculates the engine speed variable quantity;

Deviation is calculated mechanism (103), and it calculates deviation by the setting rotating speed that the current engine speed that detects from above-mentioned rotary speed tester structure (S1) deducts predefined above-mentioned engine;

For the speed of a motor vehicle that makes above-mentioned workover rig is slowed down amount of deceleration indicated speed of a motor vehicle deceleration controlling organization (101) to above-mentioned speed change gear (9), it is characterized in that: no matter above-mentioned deceleration controlling organization (101) just is or negative, above-mentioned rotation speed change amount is when being negative value in the value of above-mentioned deviation, and amount of deceleration is indicated to above-mentioned speed change gear; Above-mentioned deceleration controlling organization (101) is when above-mentioned variable quantity is negative value, and its absolute value is big more, sets above-mentioned amount of deceleration big more.

2, speed controller as claimed in claim 1 is characterized in that: above-mentioned setting rotating speed is configured to the rotating speed of above-mentioned engine when zero load.

3, speed controller as claimed in claim 2 is characterized in that: it is big more that above-mentioned deceleration controlling organization (101) is at above-mentioned variable quantity that negative value and its value are got into the upper and lower absolute value of stating deviation of certain occasion, sets amount of deceleration greatly more.

4, speed controller as claimed in claim 1 is characterized in that: above-mentioned deceleration controlling organization (101) is that negative value and its value are that above-mentioned engine speed is low more, sets amount of deceleration greatly more under certain occasion in above-mentioned rotation speed change amount.

5, speed controller as claimed in claim 2 is characterized in that: above-mentioned deceleration controlling organization (101) is even set amount of deceleration in above-mentioned rotation speed change amount when, above-mentioned engine speed is also lower than the lower limit rotating speed that may set.

6, speed controller as claimed in claim 2 is characterized in that: above-mentioned deceleration controlling organization (101) the rotation speed change amount be on the occasion of occasion under, amount of deceleration is set at zero.

7, speed controller as claimed in claim 1 is characterized in that: above-mentioned setting rotating speed is configured to the engine mean speed of above-mentioned workover rig when gathering in operation by above-mentioned rotary speed tester structure detection.

8, speed controller as claimed in claim 1 is characterized in that; Above-mentioned deceleration controlling organization (101) is made with above-mentioned variable quantity and above-mentioned deviation, the amount of deceleration of process fuzzy algorithmic approach inference is remembered in advance on above-mentioned deceleration controlling organization, obtains amount of deceleration according to this memory value.

9, speed controller as claimed in claim 1, it is characterized in that: be provided with during above-mentioned harvesting job state testing agency (S0) detects the harvesting job state, in order to dwindle, make the speed of a motor vehicle controlling organization (100) of above-mentioned gear (14,15) to speedup one side or the side of slowing down action by the difference between detected engine speed of above-mentioned rotary speed tester structure (S1) and the predefined harvesting operation rotating speed; Above-mentioned deceleration controlling organization (101) be made into than the high set amount rotating speed of above-mentioned harvesting operation rotating speed as above-mentioned setting rotating speed.

10, speed controller as claimed in claim 9 is characterized in that: above-mentioned set amount equals in fact that above-mentioned harvesting machine gathers in operation and that part of engine speed that reduces.