CN115633554A - Suspension control system and tilling depth control method for electric tractor - Google Patents
Suspension control system and tilling depth control method for electric tractor Download PDFInfo
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- CN115633554A CN115633554A CN202211315695.3A CN202211315695A CN115633554A CN 115633554 A CN115633554 A CN 115633554A CN 202211315695 A CN202211315695 A CN 202211315695A CN 115633554 A CN115633554 A CN 115633554A
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Abstract
The invention relates to a suspension control system and a tilling depth control method of an electric tractor.A suspension mechanism is driven by an independent lifting motor, and a lifting motor driver is directly connected with a lifting motor; the tilling depth controller receives the tilling depth signal and the resistance signal, judges the current tilling condition and outputs a signal to the lifting motor driver to drive the lifting motor to drive the suspension system to adjust the tilling depth; in the invention, a force position comprehensive adjusting method with variable weight coefficients is adopted, the weight coefficients are adjusted according to tillage resistance in the working process, and the load fluctuation of an engine is effectively reduced while the consistency of tillage depth is ensured; the whole electric suspension system has the advantages of simple and compact structure, low energy consumption and good adaptability to working environment.
Description
Technical Field
The invention relates to the technical field of tractors, in particular to a suspension control system and a tilling depth control method for an electric tractor.
Background
At present, a tractor suspension system mainly adopts a hydraulic transmission mode. With the rapid development of the mechatronic technology, modern electronic information technology represented by sensing technology, computer technology, communication technology, control technology and the like is continuously popularized and used on tractors, so that a tractor control system is more intelligent. For an electric tractor, if a traditional hydraulic suspension system is adopted, branch power needs to be separated from a main driving motor to drive an oil pump, so that power transmission is more complicated, and the dynamic property of the tractor is reduced. Meanwhile, the hydraulic suspension system adopts a rod piece and an elastic element, the structure is complex, and the hysteresis of the elastic element, the mechanical friction and the expansion and contraction of the rod piece can influence the accuracy of adjustment and cause energy loss.
In the working process that the hydraulic suspension system performs force and position regulation by controlling the flow of an oil way, the hydraulic system may have faults of safety valve failure, leakage, valve blocking and the like, so that the operation of the whole suspension system is failed, and the tractor cannot work normally.
Moreover, the hydraulic suspension device is in a working state when working or suspending a fixed farm tool, the working time is too long, the excessive consumption of energy is accompanied, and along with the development of energy conservation and modern agricultural machinery, whether the electric suspension can prolong the working time of the fully charged vehicle-mounted battery is important for the performance of the whole machine.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a suspension control system and a tilling depth control method of an electric tractor, wherein an independent lifting motor is adopted to drive a suspension mechanism, a switching type tilling depth adjusting mode is adopted, the control flow is simplified, the whole electric suspension system is simple and compact in structure, low in energy consumption, and good in accuracy of tilling depth adjustment and stability of engine load in the working process.
In order to achieve the purpose, the invention adopts the technical scheme that:
a suspension control system of an electric tractor comprises a control panel, a tilling depth controller, a lifting motor driver, a lifting motor, a speed reducing mechanism, an angle sensor and a suspension mechanism; the lifting motor driver is directly connected with the lifting motor, and the lifting motor is connected with the suspension mechanism through the speed reducing mechanism; the suspension mechanism comprises a lifting arm, a lower pull rod, an upper pull rod and a lifting rod; the angle sensor is arranged on the lifting arm, a corresponding tilling depth value is obtained by detecting the change of the angle of the lifting arm, and the tilling depth controller is respectively connected with the control panel, the angle sensor and the lifting motor driver; the lifting motor controls the lifting of the farm tool by receiving signals of a lifting motor driver.
Further, the lifting motor comprises a rotor core, a rotor winding, a commutator, a primary reduction gear and a secondary reduction gear, and the reduction mechanism comprises a worm and a worm wheel; the worm shaft is arranged on a secondary reduction gear of the lifting motor, and the worm shaft is connected with the lifting arm.
Further, in the suspension mechanism, the upper link is connected to the lower link, the lift arm is connected to the lift lever, and the lift lever is connected to the lower link.
A control signal of the suspension control system of the electric tractor comprises a tilling depth signal and a resistance signal, the tilling depth signal is obtained by measuring the rotation angle of a lifting arm by an angle sensor, the resistance signal is fed back by an output current signal, a tilling depth controller judges the current tilling condition and calculates the output signal after obtaining the tilling depth signal and the resistance signal, and a lifting motor driver is used for controlling the lifting of a lifting motor to control the lifting of farm implements; the tilling depth control method comprises three tilling depth adjustment modes of position adjustment, force adjustment and force position comprehensive adjustment, the selection of the tilling depth adjustment mode is mainly judged according to a resistance signal, and when the tilling resistance is smaller than a lowest set value, the system adopts independent position adjustment to control the tilling depth; when the tillage resistance is larger than the highest set value, the tillage depth is controlled by adopting independent force adjustment; when the farming resistance is between the lowest set value and the highest set value, the system adopts a force position comprehensive adjusting method with a weight coefficient of 0.1 to 0.9, wherein the weight coefficient is the proportion of the force position comprehensive adjusting middle position adjustment.
The working modes of the control system comprise a manual regulation mode and an automatic regulation mode; in the manual adjusting mode, a user selects a tilling depth adjusting mode through a knob on a control panel; in the automatic adjusting mode, the system firstly judges whether the current working condition meets the requirement of the working resistance range of the engine according to a signal fed back by the sensor, if not, a corresponding single-parameter adjusting mode is selected, and if so, a force position comprehensive adjusting mode is selected.
In an automatic adjustment mode, the initial value of a weight coefficient of the force position integrated adjustment mode is 0.5, a control system judges the current cultivation condition according to a cultivation depth signal, a cultivation depth error e = H-H, wherein H is a target cultivation depth, H is an actual cultivation depth measured by a sensor, in order to meet the cultivation condition of crops, an allowable error range of the cultivation depth is set to be 4cm, if e is greater than 3, the cultivation depth is shallow, the proportion of the position adjustment participating in the integrated adjustment should be increased, the weight coefficient is increased by 0.1 after the system feeds back, and the weight coefficient is gradually increased until the cultivation depth meets the requirement; and if e < -1, the tilling depth is deep, the proportion of the position adjustment participating in the comprehensive adjustment is reduced, the weight coefficient is reduced by 0.1 after the system feeds back, and the weight coefficient is gradually reduced until the tilling depth meets the requirement.
Has the advantages that: the invention aims to provide an electric suspension control system of an electric tractor, which adopts an independent lifting motor to drive a suspension device, so that the response is more sensitive, and the adjustment precision is higher; when the work is stopped, the suspension position can be fixed by utilizing the self-locking characteristic of the worm gear; the tilling depth control of the system adopts a switching type adjusting mode, the system can select force and position adjustment according to the terrain, the weight coefficient is gradually decreased or increased in the comprehensive adjustment process, the calculation of the weight coefficient is not needed in real time, the control system can be simplified to a certain extent, the whole electric suspension system is simple and compact in structure and low in energy consumption, and the accuracy of tilling depth adjustment and the stability of engine load in the working process are good.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a lifting motor and a reduction mechanism according to the present invention;
FIG. 3 is a flowchart of tilling depth adjustment according to the present invention.
Reference numerals: 1. the control system comprises a control panel, 2, a lifting motor driver, 3, a tilling depth controller, 4, a lifting motor, 5, a speed reducing mechanism, 6, an angle sensor, 7, a lifting arm, 8, a lifting rod, 9, a lower pull rod, 10, an upper pull rod, 11, a lifting arm, 12, a rotor iron core, 13 a rotor winding, 14, a commutator, 15, a first-stage speed reducing gear, 16, a second-stage speed reducing gear, 17, a worm and 18 a worm wheel.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples.
As shown in fig. 1, an electric tractor suspension control system comprises a control panel 1, a tilling depth controller 2, a lifting motor driver 3, a lifting motor 4, a speed reducing mechanism 5, an angle sensor 6 and a suspension mechanism; the control panel 1 is provided with an operating button, the control panel 1 is connected with a tilling depth controller, and the tilling depth controller 2 is also connected with an angle sensor 6 and a lifting motor driver 3 through leads respectively; the lifting motor driver 3 is directly connected with the lifting motor 4, the lifting motor 4 is connected with the suspension mechanism through the speed reducing mechanism 5, and the suspension mechanism comprises a lower pull rod 8, an upper pull rod 9, a lifting rod 10 and a lifting arm 11; the angle sensor 6 is installed on the lifting arm 11, obtains a corresponding tilling depth value by detecting the change of the rotating angle of the lifting arm 11 and feeds the tilling depth value back to the tilling depth controller 2, the tilling depth controller 2 outputs a control signal to the lifting motor driver 3, and the lifting motor 4 controls the lifting of the farm tool after receiving the signal of the lifting motor driver 3.
Further, the lifting motor 4 is a direct current motor with a built-in primary reduction gear 15 and a built-in secondary reduction gear 16, and the reduction mechanism 5 comprises a worm 17 and a worm wheel 18; as shown in fig. 2, the hoisting motor 4 includes a rotor core 12, a rotor winding 13, a commutator 14, a primary reduction gear 15, and a secondary reduction gear 16; the worm shaft of the speed reducing mechanism 5 is arranged on a secondary speed reducing gear 16 of the speed reducing gear, and the worm shaft is connected with the lifting arm 11 of the suspension mechanism; the upper pull rod 9 of the suspension mechanism is vertically connected with the lower pull rod 8, the lifting arm 11 is connected with the lifting rod 10, and the lifting rod 10 is connected and arranged on the lower pull rod 8.
The worm 17 and the worm wheel 18 in the speed reducing mechanism 5 have a large transmission ratio, so that the rotating speed of the lifting motor 4 can be reduced, and the suspension position can be fixed through the self-locking characteristic of the worm and the worm wheel.
The suspension control system of the invention designs three tilling depth adjusting modes of position adjustment, force adjustment and force position comprehensive adjustment; the system working modes comprise a manual regulation mode and an automatic regulation mode; in the manual mode, a user selects a tilling depth adjusting mode through a knob on a control panel; in the automatic mode, the system firstly judges whether the current working condition meets the resistance range requirement of the engine working according to the signal fed back by the sensor, if not, the corresponding single parameter adjustment is selected, and if so, the force position comprehensive adjustment mode is selected.
The control signals of the suspension system of the electric tractor comprise a tilling depth signal and a resistance signal, and the tilling depth signal is obtained by measuring the rotation angle of the lifting arm 11 by the angle sensor 6; the resistance applied to the farm implement in the farming process is mainly the soil resistance applied to the farm implement, and when the farming depth and the soil specific resistance are changed, the resistance applied to the farm implement is also changed, so that the output power of the engine is also changed to meet the current farming requirement; when the resistance is large, in order to maintain the current tilling depth, the output power of the engine is increased, namely the output current of the battery is increased; and vice versa. Considering that the system has low requirement on the precision of resistance detection, the resistance signal is fed back by the output current signal.
The "position" in the position adjustment is the position, and the "force" in the force adjustment is the resistance.
The selection of the tilling depth adjusting mode is mainly controlled according to a tilling resistance signal, when the tilling resistance is smaller than a minimum set value, the influence of the resistance on the load of an engine is small, and at the moment, the tilling depth is controlled by adopting position adjustment alone, so that the farm tool is kept working at a target tilling depth to obtain better tilling depth consistency; when the farming resistance is larger than the highest set value, the resistance has larger influence on the load of the engine, in order to avoid the damage to the engine caused by overlarge load fluctuation, force adjustment is adopted at the moment, the control system outputs a control signal according to the current resistance signal, the farm tool is controlled to move up and down to ensure that the resistance is not overlarge, and the tractor can normally work; when the farming resistance is between the lowest set value and the highest set value, the system adopts a force position comprehensive type adjusting method with the weight coefficient a of 0.1 to 0.9.
The weight coefficient a is the proportion of participation of a force position comprehensive adjustment neutral position adjustment mode, a =0 shows that the force position adjustment mode does not participate, and a =1 shows that the force position adjustment mode does not participate; a =0.5 indicates that the force and position adjustments are involved in the same proportion.
As shown in fig. 3, after the system is initialized, firstly selecting a working mode, if the working mode is a manual adjustment mode, selecting a corresponding tilling depth adjusting mode through a control panel, if the working mode is an automatic adjustment mode, initially taking a weight coefficient of the force-level comprehensive adjusting method as 0.5, judging the current tilling condition according to a tilling depth signal by the system, adopting a simple level adjusting mode to control tilling depth, the tilling resistance being greater than a highest setting value, adopting the simple force adjusting mode, when the tilling resistance is between the lowest setting value and the highest setting value, adopting the force-level comprehensive adjusting mode, and adjusting the proportion of force adjustment and level adjustment participation according to a tilling depth error, wherein the tilling depth error e = H-H, wherein H is a target tilling depth, H is an actual tilling depth measured by a sensor, setting a tilling depth allowable error range as 4cm for meeting the tilling condition of crops, and if e >3, indicating that the tilling depth is shallow, the proportion of the level adjustment participation comprehensive adjustment should be increased, and increasing the weight coefficient to 0.1 after the system feeds back, so as to gradually increase the tilling depth to meet the requirement of crops; and if e < -1, the tilling depth is deep, the proportion of the position adjustment participating in the comprehensive adjustment is reduced, the weight coefficient is reduced by 0.1 after the system feeds back, and the weight coefficient is gradually reduced until the tilling depth meets the requirement.
Based on the control system and the control method, the electric tractor suspension system based on electric transmission has the working principle that: before tillage, a user selects a manual mode or an automatic mode through the control panel 1 according to soil conditions and actual working conditions of the tractor, and then the system starts to work after a target tillage depth is set. In the manual mode, a user selects a tilling depth adjusting mode; in the automatic mode, the tilling depth controller 2 compares the signal of the angle sensor 6 and the battery output current collected during the operation of the tractor with a set target tilling depth signal after processing, then calculates the output signal, the lifting motor driver 3 controls the operation of the lifting motor 4, and the generated power is transmitted to the lifting arm 11 through the speed reducing mechanism 5, so that the lifting rod 10, the lower pull rod 8 and the upper pull rod 9 are driven to adjust the lifting of the agricultural implement, and the tilling depth requirement is met. The tilling depth controller 2 periodically performs an adjusting process, and maintains the tilling quality on the premise of ensuring the stability of the traction load of the tractor. When the tractor turns around or transports, needs the agricultural implement to hang at a fixed position, selects the instruction sent by the corresponding button on the control panel 1 to fix the agricultural implement to the specified position, at this moment, the lifting motor 4 stops running, and the self-locking characteristic of the worm 17 and worm wheel 18 mechanism in the speed reducing mechanism 5 can make the hanging fixed position fixed.
The electric tractor suspension system adopts a position adjustment and force adjustment tilling depth control method, if the land quality is good, when the tilling resistance is smaller than the minimum set value, the influence of the resistance on the load of an engine can be ignored, and at the moment, the tilling depth is controlled by adopting the independent position adjustment to obtain better tilling depth consistency; if the ground undulation is large or the farming resistance is larger than the highest set value, the influence of the resistance on the load of the engine is large, and in order to avoid the damage of the engine caused by the overlarge load fluctuation, the independent force adjustment is adopted for carrying out tilling depth control so as to ensure that the tractor can normally work; when the tillage resistance is between the lowest set value and the highest set value, the system adopts a force-position integrated adjusting method.
In conclusion, the tilling depth control of the suspension system of the electric tractor adopts a switching type adjusting mode, the system can select force adjustment, position adjustment or force position comprehensive adjustment according to the terrain, the weight coefficient is gradually decreased or increased in the comprehensive adjustment, the calculation of the weight coefficient is not needed in real time, the control system can be simplified to a certain extent, the possible faults of a hydraulic system are avoided by adopting electric transmission, the structure is simple and compact, the energy consumption is lower, and the adaptability to the working environment is better.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. A suspension control system of an electric tractor is characterized by comprising a control panel (1), a tilling depth controller (2), a lifting motor driver (3), a lifting motor (4), a speed reducing mechanism (5), an angle sensor (6) and a suspension mechanism; the lifting motor driver (3) is directly connected with the lifting motor (4), and the lifting motor (4) is connected with the suspension mechanism through the speed reducing mechanism (5); the suspension mechanism comprises a lifting arm (11), a lower pull rod (8), an upper pull rod (9) and a lifting rod (10); the angle sensor (6) is arranged on the lifting arm (11), a corresponding tilling depth value is obtained by detecting the change of the rotation angle of the lifting arm (11), and the tilling depth controller (2) is respectively connected with the control panel (1), the angle sensor (6) and the lifting motor driver (3); the lifting motor (4) controls the lifting of the farm tool by receiving signals of the lifting motor driver (3).
2. The electric tractor suspension control system according to claim 1, characterized in that the hoisting motor (4) comprises a rotor core (12), a rotor winding (13), a commutator (14), a primary reduction gear (15), a secondary reduction gear (16), and the reduction mechanism (5) comprises a worm (17), a worm wheel (18); the worm shaft is arranged on a secondary reduction gear (16) of the lifting motor, and the worm shaft is connected with the lifting arm (11).
3. An electric tractor suspension control system as claimed in claim 1, characterised in that in the suspension mechanism the upper link (9) is connected to the lower link (8), the lifting arm (11) is connected to the lifting link (10), and the lifting link (10) is connected to the lower link (8).
4. A tilling depth control method using the suspension control system of the electric tractor according to any one of claims 1 to 3, wherein the control signal of the suspension control system of the electric tractor comprises a tilling depth signal and a resistance signal, the tilling depth signal is obtained by measuring the rotation angle of the lifting arm by an angle sensor (6), the resistance signal is fed back by an output current signal, the tilling depth controller (2) judges the current tilling situation and calculates the output signal after obtaining the tilling depth signal and the resistance signal, and the lifting motor (4) is controlled by a lifting motor driver (3) to control the lifting of the farm implement; the tilling depth control method comprises three tilling depth adjusting modes, namely position adjustment, force adjustment and force position comprehensive adjustment, the tilling depth adjusting mode is selected mainly according to a resistance signal for judgment, and when the tilling resistance is smaller than a lowest set value, the system adopts independent position adjustment for tilling depth control; when the tillage resistance is larger than the highest set value, the tillage depth is controlled by adopting independent force adjustment; when the farming resistance is between the lowest set value and the highest set value, the system adopts a force position comprehensive adjusting method with a weight coefficient of 0.1 to 0.9, wherein the weight coefficient is the proportion of the force position comprehensive adjusting middle position adjustment.
5. The tilling depth control method according to claim 4, wherein: the working modes of the control system comprise a manual regulation mode and an automatic regulation mode; in the manual adjusting mode, a user selects a tilling depth adjusting mode through a knob on a control panel; in the automatic regulation mode, the system firstly judges whether the current working condition meets the resistance range requirement of the engine working according to the signal fed back by the sensor, if not, a corresponding single-parameter regulation mode is selected, and if so, a force position comprehensive regulation mode is selected.
6. The tilling depth control method according to claim 5, wherein: under the automatic adjustment mode, the initial value of the weight coefficient of the force position integrated adjustment mode is 0.5, the control system judges the current cultivation condition according to the cultivation depth signal, the cultivation depth error e = H-H, wherein H is the target cultivation depth, H is the actual cultivation depth measured by the sensor, in order to meet the cultivation condition of crops, the allowable error range of the cultivation depth is set to be 4cm, if e >3, the cultivation depth is shallow, the proportion of the comprehensive adjustment participation of the position adjustment should be increased, the weight coefficient is increased by 0.1 after the system feeds back, and the weight coefficient is gradually increased until the cultivation depth meets the requirement; and if e < -1, the tilling depth is deep, the proportion of the position adjustment participating in the comprehensive adjustment is reduced, the weight coefficient is reduced by 0.1 after the system feeds back, and the weight coefficient is gradually reduced until the tilling depth meets the requirement.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211315695.3A CN115633554A (en) | 2022-10-26 | 2022-10-26 | Suspension control system and tilling depth control method for electric tractor |
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| CN202211315695.3A CN115633554A (en) | 2022-10-26 | 2022-10-26 | Suspension control system and tilling depth control method for electric tractor |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116034659A (en) * | 2023-01-30 | 2023-05-02 | 青岛理工大学 | Electric drive lifting system with energy recovery function for agricultural machinery |
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- 2022-10-26 CN CN202211315695.3A patent/CN115633554A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116034659A (en) * | 2023-01-30 | 2023-05-02 | 青岛理工大学 | Electric drive lifting system with energy recovery function for agricultural machinery |
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