CN202180822U

CN202180822U - Electrohydraulic anti-skidding control device of farm-oriented self-propelled four-wheel drive chassis

Info

Publication number: CN202180822U
Application number: CN2010202868976U
Authority: CN
Inventors: 毛罕平; 倪静; 张晓东; 左志宇; 韩绿化; 顾建
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2010-08-10
Filing date: 2010-08-10
Publication date: 2012-04-04
Anticipated expiration: 2020-08-10

Abstract

An electro-hydraulic anti-skid control device for an agricultural self-propelled four-wheel drive chassis, which relates to the field of field agricultural operation vehicle anti-skid technology. Proportional control valve. The system collects the real-time speed and steering information of the vehicle through the sensor system, uses the signal conditioning conversion system to reshape and adjust the speed and steering signals and converts them into standard output, and completes the speed feature extraction, slipping feature fuzzy discrimination and slipping control strategy by the single-chip microcomputer system The implementation of the selection, and then use the output of the FUZZ-PID controller to drive the proportional control valve to control the speed of the hydraulic motor, realize the speed regulation, eliminate the phenomenon of vehicle slippage, and better realize the prevention and control of vehicle slippage in complex road conditions. need.

Description

The anti-skidding control setup of electric liquid on a kind of agricultural self-propelled four wheel drive chassis

Technical field

The utility model belongs to the anti-skidding control part of driving (Acceleration Slip Regulation is called for short ASR) of vehicle limited slip system.Particularly relate to the anti-skidding design of driving of the anti-skidding control setup of electric liquid on a kind of agricultural self-propelled four wheel drive chassis.

Background technology

Known vehicle limited slip control system is generally used for preventing that vehicle from the vapour anti-blocking brake system taking place in the process of moving and driving is skidded.The former is called anti-blocking brake system (Anti-lock Braking System), is called for short ABS.The latter is called driving skid control system (Acceleration Slip Regulation), is called for short ASR.It also is called as propulsive effort control system (Traction Control System), is called for short TCS.At present the anti-slip regulation of vehicle mainly is to hard surfacing and two-wheel drive design, for hard surfacing wet and slippery freezing and anti-skidding under different road conditions and the riving condition such as turn to can play better action greatly.But for the agricultural working truck in field, because the road surface is different with driving environment, the origin cause of formation of skidding is difference also, and it is anti-skidding that this also causes can't existing skid control system being directly applied to driving.Therefore, need at present to research and develop to the electric liquid antiskid control system of self-propelled four wheel drive agriculture working vehicle under dirt road and field working environment.

Summary of the invention

Problem to present existence; The purpose of the utility model is to be directed against agricultural self-propelled 4Wdvehicle chassis when operation; The origin cause of formation that single-wheel that muddy, soft excessively, the ups and downs and vehicle in walking road surface causes when being in state such as climbing or two-wheeled skid is carried out dynamic analysis; And then its software and hardware that drives skid control system designed and developed, make it to realize the control of skidding under the field condition.

The design of the utility model is to utilize existing chassis four-wheel fluid power system; Relation analyzing between factor such as road surface, field, wheel speed are poor, deflection angle and the vehicle slip is carried out on the basis of quantitative analysis; Formulate the control policy under the different slipping states; And then the software and hardware control system through the utility model, to the 4 wheel driven driving wheel separately independently hydraulic speed regulation system control, to eliminate the vehicle slip state.

The utility model solves the technical scheme that its technical matters adopted:

1, the anti-skidding control setup of electric liquid on said a kind of agricultural self-propelled four wheel drive chassis comprises sensing system, signal condition converting system, SCM system and normality/regulation and control output control and selects module and rotating speed to drive electrohydraulic proportional control valve;

2, said sensing system comprises 4 road tach signal pick-up transducers and 1 road turn sign sensor, is used for gathering the tacho-pulse and the turn sign of four-wheel respectively, and uploads the signal condition converting system;

3, said signal condition converting system comprises shaping pulse module, signal condition module and signal serial conversion transport module; The shaping pulse, signal filtering, the conditioning that are used for realizing rotating speed and turn sign are respectively amplified and the A/D conversion, and rotating speed and the digital signal that turns to are uploaded to SCM system;

4, said SCM system comprises the fuzzy discrimination of signal sampling, rotating speed feature extraction, the characteristic of skidding, the setting module of skid the wheel controlled variable computing module and the wheel FUZZ-PID regulation and control parameter of skidding; Through to the rotating speed uploaded and the analyzing and processing of turn sign; Realize functions such as collection analysis, the feature extraction of data, judgements of skidding, regulation and control policy selection, regulation and control calculation of parameter and setting, and then will export control signal and be sent to normality/regulation and control and export the selection control module;

5, said normality/regulation and control output selects control module to be used for realizing cruising and the switching of the regulation and control state that skids; Realize through multichannel binary states selection control; When skidding; Convert output state into anti-skidding regulation and control state by the work normality, make the adjustment signal of SCM system output export the four wheel drive proportional control valve to;

6, said four wheel drive proportional control valve can be according to the size of input electrical signal; The valve core opening of geometric ratio control four wheel drive proportional control valve; Flow is regulated and control, made the HM Hydraulic Motor that drives four-wheel reach required setting speed, this module is the actuating unit of skid control system; Response through to the adjustment signal of SCM system output realizes the anti-skidding control to the chassis.

The present invention is owing to adopt technique scheme to have the following advantages:

1, structure is independent, applying flexible.System promptly can have a style of one's own, and carries out the anti-skidding regulation and control of vehicle separately, also can embed the original speed control system of vehicle simultaneously, carries out work as submodule;

2, owing to design, therefore can solve the skidding of farm work preferably to the field environment;

3, system adopts general-purpose device, and cost is lower, is easy to promote;

4, system adopts low power dissipation design, can satisfy the needs of long-time farm work;

5, system architecture is compact, and it is convenient to connect debugging, is easy to promote.

Description of drawings

Fig. 1 is the structural representation of the anti-skidding control setup of electric liquid on a kind of agricultural self-propelled four wheel drive of the utility model chassis;

1-tachogen 2-rotation direction sensor 3-shaping pulse module

4-signal condition module 5-signal serial conversion transport module 6-signal sampling module

The 7-rotating speed steering characteristic extraction module 8-characteristic discrimination module 9-parameter calculating module of skidding

Control module 12-proportional control valve I-sensing system is selected in 10-FUZZ-PID parameter setting module 11-normality/regulation and control output

II-signal condition converting system III-SCM system.

The specific embodiment

Below in conjunction with accompanying drawing and implementation step the present invention is carried out detailed description.

With reference to accompanying drawing 1, the anti-skidding control setup of electric liquid on a kind of agricultural self-propelled four wheel drive of the utility model chassis comprises sensing system, signal condition converting system, SCM system, output selection control module and four wheel drive hydraulic proportional control cock.

Wherein sensing system comprises tachogen 1 and rotation direction sensor 2, and tachogen is installed in four axletree inboards of vehicle frame respectively, and rotation direction sensor is installed in steering shaft one side of vehicle frame.

Wherein the signal condition converting system comprises tachogen shaping pulse module 3, rotation direction sensor signal condition module 4 and signal serial conversion transport module 5; Tachogen shaping pulse module is used for output signal of speed sensor is carried out shaping pulse, converts the fitfull impulse singla into the standard rectangular wave impulse, and exports it to signal serial conversion transport module 5; The effect of rotation direction sensor signal condition module is turn sign to be carried out filtering amplify with conditioning, is uploaded to signal serial conversion transport module 5 equally; The effect of signal serial conversion transport module 5 is that rotating speed after the shaping conditioning and turn sign are carried out the A/D conversion, and the standard that converts into is exported the signal acquisition module 6 that is uploaded to SCM system and handled.

SCM system comprises the fuzzy discrimination module 8 of signal sampling module 6, rotating speed characteristic extracting module 7, the characteristic of skidding, the wheel controlled variable of skidding computing module 9 and the wheel FUZZ-PID regulation and control parameter setting module 10 that skids.Signal sampling module 6 is connected with signal serial conversion transport module 5, is used to receive rotating speed and turn sign, and sends to rotating speed steering characteristic extraction module 7; The output digital quantity of 7 pairs of signal sampling modules 6 of rotating speed steering characteristic extraction module compares; And according to turning to threshold interval to classify with rotating speed; And then with the input of characteristic parameter as the fuzzy discrimination module 8 of characteristic that skids; In the monitoring state all the time when the fuzzy discrimination module 8 of the characteristic of skidding goes, this module is through corresponding fuzzy discrimination rule, and the position of whether skidding and skidding and degree etc. are judged; And the characteristic information that will skid exports the wheel controlled variable computing module 9 that skids to; Select anti-skidding control policy according to position and the characteristic information that takes place that skid, calculate the correction pid control parameter that skids accordingly, and select control signal input normality/regulation and control multichannel to select control module 11 output state; It is that multiple-input, multiple-output gating master cock by 4 tunnel 2 attitudes constitutes that control module 11 is selected in the output of normality/regulation and control, can realize the gating of normality signal and adjustment signal when vehicle is normally exercised, only allowing vehicle rotating speed drive signal to pass through through address selection; When be in the mud pin dark excessively, cross soft or during operating condition such as climbing, if system is judged single-wheel takes place or two-wheeled skids, then gating wheel and the participating in adjustment signal path under the regulation and control wheel that skids that skids loads adjustment signal; Output is selected the output signal of control end to reach through modulated pressure proportional control valve 12 and is regulated each wheel speed; The purpose that elimination is skidded; Hydraulic proportional control cock 12 is actuating units of system, can be according to the size of input electrical signal, and geometric ratio control valve core opening; Flow is regulated and control, made HM Hydraulic Motor (driving four-wheel) reach required setting speed.

The above only is the preferred implementation of the utility model; Should be understood that; Different technologies personnel for the present technique field; Under the prerequisite that does not break away from the utility model know-why, can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.

Claims

1. An electro-hydraulic anti-skid control device of an agricultural self-propelled four-wheel drive chassis, characterized in that: said device comprises a sensor system, a signal conditioning conversion system, a single-chip microcomputer system and a normal state/control output control selection module (11) and a rotating speed Drive the electro-hydraulic proportional control valve (12); the sensor system includes 4 speed signal acquisition sensors (1) and 1 steering signal sensor (2), which are used to collect the speed pulses and steering signals of the four wheels respectively, and upload the signals Conditioning conversion system; the signal conditioning conversion system includes a pulse shaping module (3), a signal conditioning module (4) and a signal serial conversion transmission module (5), which are respectively used to realize pulse shaping, signal filtering, Adjust the amplification and A/D conversion, and upload the digital signals of the rotating speed and steering to the single-chip microcomputer system; the single-chip microcomputer system can analyze and process the uploaded rotating speed and steering signals, and realize data collection and analysis, feature extraction, skid judgment, A single-chip microcomputer system for regulating and controlling strategy selection, regulating and controlling parameter calculation and setting functions, the single-chip microcomputer system sends the output control signal to the normal state/regulation output selection control module (11); the normal state/regulation output selection control module (11) is used to realize normal The switching between driving and skid control states is realized by a multi-channel two-state selection controller. When slip occurs, the output state is converted from the normal working state to the anti-skid control state, so that the control signal output by the single-chip system is output to the four-wheel drive proportional control valve. (12); The four-wheel drive proportional control valve (12) can control the spool opening of the four-wheel drive proportional control valve (12) proportionally according to the size of the input electric signal, and regulate the flow, so that the four-wheel drive The hydraulic motor reaches the required set speed. This module is the actuator of the anti-skid system, and realizes the anti-skid control of the chassis by responding to the control signal output by the single-chip microcomputer system. the