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.
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.