CN206978110U - A kind of combined harvester threshing cylinder driving control system - Google Patents
A kind of combined harvester threshing cylinder driving control system Download PDFInfo
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- CN206978110U CN206978110U CN201720693397.6U CN201720693397U CN206978110U CN 206978110 U CN206978110 U CN 206978110U CN 201720693397 U CN201720693397 U CN 201720693397U CN 206978110 U CN206978110 U CN 206978110U
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- 239000000523 sample Substances 0.000 claims abstract description 11
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- 238000003306 harvesting Methods 0.000 abstract description 21
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- 238000001514 detection method Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
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Abstract
A kind of combined harvester threshing cylinder driving control system is the utility model is related to, belongs to technical field of agricultural harvesting.The control system contains hydraulic part and electric control part；Hydraulic part includes the main performance loop of enclosed speed governing that the hydraulic motor of driving threshing cylinder and electrohydraulic proportional variable pump are formed, hydraulic motor has control loop of changing oil in parallel, and proportional variable pump has the control loop being made up of series connection proportional direction valve and double-action hydraulic variable cylinder；Electric control part includes the speed probe being placed on threshing cylinder and the pressure sensor for being placed in main performance loop, the signal output part of speed probe and pressure sensor connects PLC corresponding signal input part respectively, and the PLC amplified device of control electrical signal is followed by the control signal input of control loop.The utility model solves the problems, such as parameter detecting difficulty, it also avoid hysteresis quality, it is ensured that threshing cylinder is in stable ideal operation state all the time.
Description
Technical field
A kind of united reaper is the utility model is related to, especially a kind of combined harvester threshing cylinder drive control system
System, belongs to technical field of agricultural harvesting.
Background technology
Threshing cylinder is the critical component of united reaper, and drum rotation speed is then directly connected to equipment transaction capabilities
Important parameter, the optimum working parameter of corresponding Different Crop threshing cylinder are not quite similar.Threshing speed, which improves, makes threshing element pair
The effect of cereal is strengthened, and corresponding threshing performance also improves therewith；But speed is too high, the degree of crushing of cereal and stalk adds therewith
Play, power consumption also increase therewith.Threshing speed is too low, will appear from de- unnet situation.Therefore, by being integrated to threshing course
Analysis determines most suitable threshing speed, and keeps drum rotation speed stable automatically, for ensureing that united reaper always works in
Optimum state, the possibility for reducing roller blocking, improve efficiency of crop, reduce driver's operation fatigue etc., it is most important.It is existing
The kind of drive of combined harvester threshing cylinder is Chain conveyer and V belt translation mostly.Chain conveyer can realize rolling by changing sprocket wheel
The adjustment of cylinder rotating speed, but time-consuming more, and can not frequently carry out in field work the replacing of sprocket wheel；V belt translation adjusts rotating speed
When, belt easily skids, and belt easily wears, and service life is short.
According to the applicant understood, it is more to threshing cylinder automatic control system research at this stage, but mainly fed by detection
Enter the parameter feedbacks such as amount, crop condition, roller load regulation equipment pace and then stablize feed quantity to control roller load
Stable drum rotation speed（Bibliography《Combine cylinder fixed speed control based on RBF networks》- Qin Yun, Zhao Dean,
Li Fazhong, Ji Wei agricultural mechanical journals, 2009,40（11）：59-63；《Combined harvester threshing cylinder constant speed intelligent controller
Design》- Li Guodong, Han Jincang, Sang Zhengzhong control engineering, 2007,14（2）：154-156,223；《Single chip microcomputer fuzzy control exists
Application in threshing cylinder automatic control system》- Yang Zhongping, Shanxi, Xibei Univ. of Agricultural ＆ Forest Science ＆ Technology, 2006（Thesis for the doctorate）；《Connection
Close the PID fixed speed controls of harvester threshing drum》- Li Guodong, Li Yongzhi, Zhang Jixian, Sang Zhengzhong agricultural mechanical journals, 2000,
31（1）：49-50；Combined harvester threshing system kinetic model and speed regulating control emulation and experiment, peaceful small echo, Chen Jin, Li Yao
Bright, Wang Kun, Wang Yifan, Wang Xue build EIs 2015,31 (21):25-34.）.Such as Application No.
" a kind of load feedback automatic control device for combined harvester and control method " 200910183593.9 disclosed in patent document is logical
The parameters such as detection drum rotation speed, feed quantity, defeated grain screw feeder rotating speed, loss amount signal are crossed, using FUZZY ALGORITHMS FOR CONTROL and pre- observing and controlling
Algorithm processed is controlled to equipment pace, realizes automatically controlling for united reaper live load.
It was verified that in actual mechanical process, the detection of feed quantity is high by density of crop, growing height, toothing
The influence of the factors such as degree, swath, moisture content, equipment pace is very numerous and diverse, up to now without practicable method
Feed quantity can accurately be detected.In addition, also having collection threshing cylinder rotating speed or moment of torsion to detect roller load, and then adjust machine
Has pace control feed quantity, the method hysteresis quality is obvious, because excessive to reduce advance again fast when load has occurred in roller
Degree can not reduce the material for being fed into the ceding of Taiwan and delivery chute, be difficult to stablize drum rotation speed when load variations are larger and easily cause
Roller blocks.
The content of the invention
The purpose of this utility model is：For in place of above-mentioned the shortcomings of the prior art, proposing a kind of to threshing roll
The combined harvester threshing cylinder driving control system of the cylinder direct auto-control of rotating speed, while corresponding method is provided, so as to thorough
Bottom solves the parameter detecting difficulty of traditional control method and hysteresis sex chromosome mosaicism, ensures that threshing cylinder is in stable preferable work all the time
Make state.
In order to achieve the above object, the utility model combined harvester threshing cylinder driving control system contains hydraulic part
And electric control part；
The hydraulic part includes the enclosed speed governing that the hydraulic motor of driving threshing cylinder and electrohydraulic proportional variable pump are formed
Main performance loop, the hydraulic motor have control loop of changing oil in parallel, and the proportional variable pump has by series connection ratio side
The control loop formed to valve and double-action hydraulic variable cylinder；
The electric control part includes the speed probe being placed on threshing cylinder and is placed in the main performance loop
Pressure sensor, the signal output part of the speed probe and pressure sensor connects being inputted to induction signal for PLC respectively
End, the amplified device of control electrical signal of the PLC are followed by the control signal input of control loop.
Further, the control loop of changing oil contains 3-position-3-way oil-changing valve, when the 3-position-3-way oil-changing valve be in pair
Answer hydraulic motor direction of rotation change oil station when, formed and changed oil loop with hydraulic motor.
Further, the output end of the oil-feed termination slippage pump of the proportional direction valve, the output end of the slippage pump is also
The low-pressure side of the main performance loop is connect by check valve.
Further, the check valve is in parallel with high-pressure overflow valve.
Also further, the output end of the slippage pump also connects oil sources through overflow valve.
Theory and practice, which is studied, to be shown, the not outer two kinds of thinkings of threshing drive control：One kind is believed by detecting feed quantity etc.
Breath control feeding feed rate, and then control roller load that so there is certain anticipation in theory with anti-clogging, can be pre-
Anti-clogging, but the affecting parameters that are related to of feed quantity are too many and detection method is immature, therefore there is no realize the thinking so far
Possible technique scheme.Another kind is that rotating speed by detecting threshing cylinder or/and moment of torsion judge the load of roller, then adjusts feeding
Speed control feed quantity, its advantage is can to obtain accurately detecting data, but shortcoming is that hysteresis quality is obvious, is detected because working as
Feedback adjustment feed rate again when roller load exceedes normal value, can only reduce the object amount of making that will now enter, can not but change
Become the inventory having been enter into, therefore still easily cause the fluctuation of roller job parameter and hysteresis quality threshing cylinder to block.And this reality
With new then by the electrohydraulic control system of combination, pressed in real time by the hydraulic part for detecting directly reflection roller load
Power, by the electro-hydraulic proportional system real-time monitoring threshing cylinder of quick response, directly change the disposal ability of roller, so as to both solve
The problem of parameter detecting difficulty, it also avoid hysteresis quality, when threshing cylinder load becomes it is big when increase drum threshing power immediately,
Avoid roller from blocking simultaneously obtaining preferable harvest effect, ensure that threshing cylinder is in stable ideal operation state all the time.This
Outside, the utility model is also equipped with following advantage compared with conventional mechanical transmission：
1）Controlled by electro-hydraulic proportional pump motor system driving combined harvester threshing cylinder significantly simplify mechanical transmission structure；
2）Mechanical part need not be changed Different Crop harvest can be achieved, as long as when the change of the condition of harvest by trying to gather in
Can adaptively selected rational threshing cylinder control rotating speed；
3rd, system maintains threshing cylinder stabilization of speed to harvest rotating speed in ideal automatically, so as to ensure to harvest effect.
Brief description of the drawings
The utility model is further described below in conjunction with the accompanying drawings.
Fig. 1 is that the system of the utility model one embodiment forms block diagram.
Fig. 2 is the hydraulic part schematic diagram of Fig. 1 embodiments.
Fig. 3 is the invariablenes turning speed control model flow chart of Fig. 1 embodiment electric control parts.
Fig. 4 is the drum rotation speed automatic adjusument model process figure of Fig. 1 embodiment electric control parts.
Embodiment
Embodiment one
The combined harvester threshing cylinder driving control system of the present embodiment is formed and basic functional principle can use Fig. 1 letters
Single to represent, actual organically combined by hydraulic pressure and automatically controlled two parts forms.Hydraulic Pump-Motor System therein is by electrohydraulic proportional variable pump
Enclosed major loop is constituted with hydraulic motor, the swashplate angle of pump is adjusted by stroking mechanism, makes the discharge capacity and the letter of input of pump
Number correspondence, control the output speed of motor.Electric control part contain speed probe, pressure sensor, PLC, proportional amplifier, touch
Touch screen etc..Harvesting crops species can be selected on the touchscreen or sets the working speed of threshing cylinder, pass through speed probe
Rotating speed and system pressure are detected with pressure sensor, output control electric current after PLC collection sensor signal processing, electric current is through ratio
After amplifier amplification, control stroking mechanism changes the swashplate angle of electrohydraulic proportional variable pump, realizes the stepless changing of its discharge capacity, from
And reach the purpose of control drum rotation speed；The rotating speed collected and pressure value can be preserved and be delivered to display by PLC simultaneously
Screen, realizes that drum rotation speed and the monitoring of hydraulic part pressure are shown.In addition, touch-screen can also be used to select to roll according to crop varieties
Cylinder running parameter, PID initial parameters are set.
More specifically, hydraulic part is as shown in Fig. 2 including driving the hydraulic motor 8 of threshing cylinder and electric-hydraulic proportion to become
The main performance loop of enclosed speed governing that pump 1 is formed is measured, proportional variable pump 1 has to be become by series connection proportional direction valve 3 and double-action hydraulic
Measure the control loop that cylinder 2 is formed.The proportion electro-magnet coil at the both ends of proportional direction valve 3 connects control signal input respectively.By
There is the discharge capacity characteristic directly proportional under any operating pressure to control signal in proportional variable pump 1, therefore pass through Variable Control
Loop can adjust the swashplate angle of proportional variable pump 1, make its discharge capacity corresponding to the control signal inputted, so as to control hydraulic pressure horse
Up to 8 output speed.Specifically, can when proportion electro-magnet coil a, b input control electric signal on contrast proportional direction valve 3
To change the piston rod position of its spool displacement and hydraulic variable flow cylinder 2, so as to adjust the swashplate angle of proportional variable pump 1, realize
The stepless changing of its discharge capacity, reach by regulating and controlling the output speed of hydraulic motor 8 to control the purpose of threshing cylinder rotating speed.
Hydraulic motor 8 has control loop of changing oil in parallel, and control loop of changing oil mainly contains the three of the left side of hydraulic motor 8
Position threeway oil-changing valve, when 3-position-3-way oil-changing valve be in corresponding rotation direction change oil station when, with hydraulic motor 8 formation change oil
Loop, so deep fat can in time be swapped out by changing oil, reduce oil temperature, avoid closed hydraulic loop overheat from producing various.
The oil-feed termination of proportional direction valve 3 exports with the slippage pump 7 that proportional variable pump 1 has the input of same mechanical power
End, the output end of the slippage pump 7 also connects the low-pressure side of main performance loop by check valve 4,5 respectively, low to loop so as to realize
Press the repairing of side.The high-pressure overflow valve that check valve 4,5 plays pressure limiting with two respectively is in parallel, so as to prevent main performance loop pressure
Power is impacted or overload, and the output end of the slippage pump 7 also connects oil sources through overflow valve 6, pressure limiting loop formed, so as to control main work
The pressure in loop.X1, X2 in Fig. 2 are servoBcylinder pressure port, and Ps is control pressure oil-feed port, the detection for each oil circuit.
Electric control part includes the speed probe being placed on threshing cylinder and the pressure biography for being placed in main performance loop
Sensor Ma, Mb.The signal output part of speed probe and pressure sensor connects PLC corresponding signal input part respectively, PLC's
The control amplified device of electrical signal is followed by the control signal input of control loop, specifically, connects variable control
Proportion electro-magnet coil a, b on loop kind proportional direction valve 3 processed.
As shown in figure 3, the PLC in the present embodiment realizes that threshing cylinder rotating speed controls with following steps：
The first step, threshing cylinder real-time working rotating speed of the collection from speed probe；
Second step, by real-time working rotating speed with input or the control rotating speed n that adaptively obtains compared with；
3rd step, the absolute value of the bias e when comparative result（k）More than setting threshold value eo when, export corresponding control electricity
Signal, threshing cylinder rotating speed is adjusted by the output flow for adjusting electrohydraulic proportional variable pump, until absolute value of the bias is less than threshold value；
When the absolute value of the bias of comparative result is less than the threshold value of setting, threshing cylinder rotating speed is maintained.
Above-mentioned control rotating speed n adaptive obtaining step includes：
Storing step --- the rotating speed upper limit Nmax and lower rotation speed limit Nmin that storage threshing cylinder corresponds to various crops are defined
Preferred operating rotational speed range and the normal work that defines of corresponding hydraulic part upper pressure limit Pmax and low pressure limit Pmin
Pressure limit；
Just control step --- it is used as the first control of threshing cylinder to turn using rotating speed upper limit Nmax and lower rotation speed limit Nmin average value
Fast No=（Nmax-Nmin）/ 2, and using upper pressure limit Pmax and low pressure limit Pmin average value as preliminary design pressure Po=
（Pmax-Pmin）/2；
Acquisition step --- pressed in real time with predetermined time interval t from pressure sensor collection pre-determined number f hydraulic part
Power Pi, and try to achieve f real-time pressure Pi（i=1、2、…f）Average pressure value Pf；
；
Comparison step --- the normal work for defining average pressure value Pf and low pressure limit Pmin and upper pressure limit Pmax
Pressure limit compares：
When average pressure value Pf is more than or equal to low pressure limit Pmin and is less than or equal to upper pressure limit Pmax, with initialization
Rotating speed No is equal to rotating speed upper limit Nmax and lower rotation speed limit Nmin with incremental speed sum as control rotating speed n, the incremental speed
Difference divided by upper pressure limit Pmax and low pressure limit Pmin difference, multiplied by with average pressure value Pf and preliminary design pressure Po difference；
When average pressure value Pf is less than low pressure limit Pmin, control rotating speed n is used as using lower rotation speed limit Nmin；
When average pressure value Pf is more than upper pressure limit Pmax, control rotating speed n is used as using rotating speed upper limit Nmax.
Due to by substantial amounts of field test early stage, bench test and theoretical research, having obtained various common crop harvestings
Optimal threshing cylinder range of speeds when obtaining, optimal Threshing can be ensured in the range of speeds, while also obtain hydraulic pressure
The pressure limit during normal work of part, therefore directly select corresponding kind on the touchscreen according to crop varieties and obtain optimal rolling
Cylinder rotating speed, or harvest condition is adapted to by the direct setting speed of experience；If certain crop differs larger control with normal harvest condition
System processed adjusts optimum speed by adaptive model.Constant speed control system uses the PID control with dead band, avoids control action
Excessively frequently, eliminate caused by frequent movement and vibrate.
In addition, even if same crop because the moisture content of its harvest time and crop is different, to the rotating speed of threshing cylinder
It is required that it is also different, when the larger crop of harvest water content, it is necessary to properly increase rotating speed to improve separation rate；And harvest containing maturation
During the higher or relatively low moisture content crop of degree, then reduction rotating speed that should be appropriate to ensure the complete of seed, reduces percentage of damage,
The system of the present embodiment can realize drum rotation speed automatic adjusument according to specific crop difference harvest condition, ensure threshing performance,
Energy consumption is saved, makes threshing cylinder steady operation under optimal job parameter, prevents from blocking, ensures transaction capabilities, rationally reduces
Energy consumption.
Compared with the united reaper of conventional mechanical transmission, the system of the present embodiment uses controlled by electro-hydraulic proportional pump motor system
Combined harvester threshing cylinder is driven, realizes automatically adjusting and controlling to threshing cylinder rotating speed.During work, control system is led to
Cross touch-screen setting crop varieties or set threshing cylinder rotating speed according to actual crop demand, complete efficient threshing；If run into prominent
Varying load, control system can automatic stabilisation drum rotation speed ensure roller in optimum Working.
It is demonstrated experimentally that the controlled by electro-hydraulic proportional pump motor system driving combined harvester threshing cylinder of the present embodiment, can work as
When roller load occurs abnormal, hydraulic part control drum rotation speed is fed directly to, efficiently solves the stagnant of traditional control method
Sex chromosome mosaicism afterwards.The harvest of various crop can be realized in the case where being changed without any component of machine simultaneously.When crop harvesting bar
When part has larger difference with normal harvest state, control system can adapt to this harvest by adaptively adjusting drum rotation speed
Need.If occur of short duration load fluctuation during harvest, control system can stablize set drum rotation speed, prevent load from increasing
Back roll rotating speed reduces blockage phenomenon, threshing cylinder is remained optimal harvest parameter.
Claims (5)
- A kind of 1. combined harvester threshing cylinder driving control system, it is characterised in that：Contain hydraulic part and electric control part；The hydraulic part includes the hydraulic motor of driving threshing cylinder（8）And electrohydraulic proportional variable pump（1）The enclosed of composition is adjusted The main performance loop of speed, the hydraulic motor have control loop of changing oil in parallel, and the proportional variable pump has by series connection ratio Direction valve（3）With double-action hydraulic variable cylinder（2）The control loop of composition；The electric control part includes the speed probe being placed on threshing cylinder and is placed in the main performance loop（Ma、 Mb）Pressure sensor, the signal output part of the speed probe and pressure sensor connects the defeated to induction signal of PLC respectively Enter end, the amplified device of control electrical signal of the PLC is followed by the control signal input of control loop.
- 2. combined harvester threshing cylinder driving control system according to claim 1, it is characterised in that：The control of changing oil 3-position-3-way oil-changing valve is contained in loop processed, when the 3-position-3-way oil-changing valve is in the work of changing oil of corresponding hydraulic motor direction of rotation During position, loop of changing oil is formed with hydraulic motor.
- 3. combined harvester threshing cylinder driving control system according to claim 1 or 2, it is characterised in that：The ratio The output end of the oil-feed termination slippage pump of proportional direction valve, the output end of the slippage pump also connect the main work by check valve and returned The low-pressure side on road.
- 4. combined harvester threshing cylinder driving control system according to claim 3, it is characterised in that：The check valve It is in parallel with high-pressure overflow valve.
- 5. combined harvester threshing cylinder driving control system according to claim 4, it is characterised in that：The slippage pump Output end also connect oil sources through overflow valve.
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| CN201720693397.6U CN206978110U (en) | 2017-06-15 | 2017-06-15 | A kind of combined harvester threshing cylinder driving control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107155533A (en) * | 2017-06-15 | 2017-09-15 | 农业部南京农业机械化研究所 | A kind of combined harvester threshing cylinder driving control system and method |
| CN112640668A (en) * | 2021-01-08 | 2021-04-13 | 河南科技大学 | Roller threshing machine and self-adaptive speed regulation method thereof |
-
2017
- 2017-06-15 CN CN201720693397.6U patent/CN206978110U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107155533A (en) * | 2017-06-15 | 2017-09-15 | 农业部南京农业机械化研究所 | A kind of combined harvester threshing cylinder driving control system and method |
| CN112640668A (en) * | 2021-01-08 | 2021-04-13 | 河南科技大学 | Roller threshing machine and self-adaptive speed regulation method thereof |
| CN112640668B (en) * | 2021-01-08 | 2022-03-18 | 河南科技大学 | Roller threshing machine and self-adaptive speed regulation method thereof |
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