JP2002054473A - Combine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve design and manufacture and handling ability by performing proper control of a vehicle speed controller (27) and a governor controller (34) in relation with each other though the vehicle speed controller (27) is disposed apart from the governor controller (34) and commonly using either the vehicle speed controller (27) or the governor controller (34) and varying the structure and the function of the other. SOLUTION: In a combine provided with a threshing part (4), a cutting part (8) and effecting threshing by continuously cutting cereal stalks and automatically controlling the vehicle speed, and a governor controller (34) to control the number of revolutions of an engine (20), the vehicle speed controller (27) and the governor controller (34) air interconnected for communication.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile agricultural machine such as a combine harvester for cutting and threshing grain culms.

[0002]

2. Description of the Related Art Conventionally, Japanese Unexamined Patent Publication No.
As disclosed in Japanese Patent Application Laid-Open No. Hei 2-100616, there is a technology for automatically controlling the fuel injection amount of the engine to provide an electronic governor for keeping the rotation of the engine at a set rotation, and for controlling the traveling speed to change the vehicle speed.

[0003]

In the prior art, since both the engine speed and the traveling speed are controlled by an automatic controller provided in a driving operation unit, the automatic control is performed by changing the structure and function of the engine or the electronic governor. It is also necessary to change the controller, and it is troublesome to design and manufacture the controller, etc., so that the manufacturing cost cannot be easily reduced, and the cost of storing parts for replacement and repair cannot be reduced. There's a problem.

[0004]

SUMMARY OF THE INVENTION Accordingly, the present invention provides a vehicle speed controller having a threshing unit and a reaping unit for continuously cutting and threshing a grain stalk and automatically controlling a traveling speed.
In a combine equipped with a governor controller that controls the number of revolutions of the engine, the vehicle speed controller and the governor controller are connected for communication.For example, even if the vehicle speed controller is arranged near a driving operation unit or a transmission case away from the engine. The traveling speed control of the traveling crawler by the vehicle speed controller and the engine speed control by the governor controller can be appropriately performed in association with each other, and the structure and function of the engine or the electronic governor by sharing the vehicle speed controller. Can be changed, and the structure and function of the vehicle speed controller can be changed by sharing the governor controller, so that the design, manufacture, and handleability can be easily improved.

[0005]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below in detail with reference to the drawings. 1 is a control circuit diagram, and FIG. 2 is an overall side view of the combine, in which (1) is a traveling crawler (2).
(4) is a threshing unit equipped with an axial-flow screw-type handling cylinder (5) and a sorting mechanism (6) and mounted on the machine (1); 7) is a grain tank for storing grains from the threshing unit (4), (8) is a harvesting unit which is installed in a lower front of the threshing unit (4) via a hydraulic cylinder (9) so as to be able to move up and down, (10) ) Is a driver's cab provided with a driver's seat and a driving operation unit and fixed in front of the grain tank (7), and (11) is a grain carrying auger for taking out grains in the grain tank (7).

The cutting section (8) includes a cereal header (11) for incorporating uncut culm stems, and the header (11).
And a feed chamber (12) for feeding the harvested grain culm to the threshing unit (4) by being connected to the approximate center of the rear part, and a reel (13) for scraping the uncut grain culm and a reciprocating drive type cutting blade (1).
4) and a grain stalk scraping drum (15) in the grain header (11), and a supply chain conveyor (16) in which a harvested grain culm to be taken into the header (11) is provided in a supply chamber (12). Through the threshing unit (4) for threshing.

As shown in FIG. 3, the vehicle speed of the combine is changed by a variable displacement hydraulic pump (18) and a hydraulic motor (19) constituting a continuously variable transmission mechanism (17) which is an HST. A transmission having a drive sprocket (22) for the traveling crawler (2) by interlockingly connecting an input shaft (18a) of the hydraulic pump (18) to an output shaft (20a) of (20) via a belt transmission mechanism (21). The output shaft (1) of the hydraulic motor (19) is attached to the case (23).
9a), the handle cylinder input shaft (5a) of the handle cylinder (5) is linked to the input shaft (20a) of the engine (20) via a belt and a gear transmission mechanism (24).

The engine (20) has an electronic governor (25) for controlling a fuel injection amount of a fuel injection pump by an injection amount adjusting rack to keep the rotation speed constant, and the hydraulic pump (18). Has a DC servomotor (26) for controlling the swash plate angle to adjust the hydraulic discharge amount, and is configured to control the increase / decrease of the vehicle speed by forward / reverse drive of the motor (26). ing.

As shown in FIG. 1, a vehicle speed control circuit (27), which is a fuzzy inference vehicle speed calculation circuit for driving and controlling the servo motor (26), includes an automatic switch (28) for automatically controlling the vehicle speed, and the reaper. A threshing load sensor (29) for detecting a certain level of the mowing load in the section (8), and a threshing load sensor (30) for detecting a certain level of the threshing load such as the handling cylinder (5) in the threshing section (4). And a straw cutting load sensor (31) for detecting a certain or more cutting load on the straw cutter
And a vehicle speed sensor (32) for detecting a vehicle speed and an HST oil pressure sensor (33), and drive control of a rack position adjusting mechanism (25a) of a governor (25) for adjusting an injection amount of a fuel injection pump. Governor control circuit (34)
And an engine rotation sensor (35) for detecting the rotation of the engine (20) and a governor rack position sensor (36) for detecting the position of the injection amount adjusting rack in the governor (25). , The control circuit (27) (3
4) to make a communication connection between these sensors (29) (3)
0) (31) (32) (33) (35) (36) Based on the detection of the engine (20) constant speed control, emergency stop of the engine (20) and vehicle speed control based on fuzzy inference. Make up.

As is apparent from the above, a vehicle speed control circuit which is a vehicle speed controller having a threshing unit (4) and a reaping unit (8) and continuously cutting and threshing the culm and automatically controlling the traveling speed. (27) In a combine including a governor control circuit (34) which is a governor controller for controlling the number of revolutions of the engine (20), the vehicle speed control circuit (27) and the governor control circuit (34) are connected by communication. For example, the governor control circuit (34) is arranged near the engine (20) provided with the electronic governor (25), and for example, near the operation unit or the transmission case (23) remote from the engine (20). The vehicle speed control circuit (27)
The control of the traveling speed of the traveling crawler (2) and the control of the rotation speed of the engine (20) by the governor control circuit (34) are appropriately performed in association with each other, and the vehicle speed control circuit (27) is shared. To change the structure and function of the engine (20) or the electronic governor (25), and to change the structure and function of the vehicle speed control circuit (27) by sharing the governor control circuit (34); Improve the performance.

Further, an electronic governor (25) for controlling a fuel injection amount of the engine (20), a vehicle speed sensor (32) for detecting a vehicle speed, and a servomotor (26) as a traveling speed change member for changing the vehicle speed are provided. At the same time, the target vehicle speed is calculated by fuzzy inference based on at least the fuel injection amount controlled by the electronic governor (25) and the rate of change of the fuel injection amount, and the vehicle travels based on the target vehicle speed and the vehicle speed detection value of the vehicle speed sensor (32). The shift output is calculated by fuzzy inference, and the shift servomotor (26) is operated based on the shift output.
In a combine provided with a vehicle speed control circuit (27) which is a vehicle speed controller for automatically controlling the speed, an automatic switch (28) for automatically controlling the vehicle speed, and a cutting load sensor for detecting a certain or more cutting load in the cutting unit (8). (29)
A threshing load sensor (30) for detecting a certain or more threshing load, such as a handling cylinder (5) in a threshing unit (4), and a straw cutting load sensor (3) for detecting a certain or more cutting load with a straw cutter.
1) a vehicle speed sensor (32) for detecting a vehicle speed;
A governor control circuit (34) for driving and controlling a governor (25) for adjusting an injection amount of a fuel injection pump while inputting a hydraulic pressure sensor (33) to a vehicle speed control circuit (27).
An engine rotation sensor (35) for detecting the rotation of the engine (20) and a governor rack position sensor (36) for detecting the position of the injection amount adjusting rack in the governor (25) are connected. , Each of the control circuits (27)
(34) to establish communication connection between the automatic switch (28)
During a certain grace period immediately after the start of the vehicle speed control, the engine (20) speed is controlled in a predetermined initial mode, the vehicle speed is also driven at the initial set speed, and then the engine (20) speed is turned on. It is configured to perform constant control of the number, emergency stop of the engine (20), and vehicle speed control based on fuzzy inference. Then, the initial mode control is performed within a certain grace period immediately after the start of the vehicle speed control, and the initially set engine (20)
The automatic work is started at the rotation speed and the vehicle speed, and the vehicle speed control based on the fuzzy inference is smoothly started. Is maintained at an appropriate speed to eliminate the problem that the rotation speed of the engine (20) is changed due to overload and the harvesting speed is changed, and that the driving force of the traveling crawler (2) is insufficient due to the reduced rotation of the engine (20). The vehicle speed controller (27) controls the traveling crawler (2) drive speed appropriately,
The simplification of the manual operation of the worker and the improvement of the efficiency of the harvest work are aimed at.

This embodiment is configured as described above, and the vehicle speed control will be described below with reference to the flowchart of FIG.

Now, reference values and detected values of the respective modules are initialized, and the sensors (29) to (33), (35), (3)
6) The detection value is input, and the emergency signal of the engine (20) is output when an emergency signal is output at the time of abnormal work in the cutting unit (8), the threshing unit (4), the straw cutter unit, or the traveling unit. During normal operation, the sensors are stopped (32)
(35) Reception of engine (20) data and counting of vehicle speed data based on the detection of (36) are performed. If the automatic switch (28) is turned on within a certain grace period immediately after the start of vehicle speed control, Controls the number of revolutions of the engine (20) in a predetermined initial mode, and runs at the initial set speed.

After a lapse of a predetermined delay time, a target vehicle speed deviation value (VE) requiring acceleration / deceleration with respect to the current vehicle speed is calculated and output based on fuzzy inference from the input data of the engine (20) to obtain the target vehicle speed. The vehicle travels under controlled conditions.

Next, the fuzzy inference control for calculating the vehicle speed deviation value (VE) will be described with reference to FIGS.

As shown in FIG. 6, the relationship between the input rack position (fuel injection amount) of the electronic governor (25) and the engine speed is represented by a maximum load curve (RMAX) and a no-load curve (RIDL). The rack position deviation value (RE), its rate of change (RD) and the maximum output deviation value (R
M), where the rated speed N rpm, the maximum target value of the rack that becomes the target maximum injection amount is A, and the no-load value of the rack that becomes the injection amount at no load is B, and the load factor is 8
The value C of the target rack value (RACT), which is the target injection amount when 0% is set, is calculated from the relational expression of 80% = CB / AB. That is, the actual output data (rac
t) is D, at which time the control circuit (3) which is an electronic governor controller by constant control of the rotation speed of the engine (20).
4), the target rack value C and the rack deviation value RE from the maximum target value A (= D
-C), the maximum target deviation value RM (= EA) and the rate of change (RD) of the deviation value (RE) during a certain period of time are input as fuzzy inference values. Although constant control of the number of revolutions of the engine (for example, constant control of 2625 rpm) is performed, the rotation sensor (35) is controlled due to control delay of the rack position adjusting mechanism (25a) or the like, stepwise control, rapid fluctuation of load, or the like. ), The maximum target value (for example, A) determined by the maximum load curve does not substantially match the limited maximum injection amount E output from the electronic governor controller. (However, they may coincide with each other.) Then, as shown in FIG.
(Positive and large), PS (positive and small), ZO (zero),
These values (RE), (RD), and (RM) are normalized to correspond to a membership function represented by five fuzzy sets of NS (negative and small) and NB (negative and large), and are fuzzy. It is converted into variables (re), (rd), and (rm).

For example, by applying a numerical value to this,
N = 2625 rpm, target load factor 80%, A = 18
9, when B = 102, C = 172 is calculated, and D
= 176, E = 187, RE = 4, RM = -2 are calculated, and when RE = 4, RD = 0, RM = -2 are input as input data from the electronic governor (25),
Re = 18, rd = so as to correspond to the membership function
14, a conversion is made to rm = 12 input variables.

The degree (grade) at which the values of the variables (re), (rd), and (rm) are included in these five sets is obtained as the weight of the triangular membership function in FIG.

For example, when re = 18 NB = 0 NS = 4 ZO = 11 PS = 12 PB = 5 rd = 14 NB = 1 NS = 8 ZO = 15 PS = 8 PB = 1 rm = 12 NB = 3 NS = 10 ZO = 13 PS = 6 PB = 0

For each rule, the fitness as a variable that is the antecedent of the rule, ie, the membership values (re), (rd), and (rm) are calculated from FIG.

For example, in the if-then type rule 0 of fuzzy control, "if re is ZO, rd is ZO,
If rm is NB, the target vehicle speed deviation value ve is set to ZO. "If the value of re = 18 is 11, the fitness to the antecedent part" re is ZO "of the rule is 11 from FIG.
If the value of d = 14 is “rd is ZO”, the fitness is 15,
Furthermore, the fitness of rm = 12 for “rm is NB” is 3.

The fitness of the antecedent part calculated in each rule is obtained by minimum synthesis (taking the smallest value from each value). In the case of illustration, min (11, 15,
3) = 3.

As shown in FIG. 9, the output fuzzy of each rule consequent is obtained. The figure shows the case where ve = ZO of rule 0.

As shown in FIG. 10, the head of the output fuzzy set of the consequent part is cut by the fitness of the antecedent part of each rule. In the case of illustration, it cuts in 3.

When all such processes for each rule are completed, as shown in FIG. 11, the output fuzzy sets for all rules are subjected to the maximal synthesis.

The center of gravity is obtained by non-fuzzy processing from the synthesized output fuzzy set, and an output fuzzy variable ve which is a deviation from a median is calculated.

The output fuzzy variable (ve) is converted into a vehicle speed deviation value (VE) which is an actual vehicle speed control output.

When such fuzzy inference is used for vehicle speed control, a multidimensional nonlinear function can be easily realized, and parameters of the nonlinear function can be set and changed intuitively by fuzzy rules, thereby expanding adaptability. Can be done.

[0029]

As is apparent from the above embodiments, the present invention comprises a threshing unit (4) and a cutting unit (8), and continuously cuts and threshes the culm and automatically controls the traveling speed. In a combine including a vehicle speed controller (27) and a governor controller (34) for controlling the number of revolutions of the engine (20), the vehicle speed controller (27) and the governor controller (34) are communicatively connected. ) And a vehicle speed controller (2) near a driving operation unit or a transmission case (23).
7), the traveling speed control of the traveling crawler (2) by the vehicle speed controller (27) and the rotation speed control of the engine (20) by the governor controller (34) are properly related to each other. And the engine (2) is shared with the vehicle speed controller (27).
0) or the structure and function of the electronic governor (25) can be changed, and the structure and function of the vehicle speed controller (27) can be changed by sharing the governor controller (34) to improve design, manufacture and handling. This can be easily achieved.

[Brief description of the drawings]

FIG. 1 is a control circuit diagram.

FIG. 2 is an overall side view of the combine.

FIG. 3 is a partial explanatory view of an engine drive system.

FIG. 4 is a flowchart of vehicle speed control.

FIG. 5 is a flowchart of fuzzy control.

FIG. 6 is a characteristic diagram showing a relationship between an engine and a rack position.

FIG. 7 is an explanatory diagram showing a triangular fuzzy variable.

FIG. 8 is an explanatory diagram showing the fitness of each rule of a fuzzy variable.

FIG. 9 is an explanatory diagram of an output fuzzy set.

FIG. 10 is an explanatory diagram of a cut of an output fuzzy set.

FIG. 11 is an explanatory diagram of the maximum synthesis of an output fuzzy set.

[Explanation of symbols]

 (4) Threshing unit (8) Cutting unit (20) Engine (27) Vehicle speed control circuit (vehicle speed controller) (34) Governor control circuit (governor controller)

Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat II (reference) F02D 29/00 F02D 29/00 B 3G301 41/04 360 41/04 360G 41/40 41/40 K 45/00 305 45 / 00D 305D 312 312M F-term (reference) 2B074 AA05 AC02 BA15 CD02 DA02 DB01 DB03 DB04 GJ04 3D044 AA01 AA21 AA45 AA50 AB04 AC03 AC05 AC21 AC26 AC41 AD02 AD06 AD16 AE03 AE21 3G060 AA08 AC08 BA02 CA03 FA03 FA18 FA33 3G093 AA09 AB01 BA26 CA05 DA01 DB05 EA03 EB02 FA04 3G301 HA28 JA35 LB07 PE01A PE01Z PF01Z

Claims (1)

[Claims] 1. A threshing unit (4) and a reaping unit (8),
A vehicle speed controller (27) for continuously cutting and threshing the culm and automatically controlling the traveling speed, and an engine (2)
0) in a combine equipped with a governor controller (34) for controlling the rotation speed of the vehicle speed controller (2).
And a governor controller (34) for communication connection.