JP2016187325A - Working vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To cause a working machine to be positioned at a target position quickly and accurately while effectively preventing a hunting operation.SOLUTION: A control device determines whether or not an angular acceleration acquired by differentiating an actual angular speed is within a predetermined threshold, and, if the angular acceleration is within the predetermined threshold, operates an actuator using a standard control signal calculated based on a position deviation and the actual angular speed. If the angular acceleration exceeds the predetermined threshold, the control device calculates a prediction angular speed adding correction to the actual angular speed according to the magnitude of the angular acceleration, and executes prediction control to operate the actuator using a prediction control signal calculated based on the position deviation and the prediction angular speed.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a working vehicle such as a tractor provided with a vehicle main unit and a working unit connected to the vehicle main unit so as to be relatively movable.

  A work vehicle such as a tractor or the like in which the work machine is connected to the vehicle main body so as to be relatively movable, and an automatic alignment function for automatically following the actual position of the work machine to a target position set by a position setting member Work vehicles equipped with are proposed and used.

  For example, in Patent Document 1 below, in the automatic tilt control that causes the actual inclination of the work implement to follow the target inclination, a control signal to the tilt actuator that tilts the work implement is expressed as an angular deviation between the actual inclination and the target inclination. The generation based on the angular velocity is described.

  The configuration described in Patent Document 1 matches the actual inclination of the work implement to the target inclination more quickly while suppressing hunting, compared to a configuration in which a control signal to the tilt actuator is generated based only on the angular deviation. It is useful in that it can.

  By the way, in the angular velocity acceleration state in which the angular velocity is gradually increased and the angular velocity deceleration state in which the angular velocity is gradually decelerated, it is assumed that the angular deviation and angular velocity at a certain point are the same, The resulting work machine operation will be different.

However, in the configuration described in Patent Document 1, even if the angular velocity is increasing or decelerating, if the angular deviation and the angular velocity are the same, control to the tilt actuator is possible. The signal will be the same.
In this regard, the configuration described in Patent Document 1 has room for improvement.

Japanese Patent No. 5524753

  The present invention has been made in view of such a conventional technique, and the actuator is operated so that the actual position of the working machine connected to the vehicle machine so as to be relatively movable is located at the target position set by the position setting member. It is an object of the present invention to provide a work vehicle to be controlled that can cause the work machine to follow a target position quickly and accurately while effectively preventing a hunting operation.

  In order to achieve the above object, the present invention provides a vehicle main unit, a working unit connected to the vehicle main unit so as to be relatively movable, an actuator for moving the working unit relative to the vehicle main unit, A position setting member that sets a target position of the work implement; a position detection member that detects an actual position of the work implement; an angular velocity sensor that detects an angular velocity of the vehicle main unit; and the position detection member that detects the position detection member. And a control device that controls the operation of the actuator so that the actual position of the work implement is positioned at a target position set by the position setting member, the control device receiving from the angular velocity sensor It is determined whether or not the angular acceleration obtained by differentiating the actual angular velocity is within a predetermined threshold value. If the angular acceleration is within the predetermined threshold value, it is based on the position deviation and the actual angular velocity. When the angular acceleration exceeds a predetermined threshold while the actuator is operated using the standard control signal calculated in the above, the predicted angular velocity obtained by correcting the actual angular velocity according to the magnitude of the angular acceleration is set. Provided is a work vehicle configured to perform predictive control for operating the actuator using a predictive control signal that is calculated and calculated based on a positional deviation and a predicted angular velocity.

  In one embodiment, the actuator includes a tilt hydraulic cylinder that tilts the working machine in a left-right direction with respect to the vehicle main unit according to an expansion / contraction operation, and the position detection member is a left-right tilt of the vehicle main unit. A machine inclination sensor for detecting an angle; and a stroke sensor for detecting an extension / contraction length of the inclination hydraulic cylinder; and the position setting member includes an inclination setting member for setting a right and left inclination angle of the work implement. obtain.

  In this case, the control device sets the actual inclination angle of the work implement based on signals from the machine inclination sensor and the stroke sensor as the actual position, and sets the target inclination angle set by the inclination setting member as the target position. As described above, the predictive control may be executed when the automatic tilt control for operating the tilt hydraulic cylinder is performed.

  The actuator is an electromagnetic proportional valve inserted in a supply / discharge line that supplies / discharges hydraulic oil to / from the inclined hydraulic cylinder, and the inclination is determined according to the magnitude of the applied control current value or control voltage value. An electromagnetic proportional valve capable of changing the flow rate of hydraulic oil supplied to and discharged from the hydraulic cylinder is provided.

  In this case, preferably, the control device is divided based on a plurality of angle deviation grades divided based on the magnitude of the angle deviation between the actual inclination angle and the target inclination angle and the magnitude of the angular velocity. A control signal map including a plurality of angular velocity grades and a control current value or a control voltage value determined for each work machine posture state defined by a combination of the angular deviation grade and the angular velocity grade, and the control device includes: When the angular acceleration is within a predetermined threshold, the control current value or the control voltage value of the work equipment attitude state determined by the angular deviation grade to which the current angular deviation belongs and the angular velocity grade to which the actual angular speed belongs When applied to the electromagnetic proportional valve and the angular acceleration exceeds a threshold value in the direction of extension of the inclined hydraulic cylinder, the angle to which the angular deviation at that time belongs A control current value or a control voltage value of a working machine attitude state determined by a deviation grade and an angular velocity grade that is positioned on the inclined hydraulic cylinder extension direction side by one grade from the angular velocity grade to which the actual angular velocity at that time belongs belongs to the electromagnetic proportional valve. If the angular acceleration exceeds a threshold in the shortening direction of the inclined hydraulic cylinder, the inclined hydraulic cylinder is shortened by one grade from the angular deviation grade to which the current angular deviation belongs and the angular speed grade to which the actual angular speed belongs. It may be configured to apply a control current value or a control voltage value of a work implement attitude state determined by an angular velocity grade located on the direction side to the electromagnetic proportional valve.

  More preferably, the threshold value of the angular acceleration in the direction of shortening the inclined hydraulic cylinder can be set larger than the threshold value in the direction of extending the inclined hydraulic cylinder.

  The working machine is a rotary cultivator, and the actuator has a lifting hydraulic cylinder that raises and lowers the working machine with respect to the vehicle main unit according to an expansion / contraction operation, and the position detection member is a plow for the working machine. In the case of having a tilling position detection sensor for detecting a depth position, and the position setting member has a tilling position setting member for setting a tilling position of the work implement, the control device Automatic tilling control for operating the lifting hydraulic cylinder with the working position of the working machine based on the signal from the detection sensor as the actual position and the working position set by the working position setting member as the target position When performing, it may be configured to execute the predictive control.

  According to the work vehicle of the present invention, the control device determines whether or not the angular acceleration obtained by differentiating the actual angular velocity received from the angular velocity sensor is within a predetermined threshold, and the angular acceleration is within the predetermined threshold. In this case, the actuator for moving the work implement is operated using the standard control signal calculated based on the position deviation and the actual angular velocity, and when the angular acceleration exceeds a predetermined threshold, the actual angular velocity is set. On the other hand, a predicted angular velocity that is corrected according to the magnitude of the angular acceleration is calculated, and a predictive control that operates the actuator is performed using a predicted control signal that is calculated based on the position deviation and the predicted angular velocity. Since it is comprised, the actual position of the said working machine can be made to follow a target position rapidly and correctly, preventing a hunting operation | movement effectively.

FIG. 1 is a side view of a working vehicle according to an embodiment of the present invention. FIG. 2 is a schematic diagram of transmission of the working vehicle. FIG. 3 is a block diagram of a control device in the working vehicle. FIG. 4 is a hydraulic circuit diagram of the working vehicle. FIG. 5 is a partially enlarged view of the vicinity of the link mechanism in the working vehicle. FIG. 6 is a flowchart of automatic tilt control in the working vehicle. FIG. 7 is an example of a control signal map in which a control current value is assigned for each work machine posture state defined based on the angular deviation and the angular velocity. FIG. 8 is a flowchart when the dead zone variable control is executed in the automatic tilt control.

Hereinafter, preferred embodiments of a working vehicle according to the present invention will be described with reference to the accompanying drawings.
1 and 2 show a side view and a transmission schematic diagram of a working vehicle according to the present embodiment, respectively.

  As shown in FIG. 1, the working vehicle according to the present embodiment includes a vehicle main unit 1 in the form of a tractor, and a working unit 300 connected to the vehicle main unit 1 so as to be relatively movable. Yes.

  The vehicle main unit 1 includes a vehicle frame 10, a driver seat 15 supported by the vehicle frame 10, an engine 50 supported by the vehicle frame 10, a pair of left and right front wheels 20F, and a pair of left and right rear wheels 20R. A traveling transmission mechanism 60 that transmits the rotational power from the engine 50 to the drive wheels, a PTO shaft 95 that outputs the rotational power to the outside, and the rotational power from the engine 50 to the PTO shaft 95 PTO transmission structure 80 is provided.

  The engine 50 is supported at a front portion of the vehicle frame 10 and is covered with a bonnet 45.

As shown in FIG. 2, in the present embodiment, the traveling system transmission structure 60 has a hydraulic continuously variable transmission (HST) 61, a forward / reverse switching device 62, and a gear-type multi-stage transmission 63. .
The HST 61, the forward / reverse switching device 62, and the gear type multi-stage transmission 63 are supported or accommodated in a mission case 30 (see FIG. 1).

  As shown in FIG. 2, the HST 61 is configured to continuously change the rotational power from the engine 50 input via the main clutch 51.

  Note that reference numerals 52 and 53 in FIG. 2 denote a first hydraulic pump and a second hydraulic pump that are driven by rotational power from the engine 50 input via the main clutch 51.

  In the present embodiment, the HST 61 is configured to perform a speed change operation via a main speed change actuator 220 that is operation-controlled by the control device 100 provided in the work vehicle.

FIG. 3 shows a control block diagram of the control device 100.
As shown in FIG. 3, the vehicle main body includes a main transmission operation member 120 that is manually operated, an operation-side main transmission sensor 120 a that detects an operation position of the main transmission operation member 120, the main transmission actuator 220, An operating-side main transmission sensor 61a for detecting the output rotation speed of the HST 61.

  Then, the control device 100 determines that the output rotation speed of the HST 61 detected by the operating side main transmission sensor 61a is a speed corresponding to the operation state of the main transmission operation member 120 detected by the operation side main transmission sensor 120a. Thus, the operation of the main transmission actuator 220 is controlled.

FIG. 4 shows a hydraulic circuit diagram of the vehicle main unit 1.
In the present embodiment, as shown in FIG. 3, the main transmission actuator 220 is accommodated in the hydraulic cylinder 220a and the hydraulic cylinder 220a so as to reciprocate, and operates on a transmission operation member such as a control shaft in the HST 61. A hydraulic piston 220b to be connected and an electromagnetic valve 220c for switching supply / discharge of hydraulic oil to / from the hydraulic cylinder 220a are provided, and the operation of the electromagnetic valve 220c is controlled by the control device 100.
Alternatively, the main transmission actuator 220 can be configured to have an electric motor.

As shown in FIG. 4, the main transmission actuator 220 is configured to operate by pressure oil from the first hydraulic pump 52 that also acts as a charge oil source for the HST 61.
As shown in FIG. 4, the first hydraulic pump 52 and the second hydraulic pump 53 use the stored oil in the transmission case 30 as an oil source.

  The forward / reverse switching device 62 is configured to switch and output the rotational direction of the rotational power operatively transmitted from the HST 61.

  The forward / reverse switching device 62 is in a forward state in which the rotational power from the HST 61 is output to the drive wheel as rotational power in the normal rotation direction (forward direction), and the rotational power from the HST 61 is in the reverse direction (reverse direction). The reverse drive state is output to the drive wheel as the rotational power, and the neutral state in which the power transmission from the HST 61 to the drive wheel is cut off.

  The forward / reverse switching device 62 can selectively take a forward state, a neutral state, or a reverse state in accordance with an artificial operation to the forward / reverse switching operation member 130 such as an F / R lever that is manually operated. ing.

  Specifically, the vehicle main unit 1 includes the forward / reverse switching operation member 130, an operation-side forward / reverse sensor 130a that detects an operation position of the forward / reverse switching operation member 130, a forward / reverse switching actuator 230, and a forward / reverse switching. And an operating side forward / reverse sensor 62a for detecting an operating state of the actuator 230.

  Then, the control device 100 determines the operation state of the forward / reverse switching operation member 130 in which the output state of the forward / reverse switching device 62 detected by the operating side forward / reverse sensor 62a is detected by the operation side forward / reverse sensor 130a. The operation control of the forward / reverse switching actuator 230 is performed so as to meet the above.

In the present embodiment, as shown in FIG. 4, the forward / reverse switching actuator 230 corresponds to the forward hydraulic piston 230F, the reverse hydraulic piston 230R, the forward hydraulic piston 230F, and the reverse hydraulic piston 230R. An electromagnetic valve 230 a that switches between supply and discharge of hydraulic oil is included, and the electromagnetic valve 230 a is controlled by the control device 100.
Alternatively, the forward / reverse switching actuator 230 can be configured to have an electric motor.

  As shown in FIG. 4, the forward / reverse switching actuator 230 is configured to be operated by pressure oil from the first hydraulic pump 52.

  The multi-stage transmission 63 shifts the rotational power input via the forward / reverse switching device 62 and transmits it to the traveling system output shaft 65.

  In the present embodiment, the multi-stage transmission device 63 is configured to perform a speed change operation via an auxiliary transmission actuator 240 that is controlled by the control device 100.

  Specifically, as shown in FIG. 3, the vehicle main unit 1 includes an auxiliary transmission operation member 140 that is manually operated, an operation-side auxiliary transmission sensor 140 a that detects an operation position of the auxiliary transmission operation member 140, A shift actuator 240 and an operation side auxiliary shift sensor 63a for detecting the shift stage of the multi-stage transmission 63 are provided.

  Then, the control device 100 responds to the operation state of the sub-transmission operation member 140 in which the gear position of the multi-stage transmission 63 detected by the operating-side sub-speed sensor 63a is detected by the operation-side sub-transmission sensor 140a. The sub-transmission actuator 240 is controlled so as to achieve a different gear position.

  In the present embodiment, as shown in FIGS. 2 and 4, the traveling system transmission structure 60 further has a pair of rear wheels 20 </ b> R that act as main drive wheels using the rotational power of the traveling system output shaft 65. A differential transmission main drive wheel side differential gear device 66, a sub drive wheel drive device 70 for inputting rotational power of the traveling system output shaft 65, and rotational power from the sub drive wheel drive device 70 as sub drive wheels. A sub-drive wheel side differential gear device 71 that differentially transmits to the pair of front wheels 20F that act, and a pair of left and right brake devices 75L and 75R that can apply braking force to the pair of left and right main drive wheels, respectively. Yes. In FIG. 2, only the left brake device 75L is shown.

  Further, as shown in FIGS. 1 and 3, the vehicle main unit 1 includes a turning operation member 115 such as a steering wheel that is manually operated, and an operation side turning sensor 115 a that detects an operation position of the turning operation member 115. And a turning actuator 215 such as a power steering device, and an operation side turning sensor 90a for detecting a vehicle turning angle.

  Then, the control device 100 controls the turning actuator 215 so that the vehicle turning angle detected by the operation side turning sensor 90a becomes the operation angle of the turning operation member 115 detected by the operation side turning sensor 115a. Perform operation control.

  In the present embodiment, as shown in FIG. 3, the turning actuator 215 includes a hydraulic cylinder 215a, a hydraulic piston 215b that is reciprocally accommodated in the hydraulic cylinder 215a, and is operatively connected to a steering wheel, An electromagnetic valve 215c for switching supply / exhaust of hydraulic oil to / from the hydraulic cylinder 215a is provided, and the electromagnetic valve 25c is controlled by the control device 100.

  As shown in FIG. 4, the turning actuator 215 is configured to be operated by pressure oil from the first hydraulic pump 52.

Next, the PTO transmission structure 80 will be described.
As shown in FIG. 2, in the present embodiment, the PTO transmission structure 80 includes a PTO clutch device 81 and a PTO transmission device 82.

  The PTO clutch device 81 is configured to selectively transmit or cut off rotational power from the engine 50 input via the main clutch 51.

  The PTO transmission 82 is configured to change the rotational power from the engine 50 input via the PTO clutch mechanism 81 and output it to the PTO shaft 95.

  In the present embodiment, the PTO clutch device 81 and the PTO transmission device 82 are configured to operate by a PTO clutch actuator 260 and a PTO transmission actuator 270 that are controlled by the control device 100, respectively. .

  That is, the vehicle main unit 1 includes a PTO on / off operation member 160 that is manually operated, an operation side PTO on / off sensor 160a that detects an operation position of the PTO on / off operation member 160, the PTO clutch actuator 260, An operation side PTO on / off sensor 81a for detecting an operation state of the PTO clutch device 81, a PTO speed change operation member 170 that is manually operated, and an operation side PTO speed change sensor 170a for detecting an operation position of the PTO speed change operation member 170 The PTO speed change actuator 270 and an operation side PTO speed change sensor 82a for detecting the operating state of the PTO speed change device 82 are provided.

  Then, the control device 100 operates the PTO on / off operation member 160 in which the operating state of the PTO clutch device 81 detected by the operating side PTO on / off sensor 81a is detected by the operating side PTO on / off sensor 160a. The operation of the PTO clutch actuator 260 is controlled so as to change according to the state, and the operation state of the PTO transmission device 82 detected by the operation side PTO transmission sensor 82a is controlled by the operation side PTO transmission sensor 170a. The operation control of the PTO speed change actuator 270 is performed so as to change according to the detected operation state of the PTO speed change operation member 170.

  The working machine 300 can be moved up and down with respect to the vehicle main unit 1 and can be tilted in the left-right direction in a state where rotational power operatively transmitted from the engine 50 can be input via the PTO shaft 95. And is moved up and down by a lifting actuator 320 (see FIGS. 3 and 4) provided in the working vehicle, and tilted in the left-right direction by a tilting actuator 420 (see FIGS. 3 and 4). It has become.

FIG. 5 shows a partially enlarged view in the vicinity of the link mechanism 380.
In the present embodiment, as shown in FIGS. 1 and 5, the link mechanism 380 has a top link 381 and a pair of left and right lower links 382.

  As shown in FIG. 4, in the present embodiment, the elevating actuator 320 includes an elevating hydraulic cylinder 330 and a lift valve inserted in a supply / discharge line that supplies and discharges hydraulic oil to and from the elevating hydraulic cylinder 330. Unit 340.

  As shown in FIG. 4, the elevating hydraulic cylinder 330 has an elevating cylinder body 331 and an elevating piston 332 accommodated in the elevating cylinder body 331 so as to reciprocate.

  As shown in FIGS. 1 and 5, the hydraulic piston 332 is operatively connected to the lower link 382 through a lift arm 385 and a lift rod 386, and the working machine 300 is operated according to the expansion and contraction of the lifting piston 332. It is designed to go up and down.

  As shown in FIG. 4, the lift valve unit 340 includes a valve block 350 and an ascending electromagnetic valve 360 </ b> U and a descending electromagnetic valve 360 </ b> D accommodated in the valve block 350.

  As shown in FIG. 4, the valve block 350 is discharged with the inlet port 351 that receives the pressure oil from the second hydraulic pump 53 and the excess oil of the pressure oil that is received through the inlet port 351. A surplus oil discharge port 352, a supply / discharge port 353 that supplies / discharges hydraulic oil to / from the lifting hydraulic cylinder device 330, and a drain port 354 that drains the hydraulic oil discharged from the lifting hydraulic cylinder device 330. Is provided.

  The raising solenoid valve 360U is controlled by the control device 100 to supply pressure oil received through the inlet port 351 to the supply / discharge port 353 and to the supply / discharge port 353 for the pressure oil. In the state where the supply of pressure oil is selectively shown, and the pressure oil is supplied to the supply / discharge port 353, an opening width (that is, the supply amount of the pressure oil) is added from the control device 100. The control voltage value or the control current value can be changed according to the magnitude.

The operation of the lowering solenoid valve 360D is also controlled by the control device 100, and the state in which the pressure oil from the elevating hydraulic cylinder device 330 flowing in through the supply / discharge port 353 is discharged from the drain port 354, and A state in which the flow of the pressure oil to the drain port 354 is selectively revealed, and in the state in which the pressure oil is discharged from the drain port 354, an opening width (that is, the discharge amount of the pressure oil) is set. It can be changed according to the magnitude of the control voltage value or the control current value added from the control device 100.
Note that reference numeral 362 in FIG. 3 is a flow dividing valve for flowing surplus oil of the pressure oil received through the inlet port 351 to the surplus oil discharge port 352.

  In the present embodiment, as shown in FIG. 4, a lowering prevention valve mechanism 370 is inserted in a supply / discharge line that fluidly connects the supply / discharge port 353 of the lift valve unit 350 and the hydraulic cylinder device 330. Has been.

  The lowering prevention valve mechanism 370 includes a lowering prevention valve 371 inserted in the supply / discharge line and a lowering prevention electromagnetic valve 372.

  The lowering prevention valve 371 has a lowering prevention state that prevents a reverse flow while allowing a flow of pressure oil from the supply / discharge port 353 to the hydraulic cylinder device 330 according to a pilot pressure, and the hydraulic cylinder device. A descending state allowing the flow of hydraulic oil from 330 to the supply / exhaust port 353 is selectively configured.

  The lowering prevention electromagnetic valve 372 is configured to selectively take a state of maintaining or releasing a pilot pressure of the lowering prevention valve 371 in accordance with a manual operation.

  In the present embodiment, as shown in FIG. 4, a slow return valve 375 is further interposed between the lowering prevention valve 371 and the elevating hydraulic cylinder device 330.

  The slow return valve 375 includes a first flow path 376 that allows a flow of hydraulic oil from the supply / discharge port 353 to the hydraulic cylinder device 330 while preventing a reverse flow, and the supply / discharge port 353 and the elevating / lowering port. And a second flow path 377 that fluidly connects the hydraulic cylinder device 330 through a variable throttle, and the throttle amount by the variable throttle can be changed by human operation.

  3 is a main relief valve that sets the hydraulic pressure of the pressure oil line 510, and reference numeral 540 is a safety valve that prevents the hydraulic oil of the elevating hydraulic cylinder 330 from becoming an abnormally high pressure.

  As shown in FIG. 4, in the present embodiment, the tilt actuator 420 tilts the working machine 300 in the left-right direction, and supplies and discharges hydraulic oil to and from the tilt hydraulic cylinder 430. And an electromagnetic proportional valve for tilting 440 inserted in the supply / discharge line.

  The inclined hydraulic cylinder 430 is inserted into one of the pair of left and right lift rods 386, and expands and contracts in accordance with hydraulic oil supply / discharge control, so that the working machine 300 has a horizontal relative angle with respect to the vehicle main unit 1. It is configured to be changed.

  As shown in FIG. 4, the tilt hydraulic cylinder 430 includes a tilt cylinder main body 431 and a tilt piston 432 accommodated in the tilt cylinder main body 431 so as to reciprocate.

  The tilting electromagnetic proportional valve 440 is controlled by the control device 100 to supply pressure oil from the second hydraulic pump 53 acting as a pressure oil source to the first chamber of the tilt cylinder body 431 and The piston oil is discharged from the second chamber of the tilt cylinder body 431 to extend the tilt piston 432, the pressure oil from the second hydraulic pump 53 is supplied to the second chamber, and from the first chamber. A piston shortening state in which pressure oil is discharged to shorten the tilted piston 432, and a neutral state in which the first chamber and the second chamber are closed and the tilted piston 432 is held in that state can appear. It has become.

  The tilting electromagnetic proportional valve 440 can adjust the amount of pressure oil supplied to and discharged from the tilt hydraulic cylinder according to the magnitude of the applied control voltage or control current value.

  The working machine 300 is moved up and down by operations on a manual lifting operation member 181, a one-touch lifting operation member 182, and a lift position setting member 183 provided in the working vehicle.

Specifically, as shown in FIG. 3, the work vehicle is provided with a lift sensor 310 that detects a lift position of the work implement 30.
For example, a lift angle sensor that detects the rotation angle of the lift arm 385 shown in FIG.

The manual elevating operation member 181 is an operating member for positioning the work machine 300 at an arbitrary elevating position.
That is, when the manual lifting operation member 181 is operated, the control device 100 causes the work machine 300 to be positioned at a height corresponding to the operation position of the manual lifting operation member 181 detected by the sensor 181a. Then, the lifting solenoid valve 360U and the lowering solenoid valve 360D are operated.

The one-touch raising / lowering operation member 182 is a member for positioning the work machine 300 at a predetermined raising position or lowering position by a one-touch operation.
That is, when the one-touch raising / lowering operation member 182 is raised, the control device 100 moves the electromagnetic valve 360U for raising so that the work implement 300 is raised to the height set by the raising position setting member 183. Operate.

When the one-touch raising / lowering operation member 182 is lowered, the control device 100 causes the lowering solenoid valve 360D to lower the work machine 300 to a lowered position defined by an operation position of the manual raising / lowering operation member 181. Is activated.
In other words, in the present embodiment, the manual elevating operation member 181 also acts as a lowered position setting member.
In FIG. 3, reference numeral 182a is a sensor for detecting the operation state of the one-touch lifting operation member, and reference numeral 183a is a sensor for detecting the operation position of the ascending position setting member 183.

  Tilt of the work machine 300 in the left-right direction is performed by operating a manual tilt operation member 191 provided in the work vehicle.

As shown in FIG. 3, the working vehicle is provided with a relative inclination sensor 315 b that detects a relative inclination position of the working machine 300 with respect to the vehicle body 1.
For example, a stroke sensor that detects the expansion / contraction length of the tilt piston 432 in the tilt hydraulic cylinder 430 is preferably used as the relative tilt sensor 315b.

  The control device 100 determines that the tilt state of the work implement 300 detected by the relative tilt sensor 300b corresponds to the operation state of the manual tilt operation member 191 detected by the sensor 191a. The operation of the electromagnetic proportional valve 440 is controlled.

  The work vehicle executes automatic alignment control for operating an actuator that varies the position of the work machine so that the actual position of the work machine matches a target position (so as to fall within a predetermined dead zone). It is configured.

  The working vehicle according to the present embodiment is configured to perform automatic tilling control and automatic tilt control as the automatic alignment control.

First, automatic tilling control will be described.
In the present embodiment, the working vehicle includes a rotary tiller as the working machine 300.
The automatic tilling depth control is to cause the actual tilling position of the working machine 300 to follow the target tilling position.

  Specifically, as shown in FIG. 3, the working vehicle includes an automatic tilling depth control selection member 185, a tilling position setting member 186, and a tilling position detection sensor 311 that detects the tilling position of the work implement. Is provided.

When the control device 100 recognizes the ON operation of the automatic tilling depth control selection member 185 based on the detection signal from the sensor 185a, it activates the automatic tilling depth control mode.
In the automatic tilling depth control mode, a deviation between the actual tilling position of the work implement 300 detected by the tilling position detecting sensor 311 and the target tilling position set by the tilling position setting member 186 is predetermined. The elevating actuator 320 is controlled so as to be within the dead zone width.

In addition, the code | symbol 186a in FIG. 3 is a sensor which detects the operation position of the said tilling position setting member 186. FIG.
In addition, a rear cover sensor that detects a rotation angle of the tilling rear cover with respect to the tilling upper surface cover in the rotary tiller is preferably used as the tilling position detection sensor 311.

  As described above, in the present embodiment, the lifting actuator 320 includes the lifting hydraulic cylinder 330 and the lift valve unit 350 including the lifting electromagnetic valve 360U and the lowering electromagnetic valve 360D.

In such a configuration, the magnitude of the control current value or the control voltage value applied to the ascending solenoid valve 360U and the descending solenoid valve 360D is proportional to the operation amount of the elevating hydraulic cylinder 330.
Therefore, the control device 100 calculates the control current value or the control voltage value to be applied to the corresponding solenoid valve according to the magnitude of the deviation between the actual tilling position and the target tilling position.

  Further, in the present embodiment, the control device 100 corrects the deviation according to the angular velocity in order to more quickly position the actual tilling position within the predetermined dead zone width with reference to the target tilling position. In addition, a correction deviation is calculated, and the control current value or the control voltage value is calculated based on the correction deviation.

  For example, when the actual tilling position is shifted by “a1” upward from the target tilling position, the angular velocity direction is assumed to be upward. In this case, the control current value or the control voltage value is calculated based on a correction deviation obtained by adding a correction value corresponding to the magnitude of the angular velocity.

  On the contrary, when the direction of the angular velocity is downward, the control current value or the control voltage based on the correction value obtained by subtracting the correction value corresponding to the magnitude of the angular velocity from the deviation “a1”. Calculate the value.

  The control device 100 recognizes the angular velocity based on a detection signal from an angular velocity sensor 450 (see FIG. 3) that detects the angular velocity of the vehicle main unit 1 provided in the work vehicle.

Next, automatic tilt control will be described.
As shown in FIG. 3, the working vehicle is provided with an automatic tilt control selection member 195, a tilt setting member 196 such as a tilt setting dial, and a tilt sensor 315 that detects the tilt of the working machine in the left-right direction. ing.
3 is a sensor that detects the operation state of the automatic inclination control selection member 195, and the reference numeral 196a is a sensor that detects the operation position of the inclination setting member 196.

The tilt sensor 315 may include, for example, a main unit tilt sensor 315a that detects a left-right tilt angle of the vehicle main unit 1 and the relative tilt sensor 315b.
In this case, the control device 100 includes the working machine for the vehicle main unit 1 based on the inclination angle of the vehicle main unit 1 based on the detection signal from the main unit inclination sensor 315a and the detection signal from the relative inclination sensor 315b. From the relative inclination angle of 300, the right and left inclination angle of the working machine 300 is recognized.

  The automatic tilt control includes horizontal control based on maintaining the horizontal tilt angle of the working machine 300 in a horizontal state regardless of the horizontal tilt angle of the vehicle main unit 1, and the horizontal direction of the work machine 300. Inclined land control based on maintaining an inclination angle parallel to the vehicle main unit 1 may be included.

  Specifically, the control device 100 activates a horizontal control mode when horizontal control is selected by the automatic tilt control selection member 195, and switches to a slope control mode when slope control is selected by the automatic tilt control selection member 195. to start.

  In the horizontal control mode, a deviation between an actual inclination of the working machine 300 detected by the inclination sensor 315 and a target inclination defined by a setting inclination angle by the inclination setting member 196 based on a horizontal state is predetermined. The operation of the tilt actuator 420 is controlled so as to be within the dead zone width.

  In the slope control mode, the actual inclination of the working machine 300 detected by the inclination sensor 315 and a target inclination defined by a set inclination angle by the inclination setting member 196 based on a parallel state with respect to the vehicle main unit 1 are defined. The operation of the tilt actuator 420 is controlled so that the deviation between them falls within a predetermined dead band width.

  As described above, in the present embodiment, the tilt actuator 420 includes the tilt hydraulic cylinder 430 and the tilt electromagnetic proportional valve 440.

In such a configuration, the magnitude of the control current value or the control voltage value applied to the electromagnetic proportional valve 440 is proportional to the operation amount of the inclined hydraulic cylinder.
Therefore, the control device 100 calculates the control current value or the control voltage value according to the magnitude of the angle deviation between the actual inclination and the target inclination.

  Further, in the present embodiment, the control device 100 corrects the angular deviation by correcting the angular deviation according to the angular velocity in order to more quickly locate the actual inclination within a predetermined dead band width based on the target inclination. An angle deviation is calculated, and the control current value or the control voltage value is calculated based on the corrected angle deviation.

  For example, it is assumed that the angle deviation between the actual inclination and the target inclination is “b1” in a direction in which one side in the left-right direction is positioned upward. That is, it is assumed that one side of the work machine 300 in the left-right direction is shifted upward by “b1” with respect to the target inclination.

  In this case, when the direction of the angular velocity detected by the angular velocity sensor 450 is a direction in which one side in the left-right direction moves upward, the control device 100 determines that the angular deviation “b1” is larger than the actual angular deviation. A correction angle deviation is calculated by adding a correction value corresponding to the value, and a control current value or a control voltage value is calculated based on the correction angle deviation.

  On the other hand, when the direction of the angular velocity detected by the angular velocity sensor 450 is a direction in which one side in the left-right direction moves downward, the control device 100 determines the angular velocity from the actual angular deviation “b1”. A correction angle deviation is calculated by subtracting a correction value corresponding to the magnitude of the control angle, and a control current value or a control voltage value is calculated based on the correction angle deviation.

Furthermore, the work vehicle according to the present embodiment is configured to perform predictive control using angular acceleration during automatic alignment control.
Hereinafter, a case where predictive control is applied during automatic tilt control will be described as an example.

FIG. 6 shows a flowchart of automatic tilt control.
The control device 100 activates a corresponding automatic inclination control mode (horizontal control mode or inclined land control mode) in response to an artificial operation on the automatic inclination control selection member 195.
The automatic tilt control mode can be canceled by a cancel operation on the automatic tilt control selection member 195.

  When the automatic tilt control mode is activated, the control device 100 reads the set value by the tilt setting member 196 (step S1), the tilt sensor 315 (the machine tilt sensor 315a and the stroke sensor 315b), and A detection signal is read from the angular velocity sensor 450 (step S2).

  The control device 100 determines whether or not the angular acceleration obtained by differentiating the angular velocity input from the angular velocity sensor 450 in step S2 is equal to or less than a threshold value (step S3).

  If YES in step S3, that is, if the angular acceleration is equal to or less than the threshold value, the control device 100 determines between the target angle set by the tilt setting member 196 and the actual angle detected by the tilt sensor 315. A standard control signal calculated on the basis of the angular deviation and the angular velocity detected by the angular velocity sensor 450 is calculated (step S4), and the operation of the tilt actuator 420 is controlled using the standard control signal (step S5). .

As described above, in the present embodiment, the tilt actuator 420 is configured to supply and discharge oil to the tilt hydraulic cylinder 430 according to the tilt hydraulic cylinder 430 and the magnitude of the applied control current value or control voltage value. And the operation amount of the inclination hydraulic cylinder 430 according to the magnitude of the control current value or the control voltage value applied to the inclination electromagnetic proportional valve 440. Is changing.
Therefore, the control device 100 calculates a control current value or a control voltage value based on a corrected angle deviation obtained by adding a correction corresponding to the magnitude of the angular velocity to the angle deviation as the standard control signal.

  For calculating the control current value or the control voltage value, in addition to the mode using the function stored in the control device, the control current value or the control voltage is previously determined for each work machine posture state defined by the combination of the angle deviation and the angular velocity. A mode using a control signal map in which values are stored is also included.

  FIG. 7 shows an example of a control signal map in which a control current value is assigned for each work implement posture state defined by a combination of an angular deviation and an angular velocity.

  The control signal map shown in FIG. 7 includes a plurality of angular deviation grades classified based on the magnitude of the angular deviation θ, a plurality of angular speed grades classified based on the magnitude of the angular velocity ω, and the angular deviation grade and angular velocity. And a control current value determined for each work machine posture state defined by a combination of grades.

  Note that “+ (plus)” in the control signal map shown in FIG. 7 means the direction in which the inclined hydraulic cylinder 430 extends (the direction in which the left and right sides of the work machine 300 rise), and “− (minus)”. Means a direction in which the inclined hydraulic cylinder 430 is shortened (a direction in which one of the left and right sides of the work machine 300 is lowered).

  In the case of using the control signal map shown in FIG. 7 in the calculation of the standard control signal in step S4, the control device 100 uses the target inclination angle by the inclination setting member 196 read in step S1 and the book read in step S2. An angular deviation grade to which an angular deviation between the left and right inclination angles of the work implement 300 based on the detection signal of the machine inclination sensor 315a and the detection signal of the stroke sensor 315b belongs, and the angular velocity from the angular velocity sensor 450 read in step S2. Is extracted as a control signal to be transmitted to the tilt actuator 420 (control current value to be applied to the tilt electromagnetic proportional valve 440). .

  Specifically, when the angular deviation θ is “0.5” and the angular velocity ω is “1”, the control device 100 determines that the angular deviation grade “0 <θ ≦ + 1” and the angular velocity grade “0”. The value “+0.6” assigned to the work state posture defined by <ω ≦ 2 ”is recognized as a control signal.

  On the other hand, in the case of NO in step S3, that is, when the angular acceleration exceeds the threshold, the control device 100 calculates a predicted angular velocity obtained by adding a correction according to the magnitude of the angular acceleration to the angular velocity at that time. The predicted control signal is calculated based on the angle deviation and the predicted angular velocity (step S11), and the operation control of the tilt actuator 420 is performed using the predicted control signal (step S5).

  Specifically, when the angular acceleration exceeds the threshold in the direction of increasing the angular velocity, the predicted angular velocity is a value corrected to increase the actual angular velocity, and when the angular acceleration exceeds the threshold in the direction of decreasing the angular velocity. The predicted angular velocity is a value obtained by correcting the actual angular velocity toward the deceleration side.

  According to such a configuration, the tilt actuator 420 can be operated with a control signal in a state in which the trend of the work implement 300 is predicted, and the actual tilt of the work implement 300 can be more quickly matched with the target tilt. it can.

  Here, a method for calculating a predicted control signal in the case of calculating a control signal using a control signal map will be described with reference to FIG. 7 as an example.

  When the angular acceleration exceeds a threshold value in the direction of extension of the inclined hydraulic cylinder 430, the control device 100 determines only one grade from the angular deviation grade to which the current angular deviation belongs and the angular velocity grade to which the actual angular velocity belongs. A control current value assigned to the work machine attitude state defined by the angular velocity grade located on the side of the tilting hydraulic cylinder extension direction is extracted as a predicted control signal.

  For example, when the angular deviation θ is “0.5” and the angular velocity ω is “1”, when the angular acceleration exceeds a threshold value in the extension direction of the inclined hydraulic cylinder 430, the control device 100 The working state and posture defined by the angular deviation grade “0 <θ ≦ + 1” and the angular velocity grade “2 <ω ≦ 4” positioned in the direction of the tilting hydraulic cylinder extension by one grade from the angular velocity grade “0 <ω ≦ 2”. The value “+0.7” assigned to is extracted as a prediction control signal.

  When the angular acceleration exceeds a threshold value in the shortening direction of the inclined hydraulic cylinder 430, the control device 100 determines only one grade from the angular deviation grade to which the current angular deviation belongs and the angular velocity grade to which the actual angular speed belongs. A control current value assigned to the work implement attitude state defined by the angular velocity grade located on the side of the inclined hydraulic cylinder shortening direction is extracted as a predicted control signal.

  For example, when the angular deviation θ is “0.5” and the angular velocity ω is “1”, when the angular acceleration exceeds a threshold value in the shortening direction of the inclined hydraulic cylinder, the control device 100 It is assigned to the working state posture defined by the angular deviation grade “0 <θ ≦ + 1” and the angular velocity grade “ω = 0” positioned in the inclination hydraulic cylinder shortening direction by one grade from the angular velocity grade “0 <ω ≦ 2”. The value “+0.5” is extracted as a prediction control signal.

Preferably, the threshold value of the angular acceleration in the tilt hydraulic cylinder shortening direction can be larger than the threshold value in the tilt hydraulic cylinder extending direction.
According to such a configuration, it is possible to quickly match the actual inclination of the working machine 300 with the target inclination in consideration of the difference between the cylinder extending operation and the shortening operation caused by the weight of the working machine 300.

Preferably, the dead zone variable control can be executed when the angle deviation is detected.
FIG. 8 shows a flowchart when dead zone variable control is executed in automatic tilt control.

  When a corresponding automatic tilt control mode (horizontal control mode or slope control mode) is activated in response to an artificial operation on the automatic tilt control selection member 195, the control device 100 sets a value set by the tilt setting member 196. Is read (step S101), and detection signals from the machine inclination sensor 315a and the stroke sensor 315b are read (step S102).

  The control device 100 has a predetermined deviation between a target inclination defined by a set value by the inclination setting member 196 and an actual inclination calculated based on detection signals from the machine inclination sensor 315a and the stroke sensor 315b. It is determined whether it is within the first width (step S103).

  In the case of NO in step S3, that is, when the deviation between the actual slope and the target slope is not within the dead zone of the first width, the control device 100 recognizes that there is an angular deviation, and the angular deviation Then, a control current or a control voltage based on the actual angular velocity or the predicted angular velocity is applied to the tilting electromagnetic proportional valve 440 (step S110), and the process returns to step S102 and step S103.

  If YES in step S3, that is, if the deviation between the actual slope and the target slope is within the first width dead zone, the control device 100 sets the second dead zone width larger than the first width. The width is changed (step 120).

  In step S121 following step 120, the control device 100 determines whether or not the deviation between the actual inclination and the target inclination is within the dead zone of the second width.

  In the case of YES in step S121, the control device 100 determines whether or not an end command for the currently activated automatic tilt control mode has been input (step S122).

  If YES in step S22, that is, if the automatic tilt control mode (horizontal control mode or slope control mode) is canceled by the automatic tilt control selection member 195, the control device 100 is currently activated. The automatic tilt control mode is terminated.

On the other hand, in the case of NO in step S122, the control device 100 determines whether or not the inclination setting member 196 has been additionally operated (step S123), and if it has been additionally operated, the inclination setting member 196 is determined. Is recognized as a new target inclination (step S124), and the process proceeds to step S125.
If the tilt setting member 196 is not additionally operated (NO in step S123), step S124 is skipped and the process proceeds to step S125.

  In step S125, the control device 100 reads the detection signals from the machine inclination sensor 315a and the stroke sensor 315b, confirms the actual inclination of the working machine 300 (step S124), and returns to step S121.

  That is, when the dead zone variable control is executed, the deviation between the actual slope and the target slope once falls within the first width dead zone, and the dead zone width is changed from the first width to the second width. Even if exceeds the first width, the control device recognizes that there is no angular deviation as long as it is within the dead band width of the second width.

  On the other hand, in the case of NO in step S121, that is, since the deviation between the actual inclination and the target inclination is once within the first width dead band, the dead band width is changed from the first width to the second width. After that, if the deviation exceeds the dead zone width of the second width, the control device 100 changes the dead zone width from the second width to the first width (step S111), and then the angular deviation and the actual angular velocity. Alternatively, the operation of the tilt actuator 420 is controlled with a control signal based on the expected angular velocity (step S110), and the process returns to step S102.

  As described above, the control device 100 stores the first width and the second width larger than the first width as the dead zone width, and the control device 100 has a deviation between the actual inclination and the target inclination of the first width. In a state where the dead zone is exceeded, it is recognized that there is an angular deviation, and once the deviation falls within the dead zone width of the first width, the dead zone width is changed from the first width to the second width, and the deviation is Even if the width exceeds the first width, the angle deviation may be recognized as long as it is within the second width.

1 Vehicle Main Unit 100 Control Device 186 Plowing Position Setting Member (Position Setting Member)
196 Tilt setting member (position setting member)
300 Work implement 311 Plowing position detection sensor (position detection member)
315 Tilt sensor (position detection member)
315a Machine tilt sensor 315b Stroke sensor 320 Lift actuator 330 Lift hydraulic cylinder 420 Tilt actuator 430 Tilt hydraulic cylinder 440 Tilt electromagnetic proportional valve 450 Angular velocity sensor

Claims (5)

A vehicle main unit, a working unit connected to the vehicle main unit so as to be relatively movable, an actuator for moving the working unit relative to the vehicle main unit, and a position setting member for setting a target position of the working unit A position detection member that detects an actual position of the work implement, an angular velocity sensor that detects an angular velocity of the vehicle main unit, and an actual position of the work implement that is detected by the position detection member is set by the position setting member. A working vehicle comprising a control device for controlling the operation of the actuator so as to be located at a target position,
The control device determines whether or not the angular acceleration obtained by differentiating the actual angular velocity received from the angular velocity sensor is within a predetermined threshold, and when the angular acceleration is within the predetermined threshold, When the actuator is operated using a standard control signal calculated based on the actual angular velocity, and the angular acceleration exceeds a predetermined threshold, the actual angular velocity is corrected according to the magnitude of the angular acceleration. A working vehicle that calculates an added predicted angular velocity and performs a predictive control for operating the actuator using a predicted control signal calculated based on the position deviation and the predicted angular velocity. The actuator has a tilt hydraulic cylinder that tilts the working machine in the left-right direction with respect to the vehicle main unit according to an expansion / contraction operation,
The position detection member includes a main unit inclination sensor that detects a left-right inclination angle of the vehicle main unit, and a stroke sensor that detects an extension / contraction length of the inclined hydraulic cylinder,
The position setting member has an inclination setting member for setting a right and left inclination angle of the work implement,
The control device uses the actual inclination angle of the working machine based on signals from the machine inclination sensor and the stroke sensor as the actual position, and sets the inclination as a target inclination angle set by the inclination setting member as the target position. The work vehicle according to claim 1, wherein the predictive control is executed when automatic tilt control for operating a hydraulic cylinder is performed. The actuator is an electromagnetic proportional valve inserted in a supply / discharge line that supplies / discharges hydraulic oil to / from the inclined hydraulic cylinder, and the inclination is determined according to the magnitude of the applied control current value or control voltage value. It has an electromagnetic proportional valve that can change the flow rate of hydraulic oil supplied to and discharged from the hydraulic cylinder,
The control device includes a plurality of angular deviation grades divided based on the magnitude of the angular deviation between the actual inclination angle and the target inclination angle, and a plurality of angular velocity grades divided based on the magnitude of the angular velocity, A control signal map including a control current value or a control voltage value determined for each work machine posture state defined by a combination of the angle deviation grade and the angular velocity grade is stored,
When the angular acceleration is within a predetermined threshold, the control device determines the control current value of the work implement posture state determined by the angular deviation grade to which the angular deviation at that time belongs and the angular velocity grade to which the actual angular velocity at that time belongs. Alternatively, when a control voltage value is applied to the electromagnetic proportional valve and the angular acceleration exceeds a threshold value in the direction of expansion of the inclined hydraulic cylinder, the angular deviation grade to which the current angular deviation belongs and the actual angular velocity at that time belong A control current value or a control voltage value of a working machine posture state determined by an angular velocity grade positioned at the inclination hydraulic cylinder extension direction side by one grade from an angular velocity grade is applied to the electromagnetic proportional valve, and an angular acceleration is applied to the inclined hydraulic cylinder. If the threshold in the shortening direction is exceeded, the angular deviation grade to which the current angular deviation belongs and the angular velocity to which the actual angular speed belongs 3. A control current value or a control voltage value of a work implement attitude state determined by an angular velocity grade positioned on the side of the inclined hydraulic cylinder shortening direction by one grade from a raid is applied to the electromagnetic proportional valve. The listed working vehicle.   4. The working vehicle according to claim 3, wherein the threshold value of the angular acceleration in the direction of shortening the inclined hydraulic cylinder is greater than the threshold value in the direction of extending the inclined hydraulic cylinder. The working machine is a rotary cultivator,
The actuator has an elevating hydraulic cylinder that raises and lowers the working machine with respect to the vehicle main unit according to a telescopic operation,
The position detection member has a tilling position detection sensor for detecting a tilling position of the work implement,
The position setting member has a tilling position setting member for setting a tilling position of the work implement,
The control device uses the raising / lowering hydraulic pressure with the working depth position of the work implement based on a signal from the working depth position detection sensor as the actual position and the working depth position set by the working depth setting member as the target position. The work vehicle according to claim 1, wherein the predictive control is executed when automatic plowing depth control for operating a cylinder is performed.

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