JP4594922B2 - Agricultural machine rolling control device - Google Patents

Description

  The present invention relates to a rolling control device used for agricultural working machines such as agricultural tractors, and in particular, includes a tilt detection means for detecting a right and left tilt angle of a traveling machine body, and based on the detected gas inclination angle, A farm work machine provided with a rolling control means for driving and rolling the ground work device by a rolling actuator such as a hydraulic cylinder so that the ground tilting posture in the left and right direction of the ground work device connected freely to drive rolling is maintained at a set angle. The present invention relates to a rolling control device.

  The rolling control device operates the rolling cylinder at a speed corresponding to the deviation as long as the deviation between the target value and the detected value is small. When the deviation from the target value increases, the rolling control apparatus rolls at a speed according to the changing speed of the tilt state. The thing which operates a cylinder is proposed (refer patent document 1).

Japanese Patent No. 3186112 (page 3, paragraph numbers “0014” to “0015”, FIG. 4)

  According to the conventional rolling control device, the operating speed of the rolling cylinder is moderately controlled when the changing speed is slow, and the operating speed of the rolling cylinder is changed quickly when the changing speed of the slope is fast due to a steep slope. The operating speed of the rolling cylinder is limited, and it may be difficult to perform the rolling control by suitably following the body tilt.

  The present invention has been made paying attention to such points, and aims to stabilize the rolling posture of the working device by performing rolling control according to the behavior of the aircraft tilt. To do.

  [Configuration, operation and effect of the invention according to claim 1]

(Structure) The invention according to claim 1 is provided with an inclination detection means for detecting a left-right inclination angle of the traveling machine body, and based on the detected aircraft inclination angle, a lateral direction of the ground work device connected to the traveling machine body so as to be capable of rolling. A rolling control device for a farm working machine provided with rolling control means for driving and rolling the ground work device by a rolling actuator so that the ground tilt posture at is maintained at a set tilt angle,
A determination means for determining whether the current inclination change state of the traveling machine body is in a state that can be followed by rolling the ground work device at the maximum speed of the rolling actuator;
If it is determined that it is possible to follow, control is performed so that the rolling actuator operates in a target inclination direction in which the ground inclination posture becomes the set inclination angle based on the deviation between the detected aircraft inclination angle and the set inclination angle. However, if it is determined that it is impossible to follow, the rolling actuator is tilted in a direction opposite to the direction in which the airframe is changing in place of the control for operating the rolling actuator in the target tilt direction. It is characterized in that it is configured to select a control form based on the determination as to whether or not it is possible to follow the control so as to operate the.

(Operation) According to the above configuration, it is determined whether or not the current inclination change state of the traveling machine body is in a state that can be followed by rolling the ground work device at the maximum speed of the rolling actuator. Is determined, the rolling actuator is controlled to operate in the target tilt direction. If it is determined that it is impossible to follow, the rolling actuator operates in the direction opposite to the direction in which the aircraft is changing its tilt. Be controlled.

(Effect) According to the present invention, it is possible to stabilize the rolling posture of the work device by performing the rolling control according to the behavior of the machine body tilt.

  [Configuration, operation and effect of invention of claim 2]

(Structure) The invention according to claim 2 is the invention according to claim 1, wherein the determination means compares the inclination change speed of the fuselage with the inclination change speed of the ground work device when the rolling actuator is driven at the maximum speed. It is done.

(Action / Effect) According to the above configuration, the tilt change speed of the fuselage and the tilt change speed of the ground work device when the rolling actuator is driven at the maximum speed are compared, and the tilt change speed of the fuselage is the maximum for ground work equipment. If it is greater than the slope change speed when rolling at speed, it is determined that the current slope change state of the traveling aircraft cannot be followed even if the ground work device is driven to roll at the maximum speed. determined that when more of the speed of change of the slope change rate or less when obtained by rolling the ground work apparatus at a maximum speed, slope change the current state of the traveling machine body are possible in rolling drive the ground work apparatus at a maximum speed Is done.

  [Configuration, operation and effect of invention of claim 3]

(Structure) The invention according to claim 3 is the invention according to claim 1, wherein the target speed of the rolling actuator is calculated based on a difference between the target length of the rolling actuator and the detected length of the rolling actuator.

(Operation / Effect) According to the above configuration, when it is determined that the state of change in the inclination of the traveling aircraft is in a state that can be followed by rolling the ground work device at the maximum speed of the rolling actuator, the rolling actuator is set as the target. If it is determined that it is impossible to follow the vehicle in the tilt direction, it is operated in the direction opposite to the direction of the tilt change of the aircraft. Target speed of either rolling actuator case of calculated based on the target cylinder length and detected length Sato deviation of the rolling actuator.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows an entire agricultural tractor as an example of an agricultural working machine, and FIG. 2 shows a rear part thereof. A tractor main machine 1 as a traveling machine body includes a front wheel 2 as a steering wheel and a main propulsion wheel. The ground work device is configured as a four-wheel drive type that travels with the rear wheel 3 and is disposed on the mission case 4 disposed at the rear of the machine body via a three-point link mechanism 5 including a top link 5a and a pair of left and right lower links 5b. The rotary tiller 6 which is an example of is connected. A pair of left and right lift arms 8 that are driven to swing up and down by a lift cylinder 7 composed of a single-acting hydraulic cylinder are provided at the top of the transmission case 4. The left and right lift arms 8 and the left and right lower links 5 b Are connected via a lift rod 9 and a rolling actuator 10 composed of a double-acting hydraulic cylinder.

  As shown in FIG. 3, the electromagnetic control valve 11 connected to the lift cylinder 7 is operated by the control device 12, and the rotary tiller 6 is driven up and down by the lift cylinder 7 and the lift arm 8. In addition, the electromagnetic control valve 13 connected to the rolling actuator 10 is operated by the control device 12 and the rolling actuator 10 is expanded and contracted, whereby the rotary tiller 6 is driven to roll, and the right and left inclination angle is changed. It is like that.

  This agricultural tractor includes a lift control for maintaining the tillage depth of the rotary tiller 6 at a set value, a position control for arbitrarily adjusting the height of the rotary tiller 6 relative to the tractor main unit 1, and a rotary tiller 6 for the horizontal plane. Rolling control that maintains the tilt angle in the left-right direction at a set angle is possible.

  At the rear of the rotary tiller 6, a rear cover 15 for reducing the tillage pressure is provided in a vertically swingable and downwardly biased state, and a tilling depth sensor 16 for detecting the vertical swing angle of the rear cover 15 is provided. The detection signal is inputted to the control device 12. On the other hand, the control device 12 is connected with a tillage setting device 17 composed of a dial-operated potentiometer and an on / off switch 18 for turning on / off the automatic tilling depth control. The electromagnetic control valve 11 is operated so that the detection value of the depth sensor 16 is balanced with the setting value of the tilling depth setting device 17, and the rotary tilling device 6 is automatically driven up and down by the lift cylinder 7. The depth is stably maintained at a depth corresponding to the set value of the tilling depth setting device 17.

  Further, an angle sensor 19 for detecting the vertical angle of the lift arm 8 and a position setting device 21 operated by a position lever 20 are connected to the control device 12, and the on / off switch 18 is automatically turned off. In the state where the tilling depth control is stopped, only the position control is executed, the electromagnetic control valve 11 is operated until the detected value of the angle sensor 19 is balanced with the set value of the position setting device 21, and the lift cylinder 7 is brought to that position. Retained.

  When the position lever 20 is operated in the upward direction during the automatic tilling control with the on / off switch 18 set to “ON”, the detected value of the angle sensor 19 corresponding to the set tilling depth of the tilling depth setting unit 17 and the position When the target value of the setting device 21 is compared with the target value of the position setting device 21, the position control is preferentially operated. Therefore, in the plowing work by the automatic plowing depth control, the rotary plowing device 6 can be lifted to the ground by operating the position lever 20 to the upper limit at the time of changing the direction of the body at the end of the dredging. By operating the position lever 20 to the lower limit, the automatic tilling control at the tilling depth set by the tilling depth setting device 17 can be resumed.

  This agricultural tractor is provided with a rolling control means for driving the rotary tiller 6 so as to maintain a right and left inclination angle with respect to a horizontal plane at a set angle, and comprises a dial operation type potentiometer connected to the controller 12. By adjusting the inclination setting device 25, the setting angle in the left-right direction of the rotary tiller 6 can be arbitrarily changed.

  For this rolling control, in addition to the tilt setting device 25, a tilt sensor 26 for detecting the left / right tilt angle of the tractor main unit (running vehicle body) 1 and a vibration gyro for detecting the angular velocity of the tractor main unit 1 in the left / right tilt direction. A type angular velocity sensor 27 and a stroke sensor 28 for detecting the operating length of the rolling cylinder 10 are used. That is, as shown in the block diagram of FIG. 4, the tilt angle θ in the left-right direction of the tractor main unit 1 is calculated based on information from the tilt sensor 26 and the angular velocity sensor 27, and the tractor main unit 1 The target cylinder length L0 of the rolling cylinder 10 necessary for setting the rotary tiller 5 to the angle set by the inclination setting device 25 is determined, and the target cylinder length L0 and the stroke sensor 28 detect the target cylinder length L0. A target speed is calculated based on the deviation from the detected cylinder length L, and the electromagnetic control valve 13 is controlled so as to operate the rolling cylinder 10 at this target speed.

  FIG. 5 is a control block diagram for calculating the left / right tilt angle θ of the tractor main unit 1 based on information from the tilt sensor 26 and the angular velocity sensor 27. As can be seen from the figure, a form is adopted in which the inclination angle is calculated by integrating the signal from the angular velocity sensor 27 and the error is corrected by the signal from the inclination sensor 26.

That is, sensor zero point correction processing is performed in which the zero point of the angular velocity sensor 27 that drifts depending on various conditions such as temperature is updated and corrected over time. That is, a plurality of sampling output values detected by the angular velocity sensor 27 are stored, a predetermined plurality of stored sampling data are averaged, and smoothed using a low-pass filter (LPF) to determine a zero point. The inclination angle θ is calculated by integrating the difference between the zero point and the actual detection value with the gain K1. Further, by feeding back a value obtained by multiplying the deviation between the calculated tilt angle θ calculated in this way and the detected tilt angle θr obtained from the tilt sensor 26 by the gain K2, the accumulation of errors due to the integration process is eliminated. Yes.

  In the basic rolling control described above, the following control is added in order to stabilize the inclined posture of the ground work device 6.

  Stabilization of the tilting posture of the ground work device 6 is performed by performing control for selecting the rolling operation direction based on the determination of whether or not it is possible to follow the rolling drive at the maximum speed with respect to the tilt change speed of the aircraft. You can also plan.

That is, as shown in the flowchart of FIG. 6 , first, when the rolling actuator 10 in which the angular velocity dθj / dt (inclination change rate) detected by the angular velocity sensor 27 is input and stored in advance is rolled at the maximum speed. It is compared with the angular speed of the rotary tiller 6 and it is determined whether or not it is possible to follow the rolling change at the maximum speed with respect to the inclination change speed of the machine body.

Next, when it is determined that it is possible to follow, the rolling actuator 10 is operated in the target tilt direction, and when it is determined that it is not possible to follow, the direction in which the aircraft is changing in the tilt direction is reversed. Operate. In this case, the target speed of the rolling actuator 10 is calculated based on a deviation ΔL between the target cylinder length L0 of the rolling actuator 10 and the detection length L.

  In other words, in the field, the slope does not last long in the same direction and the left and right slopes are often repeated, so if the slope change speed is fast and it is difficult to follow, the direction of the change in the slope of the aircraft will be the opposite direction. By actuating, it is possible to cope in advance with the reverse inclination that appears next, rather, it is possible to stabilize the rolling posture of the ground work device, and as a result, work with good finish can be performed.

  In this case, as described above, if the control is performed in a mode in which the operation direction is gradually switched by weighting using fuzzy control instead of uniquely selecting the operation direction based on the determination of whether or not it is possible to follow the ground, It is also possible to improve the work finish by suppressing the change in the inclination of the working device to a smaller extent.

  The present invention can also be implemented in the following forms.

(1) In the case of use in which the body inclination angle is detected only by the inclination sensor 26, the inclination change speed can be obtained by the differential of the detected inclination angle or the difference between the detected inclination angles before and after a minute time.

  (2) The maximum speed of the rolling actuator 10 can also be detected by detecting the actual speed when driving at the maximum speed.

  (3) As a mode for determining whether or not the inclination change state of the traveling machine body 1 can be followed by rolling the ground work device 6 at the maximum speed of the rolling actuator 10, the target length of the rolling actuator 10 can be determined. If the difference between the length L0 and the detection length L is within a preset input range, it can be followed, and if it exceeds the set range, it can be regarded as impossible to follow.

Side view of the entire agricultural tractor Perspective view showing the rear of an agricultural tractor Block diagram showing schematic configuration of control device Block diagram of rolling control device Control block diagram for tilt angle calculation Rolling control flow diagram

DESCRIPTION OF SYMBOLS 1 Traveling machine body 6 Ground work apparatus 10 Rolling actuator 26 Inclination sensor 27 Angular velocity sensor

Claims (3)

Equipped with an inclination detection means that detects the left and right inclination angle of the traveling aircraft, and based on the detected aircraft inclination angle, the ground inclination posture in the left and right direction of the ground work device that is connected to the traveling aircraft in a rolling manner is maintained at the set inclination angle. As described above, a rolling control device for a farm work machine provided with rolling control means for driving and rolling a ground work device by a rolling actuator,
A determination means for determining whether the current inclination change state of the traveling machine body is in a state that can be followed by rolling the ground work device at the maximum speed of the rolling actuator;
If it is determined that it is possible to follow, control is performed so that the rolling actuator operates in a target inclination direction in which the ground inclination posture becomes the set inclination angle based on the deviation between the detected aircraft inclination angle and the set inclination angle. However, if it is determined that it is impossible to follow, the rolling actuator is tilted in a direction opposite to the direction in which the airframe is changing in place of the control for operating the rolling actuator in the target tilt direction. A rolling control device for a farm working machine, characterized in that it is configured to select a control form based on a determination as to whether or not it can be followed to control to operate. The rolling control of the agricultural machine according to claim 1, wherein the determination means is performed by comparing the inclination change speed of the machine body with the inclination change speed of the ground work device when the rolling actuator is driven at the maximum speed. apparatus.   The rolling control device for an agricultural machine according to claim 1, wherein the target speed of the rolling actuator is calculated based on a difference between a target length of the rolling actuator and a detection length of the rolling actuator.

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