JPH022570B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is provided with a transmission for driving that is interlocked and connected to an engine, and a sensor that detects the rotational speed of the engine. and a deviation calculation means for periodically calculating the deviation, and operating the transmission to shift the transmission based on the calculated deviation so that the rotation speed of the engine is maintained within a predetermined range with respect to the control target value. The present invention relates to an agricultural machine provided with respective control means.

In order to perform a gear shift operation based on the calculated deviation, it has generally been configured to immediately perform a gear shift operation based on the deviation each time the deviation is calculated.

By the way, the load acting on the engine often increases and decreases repeatedly due to minute changes in the working conditions, and therefore the engine speed also increases and decreases repeatedly.

Therefore, if the deviation repeats between positive and negative, it can be assumed that the load acting on the engine is appropriate, and there is no need to change gears. However, in the conventional configuration, , since unnecessary gear shifting operations are performed, there is a disadvantage that it is difficult to stabilize the control, and there is also a disadvantage that the service life is shortened because the actuators for carrying out gear shifting operations have to operate more frequently. .

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to suppress unnecessary gear shifting operations.

The characteristic configuration of the agricultural machine according to the present invention is such that the control means for shifting the driving transmission based on the deviation between the detected value of the engine rotational speed and the control target value controls the sign of the deviation, which is periodically and sequentially calculated. The difference is that the gear shift operation is performed only when a predetermined number of times continues, and the functions and effects thereof are as follows.

In other words, the gear shift operation is performed only when the calculated deviation has the same sign or negative for a predetermined number of times, and the gear shift operation is not performed if the deviation is repeatedly positive and negative. do.

Therefore, it has become possible to stabilize the control and extend the service life by controlling unnecessary speed change operations.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in Fig. 1, a machine body 1 equipped with a crawler traveling device 2 is used to raise and reap a grain culm planted in a field, and while transporting it backwards, changes its posture to a sideways posture. A reaping section 4 that delivers to the feed chain 3, and the feed chain 3
A threshing device 5 is provided for threshing and sorting and collecting the grain culms held and conveyed by the culms, thereby forming a combine harvester as an agricultural working machine.

To transmit power to the crawler traveling device 2,
As shown in FIG. 2, the power from the engine 6 is transmitted via a hydraulic continuously variable transmission 7.

On the other hand, the threshing device 5 is configured to directly transmit power from the engine 6 via a belt-type transmission mechanism 8, and in order to detect the load state on the threshing device 5, the rotating shaft of the threshing device 5 is connected to the A rotational speed detection sensor _S1 is provided which is interlocked and generates a pulse signal proportional to the rotational speed of the threshing device 5 and the engine 6.

To operate the shift position of the transmission 7, the shift operation arm 9 provided on the transmission 7 and the shift operation lever 11 provided on the driving section 10 are interlocked via links 12, 12 and a bell crank 13. It is connected. Further, a motor 15 is connected to the bell crank 13 via a friction transmission mechanism 14, and by controlling the rotation of the motor 15 by a control device 16, which will be described later, the transmission 7 is automatically activated.
The gear shift position can be operated manually by the operating lever 11, and the gear can be forcibly shifted against the frictional force of the friction transmission mechanism 14 in an emergency, when turning on a headland, etc. It is also possible to operate it.

Hereinafter, a control system for vehicle speed control that operates the shift position of the transmission 7 based on the rotation speed detection result of the engine 6 by the rotation speed detection sensor _S1 will be described.

As shown in FIG. 2, the control system includes a control device 16 whose main part is a microcomputer, the rotation speed detection sensor S ₁ and the target value of the load state to be maintained, that is, the output rotation speed of the engine 6. A signal from a potentiometer _S2 is input as a means for setting the control target value _E0 , and the detected value Eo by the rotational speed detection sensor _{S1 is} input.
The vehicle speed is controlled by rotating the motor 15 in forward and reverse directions and automatically controlling the shift position of the transmission 7 so that E0 is maintained within a predetermined range with respect to the control target value _E0 . There is.

That is, a deviation calculation means that uses the control device 16 to periodically calculate the deviation Dn between the detected value (sometimes referred to as a sampling value) En of the rotation speed sensor S ₁ and the control target value E ₀ ; , various control means such as a control means for shifting the transmission 7 based on the calculated deviation Dn so that the rotation speed of the engine 6 is maintained within a predetermined range with respect to the control target value _E0 . In addition, the control means is configured to perform a gear shifting operation only when the successively calculated deviations Dn have the same sign or negative for a predetermined number of times.

Next, an explanation will be given while describing the operation of the control device 16. The detection value En from the rotation speed detection sensor _S1 is repeatedly sampled at intervals of a predetermined time t, and the difference between the previous sampling value En- ₁ and the new sampling value En, that is, the fluctuation value An of the engine rotation speed is calculated. At the same time, the deviation Dn with respect to the control target value _E0 is calculated and stored.

Next, if this deviation is positive, that is, the sampling value En is larger than the target value _E0 , check whether the deviation Dn- ₁ calculated at the previous rotation speed sampling is positive, that is, the fluctuation in the same direction, and If the deviation Dn- ₁ is positive, the internal counter that counts the number of samplings W is incremented by 1, and if the previous deviation Dn- ₁ is negative, the counter is reset and the current sampling value En is The deviation Dn is stored as the previous deviation Dn− ₁ .

When the count value W of the counter reaches a predetermined number of times W _{0 or} more, as shown in FIG. In order to rotate the motor 15 at the corresponding time interval and increase the speed, the operation amount is multiplied by the predetermined number of times W ₀ of the operation amount G corresponding to the average value D of the predetermined number of times W ₀ minute deviation Dn, Dn- ₁ ... to perform gear shifting operations. Note that the count value W
When W is less than a predetermined number of times W ₀ or when the direction of rotational speed fluctuation is different, the speed change operation is not performed, and the random gear is configured not to respond to load fluctuation.

On the other hand, if the deviation Dn between the sampling value En and the target value _E0 is negative, check the magnitude of the variation value An, and if there is a variation greater than the predetermined value K, that is, a sudden increase in load, the above-mentioned Immediately perform deceleration operation with the operation amount Gn corresponding to the deviation Dn, and if the fluctuation value An is less than the predetermined value K, check the direction of change in the same way as when the deviation Dn is positive, and set the deviation Dn a predetermined number of times W ₀ . , _Dn - ₁ .

The relationship between the average value D and the shift operation amount G is made into a table in advance and stored in a memory (not shown) provided in the control device 16. At that time, as shown in FIG. , a target value of an actuator that operates the transmission 7 including the motor 15;
In the vicinity B of the dead zone A with respect to E ₀ , the manipulated variable corresponding to the average value D is controlled by increasing the manipulated variable ΔG corresponding to the dead zone A, thereby changing the actual engine speed En and the control target value E ₀ . This is done to improve consistency. Note that if the average value D is large, the shift operation amount G becomes too large and it is dangerous to perform sudden deceleration. Therefore, an upper limit is set for the operation amount G, and when the average value D is large, a constant operation It is configured to perform a speed change operation using amounts G' and G''.

Further, in FIG. 2, SW is a switch for selecting automatic or manual vehicle speed control, and FIG. 3 is a flowchart showing the operation of the control device 16 described above.
Further, in FIG. 4, the part indicated by a dotted line shows the relationship between the conventional shift operation amount G and the average value D.

Furthermore, the shift operation amount G is the engine rotation speed.
It may be set corresponding to En and its variation value An with respect to the target value _E0 .

Furthermore, when the fluctuation value An exceeds a predetermined value K, that is, when the load suddenly increases, the system is configured to immediately perform a deceleration operation, but when the load becomes lighter, the speed increase operation is also performed immediately. It may be configured as desired.

[Brief explanation of drawings]

The drawings show an embodiment of the agricultural machine according to the present invention,
Fig. 1 is an overall side view of the combine harvester, Fig. 2 is a block diagram of the control system, Fig. 3 is a flowchart showing the operation of the control device, and Fig. 4 is an explanation of the relationship between control target value and shift operation amount. It is a diagram. 6...engine, 7...transmission, 15...actuator, _E0 ...control target value, A, B...dead band, ΔG...manipulated amount.

Claims (1)

[Claims] 1 A transmission device 7 for driving that is interlocked and connected to the engine 6 and a sensor S ₁ that detects the rotation speed of the engine 6 are provided, and the detected value of the sensor S ₁ is provided.
a deviation calculation means for periodically calculating a deviation Dn between En and the control target value E ₀ ; and a deviation calculating means for calculating the deviation Dn between En and the control target value E ₀ , The agricultural machine is provided with control means for operating the transmission 7 to change the speed based on the deviation Dn calculated by the control means, and the control means has the same sign as the deviation Dn that is sequentially calculated. An agricultural machine that is configured to perform a gear change operation only when