JPH022572B2 - - 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. a deviation calculating means for periodically calculating the difference, a determining means for determining whether or not the positive and negative values of the deviations sequentially calculated by the deviation are the same for a predetermined number of times; Agricultural work that is provided with a control means for operating the transmission so that the rotation speed of the engine is maintained within a predetermined range with respect to the control target value when it is determined that the number of rotations has continued a predetermined number of times. Regarding machines.

In such an agricultural machine, the gear change operation is performed only when the positive and negative values of the deviations calculated sequentially are the same for a predetermined number of times.
Even if the engine speed repeatedly increases and decreases due to the load acting on the engine repeatedly increasing and decreasing due to minute changes in the work situation, the control should not be performed in response to this. This has the advantage of stabilizing the actuators and suppressing early wear and tear on the actuators.

By the way, when changing gears using the control means,
It is conceivable to carry out a shift operation using the operation amount determined based on the final deviation of the deviations for the predetermined number of times, but in this case, there is a possibility that an excess or deficiency may easily occur in the shift operation amount.

That is, since it repeats increases and decreases due to changes in engine speed and load, it is undeniable that the final deviation of the predetermined number of deviations will vary in size. Therefore, if the final deviation is a small value, the shift operation amount will be insufficient, and
If the final deviation is a large value, the shift operation amount will be excessive, and as a result, it will be difficult to sufficiently stabilize the control.

Also, when determining the manipulated variable based on the deviation, it is conceivable to simply increase the deviation as the deviation increases, but in this case, when the deviation is large, it is possible to quickly return the engine speed to the control target value. In this case, it is impossible to return the engine speed to the control target value without causing hunting when the deviation is small.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to optimize the amount of shift operation.

The characteristic configuration of the agricultural machine according to the present invention is such that when it is determined that the sign of the deviation between the detected value of the engine rotation speed and the control target value is the same for a predetermined number of times, the rotation speed of the engine is so that the control target value is maintained within a predetermined range.
A control means for performing a speed change operation for driving, based on the average value of the deviation for the predetermined number of times, the range is larger as the average value increases, and is larger than the range in which the average value is smaller. , the speed change operation is performed using the amount of operation determined by increasing the amount of contact that increases as the average value increases by a unit amount, and its functions and effects are as follows. be.

In other words, when a shift operation is performed when the calculated deviation has the same sign or minus for a predetermined number of times, the average value of the deviation for the predetermined number of times is calculated, and the operation amount is determined based on that average value and the shift operation is performed. Then, to find the manipulated variable, the larger the average value is, the larger the range, and the larger the range where the average value is smaller, the larger the manipulated variable that increases as the average value increases by a unit amount. I am trying to find it in the state where it is.

Therefore, the shift operation is performed while determining the amount of operation from the average value, and when the average value is large, the amount of operation is sufficiently large, and when the average value is small, the amount of operation is sufficiently small. Overall, it was possible to smoothly and quickly return the engine speed to the control target value.

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

As shown in Fig. 1, a machine 1 equipped with a crawler traveling device 2 raises and reaps grain culms planted in a field, and while transporting them backwards, changes its posture to a sideways posture. It is equipped with a reaping section 4 for handing over to the feed chain 3, and a threshing device 5 for threshing and sorting and collecting grain culms that are pinched and conveyed by the feed chain 3. A combine has been configured.

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 and connected via links 12, 12 and a bell crank 13. It has been done. 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 result of detection of the number of rotations 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 number of times detection sensor _S1 is within a predetermined range with respect to the control target value _E0 . The vehicle speed is controlled by rotating the motor 15 in forward and reverse directions to automatically control the shift position of the transmission 7 so that the speed is maintained.

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 ; A determining means for determining whether or not the positive and negative values of the deviations Dn sequentially output are the same for a predetermined number of times;
When it is determined that the difference Dn has the same sign or minus for a predetermined number of times, the rotation speed of the engine 6 is maintained within a predetermined range with respect to the control target value E ₀ . Various control means are configured, such as a control means for changing the speed of the transmission device 7 for traveling, and the control means controls the difference Dn based on the average value D of the deviation Dn for the predetermined number of times. An operation that is obtained by increasing the amount of operation that increases as the average value D increases by a unit amount in a range where the average value D increases as the average value D increases, and in a range where the average value D is larger than the range where the average value D becomes smaller. It is configured to change gears depending on the amount.

Next, an explanation will be given while describing the operation of the control device 16. The detected value _Eo from the rotational speed detection sensor _S1 is repeatedly sampled at intervals of a predetermined time t, and the difference between the previous sampling value _Eo-1 ) and the new sampling value _Eo , that is, the fluctuation value of the engine rotational speed. A _o is calculated and a deviation D _o with respect to the control target value E ₀ is calculated and stored.

Next, if this deviation D _o is positive, that is, the sampling value E _o is larger than the target value E ₀ , check whether the deviation D _o-1 calculated at the previous rotation speed sampling is positive, that is, the fluctuation is in the same direction. hand,
If the previous deviation D _o-1 is positive, the internal counter that counts the number of sampling times W is set to “1”.
If the previous deviation D _o-1 is negative, the counter is reset and the deviation Dn of the current sampling value En is stored as the previous deviation D _o-1 .

When the count value W of the counter reaches a predetermined number of times W _{0 or} more, as shown in FIG. Motor 1 at intervals
In order to increase the speed by rotating 5, the predetermined number of times
The gear shifting operation is performed using a manipulated variable that is multiplied by a predetermined number of times _W0 of the manipulated variable G corresponding to the average value D of the deviations D _o , D _o-1 . . . of W ₀ . Note that if the count value W is less than a predetermined number of times W ₀ or if the direction of rotation speed fluctuation is different, the gear change operation is not performed.
It is configured not to respond to random load fluctuations.

On the other hand, if the deviation Dn between the sampled value En and the target value _E0 is negative, that is, if the load is increasing, check the magnitude of the variation value An, and check the magnitude of the variation value An, and if the deviation is greater than the predetermined value K, that is, if the load is increasing. If there is a sudden load increase as shown in range B in Figure 5, the deceleration operation is performed immediately with the operation amount Gn corresponding to the deviation Dn, and the fluctuation value An is reduced to the predetermined value K.
If it is less than 1, that is, if the load fluctuation is small as shown in range A in Fig. 5, the direction of change is checked in the same way as when the deviation Dn is positive, and the deviation Dn, D _o-1 of the predetermined number of times Wo is calculated. It is configured to perform a deceleration operation with an operation amount that is a predetermined number of times Wo times the operation amount G corresponding to the average value D of ....

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, FIG. 4 is an explanatory diagram showing the relationship between the average value D and the shift operation amount G.

Further, the relationship between the average value D and the control target value G is stored in a table in advance in a memory (not shown) provided in the control device 16.

[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, Fig. 4 is an explanatory diagram of the relationship between load fluctuation amount and shift operation amount, FIG. 5 is an explanatory diagram of the relationship between the amount of processed grain culm and load fluctuation. 6...engine, 7...transmission, A...light load range, 8...overload range, Wo...predetermined number of times,
D _o , D _o-1 ... Deviation of load fluctuation sampling values,
D...Average value, G, G _o ...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 calculating means for periodically calculating the deviation Dn between En and the control target value E ₀ ; a determining means for determining whether or not the sign of the deviation Dn sequentially calculated continues to be the same for a predetermined number of times; and the deviation Dn
When it is determined that the positive and _negative signs of The agricultural machine is provided with a control means for changing the speed of the deviation Dn, and the control means is configured to increase the deviation Dn as the average value D increases, based on the average value D of the deviation Dn for the predetermined number of times, and In a range in which the average value D is larger than in a range in which the average value D is small, the gear shift operation is performed with an operation amount that is obtained by increasing the operation amount that increases as the average value D increases by a unit amount. Agricultural machinery.