JPH0595723A - Car speed controller for mobile agricultural machine - Google Patents

Abstract

PURPOSE:To use an engine of a mobile agricultural machine such as a combine with the maximum efficiency without the occurrence of engine trouble such as engine stop. CONSTITUTION:In a mobile agricultural machine such as a combine designed to carry out car speed control based on an increase or a decrease in load on an engine (16), an engine output characteristic changing means (37) for increasing output horsepower (PS2) from a normal value (PS2) for the rated speed (N) is installed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle speed control device for a mobile agricultural machine such as a combine harvester, which controls a vehicle speed based on an increase / decrease in an engine load to maintain a stable engine load.

[0002]

2. Description of the Related Art As an output characteristic of an engine used in this type of mobile agricultural machine, it is ideal to output maximum horsepower at a rated speed.

[0003]

However, if the vehicle speed control is always performed with such an output characteristic, in the case of an overload state due to a sudden load change or operation delay during turning of the vehicle or manual vehicle speed control. Since the engine output did not rise above that, the engine rotation was down and the engine stalled.

[0004]

SUMMARY OF THE INVENTION Therefore, according to the present invention, in a mobile agricultural machine in which vehicle speed control is performed based on an increase or decrease in engine load, engine output characteristic changing means for increasing output horsepower from a normal value with respect to a rated speed. For example, during normal combine harvesting work, the engine can perform its maximum horsepower at the rated speed during maximum harvesting work, while at the same time performing maximum harvesting efficiency, while turning the machine or performing harvesting work other than during harvesting work. In the manual vehicle speed control, there is a margin up to the maximum horsepower as the output characteristic of a normal value smaller than the maximum horsepower, which is comfortable with no engine trouble such as engine stall that expands adaptability to sudden changes in load and operation delay in these works. It is possible to work.

[0005]

An embodiment of the present invention will be described in detail below with reference to the drawings. FIG. 1 is a vehicle speed control circuit diagram, FIG. 2 is an overall side view of the combine, and FIG. 3 is a plan view thereof. In the figure, (1) is a truck frame equipped with a traveling crawler (2), and (3) is the truck. A machine stand installed on the frame (1), (4) a threshing section in which the feed chain (5) is stretched on the left side and the handling cylinder (6) and the processing cylinder (7) are incorporated, and (8) is mowing A reaper having a blade and a culm transport mechanism, (9) is a straw chain (1
0) (11) A straw processing unit facing the end, (12) a driver's cab provided with a driver's seat (13) and a driving operation unit (14),
(15) is an engine part in which the engine (16) is installed,
(17) is a grain tank which is arranged in front of the engine section (15) and stores the grain from the threshing section (4) through a lifting cylinder (18), and (19) is the grain tank (17) It is an upper discharge auger that takes out the inner grain to the outside and continuously mows
It is configured to perform threshing work.

As shown in FIG. 4, the shift of the vehicle speed of this combine is performed by a variable displacement hydraulic pump (21) and a hydraulic motor (22) which constitute a continuously variable transmission mechanism (20) which is an HST. The input shaft (21a) of the hydraulic pump (21) is interlockingly connected to the output shaft (16a) of (16) through the belt and gear transmission mechanism (23) to connect the drive sprocket (24) of the traveling crawler (2). While the output shaft (22a) of the hydraulic motor (22) is interlockingly connected to the transmission case (25), the handling cylinder (6)
The handle cylinder input shaft (6a) of the belt and gear transmission mechanism (2
6) via an output shaft (16a) of the engine (16).

Further, the engine (16) has an electronic governor (27) for controlling the fuel injection amount of the fuel injection pump by an injection amount adjusting rack to keep the rated rotation speed (N) constant, and the hydraulic pressure is also provided. The pump (21) has a DC servo motor (2 which controls the swash plate angle to adjust the hydraulic discharge amount.
8), and is configured to perform forward / backward drive of the motor (28) to increase / decrease the vehicle speed.

As shown in FIG. 1, a vehicle speed control circuit (29), which is a fuzzy vehicle speed control device for driving and controlling the servo motor (28) based on fuzzy inference, has an automatic switch (30) for automatically controlling the vehicle speed. And a vehicle speed sensor (31) for detecting the vehicle speed, and an HST oil pressure sensor (32) are input and connected, and a threshing section is provided from a grain culm which is provided by being provided in the vertical transport device (33) of the reaping section (8). A grain culm sensor (34) for detecting grain culm sent to (4) and a work switch (3) which is a work clutch switch for detecting the culm work clutch lever (35a) when the cutting operation is performed.
5) and a shift lever (40a) for manually controlling the vehicle speed
Shift lever position sensor (4
0) is connected to the control circuit (29).
Then, a governor control circuit (3) which is an engine output characteristic changing means for driving and controlling the rack position adjusting mechanism (36) of the electronic governor (27) for adjusting the injection amount of the fuel injection pump.
7) Input an engine rotation sensor (38) that detects the rotation of the engine (16) and a governor rack position sensor (39) that detects the position of the injection amount adjustment rack of the governor (27). Connect the control circuit (29)
(37) are connected by communication, and each of these sensors (31)
On the basis of the detections of (32), (34), (38) and (39), the constant engine speed control and the vehicle speed control based on fuzzy inference are performed.

This embodiment is constructed as described above, and the maximum output map data diagram of the engine shown in FIG.
This vehicle speed control will be described with reference to the maximum output horsepower diagram of the engine of FIG. 6 and the flowcharts of FIGS.

The electronic governor (2
When the rack position data corresponding to the engine load (fuel injection amount) is input from 7), the maximum output map data (RMAX) as shown in FIG. 5, which represents the relationship between the rack position and the engine speed by the maximum load curve, is input. The target vehicle speed is deduced based on the target vehicle speed and the rate of change of the vehicle speed and the vehicle speed deviation of how much to increase or decrease from the current vehicle speed are fuzzy inferred,
The drive pulse, which is the shift amount of the servo motor (28) that shift-drives the speed change mechanism (20), is determined. Specifically, the actual output data (rack position) is A, and the engine speed at that time. When the control maximum injection amount output from the control circuit (46) which is the governor controller by the constant control of B is B, the rack deviation value RE (= AC) calculated from the target rack value C and the maximum target value D The maximum target deviation value RM (= C−D) and the rate of change (RD) of the rack deviation value (RE) for a certain period of time are input as the input values of the fuzzy inference, and the target vehicle speed deviation (the output value) from the current vehicle speed ( Fuzzy control for outputting Ve) is performed.

That is, as shown in the main routine of FIG.
In this vehicle speed control, the control mode is selected from the vehicle speed mode, the load mode, and the manual mode, and the output of the maximum output map data (RMAX) is the normal mode (H) or the horsepower up mode. When any one of the outputs (L) dedicated to the load is selected, fuzzy control of the vehicle speed is performed. As shown in the mode selection routine of FIG. 8, the automatic switch (30) and the work switch (35) are turned on. When the grain culm sensor (34) is in the grain culm detection state, it is in the load control mode for controlling the vehicle speed, and when the switches (30) (35) are on, the sensor (34) is in the off state. That is, the acceleration / deceleration control is performed manually when the vehicle speed control mode is only the deceleration control in which the acceleration control is prohibited and when any of the switches (30) and (35) is off. It is automatically selected in the dynamic control mode.

Further, as shown in the map switching routine of FIG. 9, in the load control mode, when the manual priority flag (FH) for performing automatic control of only deceleration is off, the maximum output map data (RMAX) is set. Load dedicated output (L)
And the normal output (H) when the vehicle speed control mode other than the load control mode, the manual control mode, or the manual priority flag (FH) is turned on during the load control mode.

When the mode setting and the map switching are completed, the control for each mode is performed.
As shown in, when the servo motor (28) is shift-driven to the shift amount calculated by the above-mentioned fuzzy reasoning in the load control mode, the manual priority flag (FH), which is determined to be an artificial operation in the middle, is turned on. When the flag (FH) is set, the manual priority mode control, which is the automatic control only for deceleration in which acceleration is prohibited, is performed, and the manual priority flag ( When (FH) is off, the automatic mode control, which is the normal automatic acceleration / deceleration control, is resumed.

Next, the operation when the manual priority flag (FH) is turned on (set) or turned off (reset) will be described with reference to the manual priority flag routine shown in FIG. Even if the speed is not increased, the manual priority flag (FH) is turned on. When the speed-up signal is output, this speed-up signal is output to measure the speed-up output time. At the same time, when the actual shift position is moving to the deceleration side (including the case where it does not move) despite the output of the speed-up signal, and the moving amount is also larger than the set value, or the moving amount is set. If the speed-up signal is within the value but continues to be turned on for a set time or longer, it is determined that an artificial manual priority operation has been applied, and the priority flag (FH) is turned on.

On the other hand, when the speed-up signal is output, the shift position also moves to the speed-up side, and when the amount of movement is also the set value or more, it is determined that the speed has been increased by an artificial operation, and manual priority is given. When the flag (FH) is on (deceleration only allowed) and the speed-up signal continues to be on for a set time or longer, it is determined that this automatic speed-up instruction coincides with the speed-up shift operation by the operator, The manual priority flag (FH) is turned off to restore the original acceleration / deceleration enabled state, and in other cases, the timing of the output time for each acceleration signal output is cleared.

Further, in the vehicle speed control mode when the grain culm sensor (34) is off, as shown in FIG. 11, the data of the speed-up shift amount among the shift amounts calculated by the fuzzy inference is cleared and the deceleration is performed. The automatic control of only the side allows safe driving when turning the machine during non-mowing work.

As described above, based on the turning on / off of the grain culm sensor (34), either a load control mode for automatically controlling both acceleration and deceleration or a vehicle speed control mode for automatically controlling only deceleration is set. In addition to the manual deceleration operation in which the manual priority flag (FH) is off in the load control mode, automatic load control is performed in the automatic mode based on the high horsepower engine output characteristic by selecting the map selection output as the load dedicated output (L). If the speed is not increased in spite of the speed-up instruction during automatic load control, only the deceleration is automatically controlled in the manual priority mode by turning on the manual priority flag (FH). When the speed-up instruction from the side and the speed-up shift operation by the operator match, the manual priority flag (F
H) is turned off and the normal automatic load control is resumed. During vehicle speed control other than during mowing work, when the vehicle becomes overloaded due to a sudden turn or spin turn, control should be performed only on the deceleration side. As a result, it is possible to perform safe driving by preventing the engine from going down or stalling and reducing the vehicle speed to an appropriate turning speed.

Further, at the time of load control during normal mowing work, the engine (1) is changed by changing the engine output characteristic to a load-dedicated output (L) larger than the normal output (H).
While driving 6) to a state where maximum horsepower (PS ₁ ) is output at the rated speed (N), combine work can be performed with maximum efficiency of the engine (16) without engine trouble such as engine stall. , Normal horsepower (PS ₂ ) (PS ₂ <PS ₁ ) less than maximum horsepower (PS ₁ ) with maximum horsepower during manual priority vehicle speed control during turning of the aircraft other than during harvesting and during harvesting As an output characteristic of the engine, it is possible to perform comfortable work without engine trouble such as engine stall in which the adaptability to sudden changes in load and operation delay in these works is expanded.

Further, during automatic load control, in a manual priority mode state such as when a worker decelerates during fall culm mowing,
By controlling only the deceleration side in order to rapidly turn the machine body or to rapidly increase the threshing load, engine troubles such as engine down (16) rotation down and engine stall can be prevented. Further, in this manual priority mode state, when the speed increasing signal is output from the control circuit (29) and the worker performs the speed increasing shift operation, the operation automatically returns to the automatic load control mode to improve operability and work. The efficiency can be improved.

In the above-described embodiment, the configuration in which the servomotor (28) is driven to control the vehicle speed even when the manual shift lever (40) is operated is shown.
0) may be directly linked to the continuously variable transmission mechanism (20) separately from the servo motor (28), and the vehicle speed may be controlled by the servo motor (28) only in the automatic mode.

[0021]

As is apparent from the embodiments described above, the present invention is a mobile agricultural machine in which the vehicle speed is controlled based on the increase / decrease of the load of the engine (16), with respect to the normal value (N) with respect to the rated speed (N). Since the engine output characteristic changing means (37) for increasing the output horsepower (PS ₁ ) from the PS ₂ ) is provided, for example, during normal combine harvesting work, the engine (16) is rotated at the maximum horsepower at the rated speed. While performing work with maximum efficiency by demonstrating the maximum efficiency, the maximum horsepower is less than the maximum horsepower with a margin in the maximum horsepower during manual vehicle speed control other than during the mowing work or during the mowing work. It has remarkable effects such as enabling comfortable work without engine troubles such as engine stall with expanded adaptability to sudden changes in work load and operation delay.

[Brief description of drawings]

FIG. 1 is a vehicle speed control circuit diagram.

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

FIG. 3 is an overall plan view of the combine.

FIG. 4 is an explanatory diagram of an engine drive system.

FIG. 5 is an explanatory diagram showing maximum output map data of an engine.

FIG. 6 is an engine maximum output horsepower diagram.

FIG. 7 is a main flowchart.

FIG. 8 is a flowchart of mode setting.

FIG. 9 is a flowchart of map switching.

FIG. 10 is a flowchart of load control.

FIG. 11 is a flowchart of vehicle speed control.

FIG. 12 is a flowchart of a manual priority flag.

[Explanation of symbols]

 (16) Engine (37) Control circuit (engine characteristic changing means) (N) Rated speed

Claims (1)

[Claims] 1. A mobile agricultural machine in which vehicle speed control is performed based on an increase / decrease in engine load, characterized in that engine output characteristic changing means for increasing output horsepower from a normal value with respect to a rated speed is provided. Vehicle speed control device for agricultural machinery.