KR101462387B1 - Rotation speed control device of the combine's discharge auger - Google Patents

Abstract

The present invention is based on the fact that on / off control and PID control of the presently used combine discharge auger are highly unstable due to a large vibration in the operation and operation, an error range of the arrival point is large, Rather than the control of the system. Based on the fuzzy reasoning, when the sensor detects obstacles and dangerous materials, the speed control of the discharge auger starts and the operation is stopped stably. Based on the fuzzy inference method, the discharge auger is a control method to reduce the vibration and reduce the error range of the operation and the work, so that it is safe and not fatigue to the operator. It is possible to control the obstacle and the dangerous material in the movement route so as not to cause the collision and to enhance the safety of the work.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rotation speed control device for a combine discharge auger,

The present invention relates to a control device for controlling the rotational position of a discharge auger of a combine by applying fuzzy inference, and more particularly to a control device connected to an obstacle detection sensor, And the rotation speed of the discharge auger is reduced or stopped so that the position of the discharge auger of the combine can be controlled stably and effectively.

The auger's position control device mounted on a combine harvester for harvesting grains is a manually operated cross-pivot lever type which is used to raise, lower, left, An automatic switch for automatically turning the auger for discharge of grains over the swivel position for receiving and the swivel position for discharging the grains with different positions in the swiveling direction by the manual operation, A discharge position setting volume for setting the turning position for changing the curled discharge position and a clutch on / off switch for turning the discharge clutch on / off so as to switch between the curled discharge state and the stop discharge state, Off switch and the like.

Further, a rear side panel portion is provided on the rear side of the side panel positioned on the lateral side of the driver's seat, a cross-swinging lever operation opening is provided on a horizontal upper surface of the rear side panel portion, An automatic switch, a stop switch, and a discharge position setting volume are provided on the vertical wall portion formed in the stepped portion.

The present invention is based on the fact that control by a proportional differential integral (PID controller) controller and an on / off controller for controlling the position control of a combine discharge auger currently used and the discharge of a grain are vigorous, It is difficult to control the changing and setting of the turning position for the curved discharge due to the large error range and more precise position control is disadvantageous when the obstacle is close to the discharge position and there is no device to notify the operator when the operator does not see the obstacle There was a problem. This problem is caused by the fact that the discharge auger is considerably distant from the place where the operator is located and the construction of the controller and the motor that rotates the discharge auger shows that the length of the discharge pipe is considerably long and as a result, This is because the control position changes and vibration occurs due to overshoot and undershoot of the PID controller.

There is a need for a controller that controls the discharge auger to a desired position while being less sensitive to such vibrations as length of the exhaust pipe and disturbances generated in various packages. Various control methods are possible for this solution, but there may be a method in which a non-operating area is provided or a noise is removed from a position input using a low-pass filter or an artificial neural network is used. However, a controller using fuzzy control is suitable for accurate position control as in the present invention, while being less susceptible to external disturbance and capable of stable control.

A fuzzy controller is basically similar to other controllers by combining fuzzy reasoning by combining one or more inputs. In fuzzy inference, it is possible to assign weights. Can be controlled. Basically, the PID controller requires an accurate mathematical control model of the control object, but the fuzzy controller has an advantage that the uncertainty of the control object can be reflected in the control by using the inference method called fuzzy reasoning .

It is difficult for the operator or the driver to check whether the obstacle is in contact with the obstacle or not. However, in the present invention, since the ultrasonic sensor is installed at the discharge part of the discharge auger, The operator is informed of the presence of obstacles and the discharge unit is stopped immediately upon detection of the tangible object so as to prevent the damage of the discharge auger due to the operation error.

The fuzzy controller used in the present invention uses a fuzzy inference engine and fuzzy reasoning expresses linguistic variables based on a membership function and rules. In the present invention, when an emission auger operates, an obstacle is detected by an ultrasonic sensor, The value is controlled to be controlled.

5 shows a general fuzzy controller. When the actual input variable is input to the Fuzzifier, it is converted to a value between 0 and 1, and the fuzzy input variable is transmitted to the Fuzzy Inference Engine. In the Fuzzy Inference Engine, the Fuzzy Rule Base ), The signal is sent to a defuzzifier to output an output suitable for the actual control target system.

The fuzzy set is expressed as a set concept expressed as a value between 0 and 1 as follows.

   A = {(x, μA (x)) | x∈X}

Here, μA (x) is called a membership function (MF) for the fuzzy set, and indicates the membership degree of the set.

There are various kinds of membership functions, such as trigonometric functions, trapezoidal functions, Gaussian functions, and bell shaped functions, and the control output of the system changes depending on which function is used. This means that the output of the system varies depending on how the proportional control coefficient, integral coefficient and differential coefficient are determined in the PID controller.

However, the selection of the belonging function and the size of the shape can be selected and used according to the control object by the ordinary descriptor, and the further explanation will be omitted.

The fuzzy rule base is composed of control knowledge and control method for the control object, and in most cases it is composed of fuzzy IF-THEN rules. It is important to define the minimum number of fuzzy rules and to set the minimum rule that can control the system with minimum rules.

    The fuzzy IF-THEN rules are as follows.

    IFx₁is A¹ and ... xn is Aⁿ THEN y is B

Here, when the whole set is μ = μ1 × μ2 × ... μn ⊂ Rn, A ⁿ and B 이다 are fuzzy sets with μ ⊂ R and V ⊂ R, respectively.

x = (x1, xn) ∈ U

The above equation is the input variable, and y∈V is the output variable.

The fuzzy inference engine is a logical operation part that appropriately infer output values based on fuzzy input values and fuzzy rules in a fuzzy machine. The value of the membership function for the output is determined by the fuzzy IF-THEN rule in the fuzzy rule base and the value of the membership function for the input. The fuzzy inference engine can also be selected and used by a typical engineer, such as a minimum value inference engine and a weighted minimum value inference engine.

A non-fuzzy set is a process of transforming a fuzzy set that has undergone a reasoning process into an actual normal value. Since the control input value of the control target uses a general set of values, it is a process of converting a linguistically expressed value into a quantitative value to be a control input. There are various methods of non-fuzzification, but Center of Area Method and Center Average Method are widely used.

Japanese Patent Application Laid-Open No. 10-2011-0076898 Published patent application No. 10-2012-0044239 Published patent application No. 10-2012-0026951

The present invention relates to a method of controlling a discharge unit on / off control of a currently used combine discharge auger and an operation and a work of a proportional differential integral controller using vibration and position control performance due to over and undershoot of a PID controller due to disturbance and vibration, This is to solve the problem of incorrect control of the arrival point of the auger due to.

An object of the present invention is to control a discharge auger rotation operation of a combine by using a controller using an ultrasonic sensor and fuzzy reasoning. An ultrasonic sensor installed on one side of the discharge auger senses the obstacle and judges it as fuzzy reasoning to control the speed of the discharge auger and stop the rotation motion of the discharge auger. In other words, based on the fuzzy reasoning, the ultrasonic sensor senses obstacles and dangerous materials to control the rotational speed of the discharge auger, and the operation is stopped stably.

Even when the discharge auger is operated again, the discharge auger operates stably on the basis of the detection of the ultrasonic sensor and the fuzzy inference formula, and the ultrasonic sensor mounted on one side or both sides of the discharge auger in the rotational direction of the discharge auger moves on the movement path of the discharge side auger Obstacles and dangerous materials are detected, and control is made so that the obstacles do not collide with the discharge auger.

Another object of the present invention is a position control apparatus based on a fuzzy inference engine. If the length is long and the vibration is severe due to work such as aeration auger, the discharge position may deviate during the work at the input position due to the vibration during the work. In case of using the fuzzy inference machine, , It does not control the controller and does not cause over and undershoot of the controller by unnecessary position control.

As described above, the control apparatus of the discharge auger using the ultrasonic sensor and the fuzzy inference according to the present invention is a more efficient control method than the existing on / off control or the proportional differential integral controller (PID control). The ultrasonic sensor mounted on the discharge auger of the combine senses an obstacle or dangerous material, and the data value sensed by the ultrasonic sensor is logically determined by the fuzzy inference method to stably control the operation of the discharge auger, Accident and the like can be effectively prevented.

Based on the fuzzy inference, the ultrasonic sensor senses obstacles and dangerous materials, and this data value is logicalized to start the speed control of the discharge auger and the operation is stopped stably. Even when the discharge auger is operating again, the discharge auger is reliably operated again based on the fuzzy inference, and also reduces the vibration in the auger auger and reduces the error range of the arrival point, so that it is safe and not fatigue to the operator.

1 is a perspective view of a combine discharge auger of the present invention.
Fig. 2 is an overall configuration diagram of the combine discharge auger of the present invention. Fig.
3 is an enlarged view of the joint portion of the present invention.
4 shows the structure of a general PID controller.
5 is a configuration diagram of the purge controller.

The present invention controls the discharge auger rotation operation of the combine by using a controller using an ultrasonic sensor and fuzzy reasoning.

In the position control apparatus using the fuzzy inference engine according to the present invention, when the length is long and the vibration is severe due to the operation, as in the case of the discharge auger, the discharge position may deviate from the input position due to vibration during operation. At this time, when the fuzzy inference unit 12 is used, the controller is not controlled within the range that does not interfere with the operation, and the controller does not cause over and undershoot of the controller by unnecessary position control.

The auger controller 6 for the grazing discharge of the present invention comprises a grain discharge unit 1, a grain conveying horizontal pipe 2 and a grain conveying vertical pipe 3 connected to the grain discharging unit, the grain conveying horizontal pipe 2, A joint connecting portion 4 for connecting the grain conveying vertical pipe 3 and a grain conveying vertical pipe ascending and descending portion for vertically conveying the grain conveying vertical pipe 3.

The auger controller 6 for grazing discharge comprises a speed reducer and a motor coupled to the joint connection 4 for rotating the grain conveying horizontal pipe 2 relative to the grain conveying vertical pipe and a first encoder 7 for detecting the position and the motor A second rotary part 10 having a first rotary part 8, a speed reducer and a motor for rotating the grain conveying vertical pipe with respect to the combine, and a second encoder 9 for sensing the position, A fuzzy rule base 11 for fuzzy inference, a fuzzy inference unit 12 for making inference using the fuzzy signal, a fuzzy rule base 13 for fuzzy reasoning, And a motor controller (not shown) for controlling the first rotary motor and the second rotary motor.

The auger controller (6) for the curved grain discharge of the combine is provided with an ultrasonic sensor on both sides with respect to the rotating direction in the grain conveying horizontal pipe (2), and the ultrasonic sensor comprises a transmitting part and a receiving part, And a first encoder (7) coupled to the joint connection part (4) for sensing a motor and a position, a reducer for rotating the grain conveying horizontal pipe relative to the grain conveying vertical pipe, , A second rotary part (10) having a motor and a second encoder (9) for sensing a position, a decelerator for rotating the grain conveying vertical pipe relative to the combine, and a second rotary part A fuzzy inference unit 11 for fuzzing the signal of the first encoder and the signal of the second encoder, a fuzzy inference unit 12 for making inference using the fuzzy signal, A rule base 13, a purifier 14, a fuzzy inference unit, a purge rule base, and a non-purge unit for sending signals deduced to the controller, and controls the first and second rotary unit motors And a motor controller for controlling the motor.

Further, the purifier is configured such that the triangular fuzzy rule base 13 uses either the area center method or the average center method. And the rotation speed is decreased as the distance is closer to the measured distance of the distance measuring unit. Wherein the fuzzy inference unit outputs the same fuzzy value for the vibration of the input signal of the first and second encoders in order to reduce the influence of the disturbance and to reduce the vibration in the position control .

[Example 1]

The first embodiment of the present invention comprises a grain conveying horizontal pipe 2, a grain conveying vertical pipe 3 connected to the grain discharging portion 1, a joint connecting portion 4 connecting the grain conveying horizontal pipe and the grain conveying vertical pipe, And a grain conveying vertical pipe ascending / descending portion for vertically conveying the grain conveying vertical pipe (3). The grain conveying horizontal pipe is connected to the joint connecting portion, A first rotation part 8 having a speed reducer and a motor for rotating the pipe and a first encoder 7 for sensing a position; And a second rotary part (10) having a motor and a second encoder (9) for sensing a position and a speed reducer for rotating the grain conveying vertical pipe relative to the combine; And a fuzzer (11) for fuzzing the signals of the first encoder and the second encoder; And a fuzzy inference unit 12 for performing inference using the fuzzy signal; And a fuzzy rule base 13 for fuzzy reasoning; And a defuzzifier (14) for sending signals deduced to the controller; And a motor controller for controlling the first rotary motor and the second rotary motor, wherein the purge generator, the fuzzy inference device, the purge rule base, and the non-purge device are provided. Control the position.

[Example 2]

The second embodiment of the present invention comprises a grain conveying horizontal pipe 2 connected to the grain outlet 1, a grain conveying vertical pipe 3, a joint connecting portion 4 connecting the grain conveying horizontal pipe and the grain conveying vertical pipe, And a grain conveying vertical pipe ascending / descending portion for vertically conveying the grain conveying vertical pipe. In the grain conveying horizontal pipe 2, an ultrasonic sensor is disposed on both sides The ultrasonic sensor includes a distance measuring unit, which is composed of a transmitting unit and a receiving unit, and measures a distance between the grain conveying horizontal pipe 2 and the obstacle. And a first rotary part (8) coupled to the joint connection part and having a speed reducer and a motor for rotating the grain conveying horizontal pipe relative to the grain conveying vertical pipe and a first encoder (7) for sensing the position; And a second rotary part (10) having a motor and a second encoder (9) for sensing a position and a speed reducer for rotating the grain conveying vertical pipe relative to the combine; And a purge unit (11) for fuzzling the signal of the distance measuring unit and the signal of the first encoder and the signal of the second encoder; And a fuzzy inference unit 12 for performing inference using the fuzzy signal; And a fuzzy rule base 13 for fuzzy reasoning; And a defuzzifier (14) for sending signals deduced to the controller; And a motor controller having the purge device, the fuzzy inference device, the purge rule base, and the non-purge device, and controlling the first rotary motor and the second rotary motor, so that, based on the obstacle distance signal from the ultrasonic sensor, If the obstacle is close to the speed, the speed of rotation is fast. If the obstacle is near, it is slow. If the obstacle is very close, stop the auger movement and inform the operator of the obstacle. At this time, it is possible to add a device for displaying distances or for alerting as needed.

1: Grain discharge part 2: Grain feed horizontal pipe
3: Grain transfer vertical pipe 4: Joint connection
6: auger controller for the gravitational discharge of the combine 7: first encoder
8: first rotating part 9: second encoder
10: second rotating part 11: purge device
12: Fuzzy inference 13: Fuzzy rule base
14: non-

Claims (6)

A grain conveying horizontal pipe connected to the grain discharging portion, a joint connecting portion connecting the grain conveying horizontal pipe and the grain conveying vertical pipe, and a gravity conveying vertical conveying pipe for vertically conveying the grain conveying vertical pipe. In the auger controller,
An ultrasonic sensor provided on both sides of the rotation direction of the grain conveying horizontal pipe, the ultrasonic sensor comprising a transmitting unit and a receiving unit;
A distance measuring unit for measuring a distance between the grain conveying horizontal pipe and the obstacle; And
A first rotary part coupled to the joint connection part and having a speed reducer and a motor for rotating the grain conveying horizontal pipe relative to the grain conveying vertical pipe, and a first encoder for sensing the position; And
A second rotary part having a speed reducer and a motor for rotating the grain conveyance vertical pipe with respect to the combine, and a second encoder for sensing the position; And
A fuzzer for fuzzing a signal of the distance measuring unit, a signal of the first encoder, and a signal of the second encoder; And
A fuzzy inference unit that performs inference using a fuzzy signal; And
Fuzzy rule base for fuzzy reasoning; And
A defuzzifier for sending inferred signals to the controller; And
And a motor controller having the purifier, the fuzzy inference unit, the purge rule base, and the non-purge unit and controlling the first rotary motor and the second rotary unit motor.
delete The method according to claim 1,
Wherein the fuzzy rule base uses either the area center method or the average center method.
delete delete The method according to claim 1,
Wherein the fuzzy inference unit outputs the same fuzzy value for the vibration of the input signal of the first and second encoders in order to reduce the influence of the disturbance and to reduce the vibration in the position control. Auger controller for the gravity discharge of the combine.

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