SK277739B6 - Associated regulation system of internal combustion engine control and three-point suspension of mobile energetic device - Google Patents

Abstract

System is designed for whatever mobile energetic device having at least one three-point suspension (70). Associated regulation system secures the regulation (50) of internal combustion engine (1), regulation (60) of three-point suspension (70) and collaboration of these regulations. The regulation (60) of three-point suspension (70) enables the position, speed-position, power and combine regulations. Remarkable feature of power regulation is that the load of three-point suspension (70) is not monitored by pin sensing unit of power, which is situated in lower pullers (14) of three-point suspension (70), but from load of internal combustion engine (1). The load of internal combustion engine (1) is directly proportional to the load of three-point suspension (70). Regulation system is designed mainly for agricultural tractors and their work with plough aggregate.

Description

Technical field

The present invention provides an associated control system for controlling an internal combustion engine and a three-point linkage of an energy device, in particular an agricultural tractor, wherein the injection pump control is based on an electromechanical positioning member and the three-point linkage is controlled by an electrohydraulic transducer.

BACKGROUND OF THE INVENTION

The control and regulation of the lifting device - the three-point linkage of the agricultural tractor has gone through several development stages. The control system of the three-point linkage, due to the aggregation of the agricultural tractor with the plow, must provide position, power and combined regulation. The basic set of currently known control systems consists of an electrohydraulic actuator, a three-point hitch position sensor and a pin force sensor located in the left and right lower drawbar. The operation of the system is controlled by an electronics block with corresponding controls. This variant is applied to various agricultural tractor manufacturers. An extended variant of the control of the three-point linkage is described in DE 30 17 569. The solution described in this patent combines the regulation of an internal combustion engine with the control of the three-point linkage of an agricultural tractor into a single unit. A distinctive feature of the three-point hitch control solution is, among other things, the use of a tapped force sensor. The disadvantage of this solution is that this element is greatly exploited by the operation of the three-point hinge and also by the climatic effects of the surrounding environment, so that it has a relatively low lifetime.

SUMMARY OF THE INVENTION

The above-mentioned disadvantages of the current state of electrohydraulic control of the three-point hitch and internal combustion engine will be eliminated by the associated control system for controlling the internal combustion engine and three-point hinge according to the invention. . The differential member is connected to a functional member with a built-in curve of the optimal position of the control rod insertion, a sensor of the control rod position of the injection pump and a functional transducer with a non-linear saturation type function. The speed control loop is formed by an integrating element and a functional transducer with a non-linear saturation function. Between a functional transducer with a non-linear saturation function and an electrohydraulic actuator there is one differential and one summation element. The differential member is coupled to the three-point hinge position sensor and the three-point hinge control electronics block. The charging member is connected to the slip evaluation electronics block. The control rod position sensor of the injection pump is connected to a derivative member, and it is also connected to the slip evaluation block. This block is also connected to the three-point hinge position sensor. The three-point hinge control electronics block is connected to a functional rod member by a built-in curve of the optimal position of the control rod insertion by a differential member and a desired plowing depth adjustment member, and by selecting a control type.

Clarification of drawings

The invention is illustrated in the accompanying drawings, in which: FIG. 1 is a block diagram of a combined control engine for an internal combustion engine and a three-point linkage of an agricultural tractor. In FIG. 2 is a diagram of the torque and rotational speed of the tractor drive motor and the position of the three-point linkage arms relative to the tractor frame to adjust the working area in a torque characteristic corresponding to the position-speed control. In FIG. 3 is a diagram of the torque and rotational speed of the tractor drive motor and the position of the three-point linkage arms relative to the tractor frame to adjust the working area in the torque characteristic corresponding to the position control. In FIG. 4 is a diagram of the torque and rotational speed of the tractor drive motor and the position of the three-point linkage arms relative to the tractor frame to adjust the working area in the torque characteristic corresponding to the force control.

DETAILED DESCRIPTION OF THE INVENTION

The associated control system for controlling the internal combustion engine and the three-point hitch of an agricultural tractor according to the invention consists of a mechanical-electric converter 4 which controls the insertion of the control rod of the injection pump 2 of the internal combustion engine. from sensors 5 and 6 and the summation member 8 and connected via an output pilot signal and a transducer 4 that directly controls the position of the injection pump control rod 2. The signal from the accelerator pedal position sensor 10 after normalization to the desired engine speed 1 enters the summation member 9, where it is summed with the signal output from the integrating functional member 24 and corresponding to its magnitude of increase or decrease in the value of the desired speed of the internal combustion engine 1 based on the evaluation of the state of load of the internal combustion engine. motor 1 so as to operate in a preselected area in terms of fuel consumption, smoke and respect for the type of control adjustment of the three-point hinge 70. The differential member 22 receives a signal from the actual control rod position sensor 5 and a functional member 23 with built-in optimum curve. The actuator 23 receives the actual speed of the internal combustion engine 1 from the sensor 3 and the signal from the electronics block 19 of the three-point hitch 70, which determines the type of three-point hitch control 70 by shifting the desired working area. the signal from the differential member 22 enters the functional transducer 21, which provides an increasing saturation output signal for small positive and negative input signal values. For a large positive input signal, the output signal value is zero. Thereafter, the three-point hitch correction control branch does not apply, but only the change-over correction branch of the internal combustion engine 1 via the functional transducer 28. the differential member 20 inputs a signal from the actual three-point hinge position sensor 70, a signal from the electronics block 19 of the three-point hinge control 60 with input signals of the three-point hinge position setpoint 70 and the control type selection 27, and an output signal from the functional converter 21. the differential member 20 enters the summation member 31 where it is added to the input signal from the slip evaluation electronics block 30, which is inputted from the position sensor 12 of the three-point hinge 70, the speed sensor 3 of the internal combustion engine 1 and the output signal The output signal from the summation member 31 enters the electrohydraulic actuator 25, the output of which controls the movement of the linear hydraulic motor 16 transmitted via the linkage system 18, 13 and 14 of the three-point hinge 70 to position. plow 15.

In FIG. Figures 2, 3 and 4 show a method of setting the type of control. The situation in FIG. 2 shows the co-operation of the engine by means of a positioning proportional transducer (the output parameter is the position of the control rod - for a given engine speed, the motor torque) and the control of the lifting device, where In the right part of FIG. 2 shows a working area for position-speed control. This is a regulation by maintaining a constant position of the lifting device and changing the preselection of the desired speed with a constant depression of the accelerator pedal, ultimately the speed of the implement, while the engine is operating in optimum operating and fuel consumption modes. At the same time, due to the change in resistance on plow bodies (they are a function of actual speed) and the change in theoretical speed, the slip changes. In steady-state load machine modes, the plurality of operating points are curves 32, 33, and 34. Curve 36 is the external characteristic of the motor, and curve 35 is the reference level of a plurality of control rod insertion points for calculating the control deviation. In the left part of FIG. 2 shows the course of the position of the lifting device 37 as a function of changing the load of the working machine - engine torque function. In the area of curvature of curves 33 and 35, there is a slight change in the position of the lifting device over the entire range of change of the desired engine speed due to the speed control loop 80 (see FIG. 1). This control method is suitable for plowing fields with varying soil density. In FIG. 3 shows a working area for position control. This control maintains the position of the lifting device, making maximum use of engine power. In critical modes, it changes the speed and position of the tool within the standard. Curves 38 and 39 are a plurality of engine operating points, curve 40 is an external characteristic, and curve 41 is a plurality of optimum insertion positions of the injection pump control rod for fuel consumption. In the region of the curvature of curves 39 and 41, the position (see curve 42) of the lifting device changes with respect to the set position. In FIG. 4 shows a working area for force control. The control keeps the motor torque constant and changes the position of the tool to eliminate terrain relief. In plowing, the plowing depth remains constant at the same soil density. The reference level for calculating the control deviation is curve 44, curve 45 is the external characteristic of the motor, and curve 46 expresses the change in tool position as a function of the engine torque. The position of the three-point hinge changes (see curve 47) over the entire torque range. The displacement of the desired operating range of the internal combustion engine and the reference levels for the calculation of the control deviation can be varied continuously, thereby permitting mixing of control types in any ratio from position-speed through position to power.

The use of the invention is possible on a mobile power means having at least one lifting device, respectively. three-point hitch, and is also designed for work with plowing equipment.

Claims (4)

PATENT CLAIMS Coupled control system for controlling an internal combustion engine and three-point linkage of mobile power means, comprising an internal combustion engine control system, a three-point linkage control system, a three-point linkage, characterized in that a speed member is included between the summation member (9) and the differential member (22). a control loop (80) comprising an integrating member (24) and a functional transducer (28) with a non-linear saturation type function, the differential member (22) being coupled to the functional member (23) with a built-in control rod insertion curve, position sensor (5) injection pump control rod (2) and a functional transducer (21) with a non-linear saturation type function. 2. An associated control system according to claim 1, characterized in that between the functional transducer (21) with a non-linear saturation function and the electrohydraulic actuator (25) there is a differential member (20) and a summation member (31). the member (20) is connected to the three-point hinge position sensor (70) and the electronics block (19) of the three-point hinge control (60) and the summation member (31) is connected to the slip evaluation electronics block (30). 3. The associated control system of claims 1 and 2, characterized in that the position sensor (5) of the control rod of the injection pump (2) is connected by a derivative member (29) and is connected to a slip electronics evaluation block (30) which is also connected to the position sensor (12) of the three-point hinge (70). Associated control system according to Claims 1, 2 and 3, characterized in that the electronics block (19) of the control (60) of the three-point hinge (70) is connected to the function block (23) with a built-in control rod sliding position curve. (20) with a set point position (26) of the three-point hinge (70) and a control type selection (27).