SU1604183A1 - Doubling control system - Google Patents

Abstract

The invention relates to agricultural machinery, in particular to tractor driving systems. The purpose of the invention is to improve the noise immunity and reliability of operation. On the leader tractor, the backup control system includes a command setter 1 and a command device 2, a current parameter meter 3, a command conversion unit 8 and a matching unit 6, respectively a meter 4 current parameters are arranged on a backup tractor, a command parameter block 7, a command conversion unit 9, communication control unit 11. The matching units 6 and 7 are connected by a two-wire communication line. Depending on the state of the equipment of the other tractor, each command conversion unit operates in the polling, synchronization and normal operation modes. 3 il.

Description

F1K, 1

The invention of Otk-Osits to agricultural engineering, in particular to systems of tractors,

The purpose of the invention is to improve the noise immunity and reliability of operation.

FIG. 1 shows a block diagram of a system for the duplicating control of tractors: FIG. 2 is a diagram of a command conversion unit; Fig, 3 is a sequence diagram of the work of the military-industrial complex of the tractor-leader and tractor-doubler and the current in the line,

The system of tractor control doublet contains a command command sensor 1, a command device (CU) 2, 3 m meters of the tractor’s current parameters, respectively, a leader and a doubler, a tractor double actuator 5, matching units B and 7, command conversions 8 and 9, blocks 10 and 11 communication control (BCS), two-wire communication line 12.

The command conversion unit consists of an OR-NE 13 element, an electronic key 14, an inverter 15, a transfer one-shot 16, a switch 17, a counter 18, a multiplexer 19. a ban-one vibrator 20, an OR-HE element 21, a zero one-shot 22, an inverter 23, multipliers 24 and 25, one-shot 26 records, register 27 records, register 28 data.

On the 5k se se cycles, signals of the tractor-leader (index L) and signals of the tractor-doubler (index D), 29L, 29D- power on, ZOL, ZOD are indicated - zero signal. 31 L, 31 D-signal of a ban, 32Л, 32Д - a signal of transfer, ЗЗЛ. ZZD - indicative information, 34L, 34D - signal for switching the counter, 35L, 35D - information receiving signal, 36 - current in the communication line.

The system of the backup tractor control works as follows.

The command transmitter enters the KU six-digit code, the spread is one of the 35 points of the initial installation of the tractor doubler in the coordinate system of the tractor-leader, the current parameters gauge in the KU receive constant voltages from the sensor W range of the leader’s angle the tractor-leader receives the digital code corresponding to the angle of sight of the backup tractor, obtained by digitizing the analog signal from the output of the current meter parameters of the backup tractor and transmitted sequentially to Odom two-wire lines of communication

Based on this data, the command device calculates the mismatch between the set and the current

coordinates, and depending on the magnitude of the mismatch, a signal is generated | indication of the position of the tractor-doubler relative to a given point supplied to

the setter of commands, and the control commands of the tractor-doubler in speed and direction, transmitted to the conversion unit of the leader’s commands. Further, through the line and the conversion unit of the backup team, they

enter the actuator.

During normal operation, the communication system on the output of the command conversion blocks of both tractors in the BCS produces a alternating voltage of the Meander type, in the event of a communication failure at the output of the BCS, a constant voltage appears and the communication control blocks generate a signal the tractor leader appears light and sound signals, and on

the tractor-doubler includes braking and forced stopping of the engine.

The reception and transmission of a pre-digitized analog signal and control commands is carried out in blocks

conversion of the commands of both tractors in sequential code,

Depending on the state of the equipment of the other tractor, each MIC can operate in the following modes; in mode

survey; in synchronization mode; in normal mode.

The polling mode is the mode of operation of the equipment of a single tractor,

The tractor-doubler sends information (ZZD) through the communication line through the matching units to the tractor-leader, but does not receive any response information. In the absence of response information from the tractor leader BOD after

the termination of the transmission signal (32D) is zeroed and after some time the information transmission is turned on again and so on until a response comes from the tractor-tractor (power is turned on at the leader),

From this moment on, the communication system starts operating in the synchronization mode, i.e. The BOD of the reserve doubler sends information, another MIC of the tractor leader sends a response, but the necessary sequence of information exchange can be violated, because when the power is turned on, the control circuit (counters, single vibrators) can be in an arbitrary state. Counter Content

can be any, therefore, multiplexers can switch any information from the 1st to the N-ro channel.

And this mode will be until then. until the contents of any of the two counters become greater than N, when N is the number of channels

connection (in Fig. 3, at the leader tractor), and the leader BOD scheme goes into zero zeroing mode. If there is no information from the BOD of the leader tractor, the redundant tractor tractor model is also zeroed. That is, there comes a time when both BODs are in zero mode. Since the time of zeroing of the doubler takes less time to zero the leader (ZOD ZOL), the driver starts transmitting information 3 BOD of the leader first. From this moment begins the mode of normal operation of the exchange of information between tractors, i.e. signal number 1 of the backup corresponds to the response signal number 1 of the leader, and so on until the signals of channel N are transmitted to the leader and back, after which the blocks for interrupting the commands of both tractors are zeroed out, one cycle of information exchange ends a 2 ms cycle. After the expiration of the zeroing mode, the second exchange cycle starts, and so on.

BOD works as follows. When the power is turned on (nag, on the doubler - Fig. 3, signal 29D), data register 28 is zeroed, i.e. there are no signals to the tractor control equipment, the counter 18, which controls the switching of signals from the tractor equipment through multiplexer 19, single-oscillators 16, 20.22 m 26 can be arbitrary. 5i, signals from the tractor equipment are fed to the multiplexer inputs.

BOD starts operating in transfer mode or may be in zero mode.

When the signal log. 1, at the transmitter's one-shot 16 (signal 32D), permission is given to transmit information from the tractor's equipment through the corresponding channel of the multiplexer 19 via the multiplier 24 (for the Log.O signal) or multiplier 25 (for the Log.1 signal) and further to the communication line. During the action of the signal 32D, a current flows through the communication line, which has a conditionally positive direction in the case of signal Log.1 or negative at the signal Log.O.

When the Log.O signal at the output of the one-transmission 16 transducer, the element 3 OR-HE 21 generates a signal of Log.1 to turn on one zeroing oscillator 22, which gives a pulse zero reset signal for counter 18 and to turn on the prohibition one-shot 20. A 31D signal appears at the output of the one-shot, prohibiting the key 14 from turning on the write one-shot 26, which does not allow the signal from the matching block to write to the write register 27 at the time of the signal 31D.

By the decay of the ZOD pulse, which is fed to the second input of the one-shot 16, a 5 pulse 32 D is output per transmission mode. In the absence of a response signal from the tractor-leader and after the termination of the transmission mode, the counter 18 was again zeroed with a pulse of ZOD. After the termination of the pulse 10 ZOD, the one-shot 16 again grants permission to the transmission mode, i.e. The BOD of the backup tractor operates in the polling mode — sending the transmission signal, then zeroing if there is no response signal, sending the transmission signal again, zeroing again, and so on.

In the polling mode, the output information (SZD signal) from the multiplexer retains its value, since the counter all the time 20 is in the initial state.

When a signal is received from the equipment of the tractor-leader, the system begins to operate in the go-to-synchronization mode.

It happens as follows. 5 The signal from the tractor tractor matching unit through the communication line is fed to the leader tractor matching unit, where the signal from the first output (can be Log.O or Log, 1) goes to the recording bus of register 0, 27, operating in serial-parallel mode, the signal Log, 1 from the first or second outputs of the matching unit through the element 2 OR-NOT 13 goes through the key 14 to the inverter 15. With the 5 of the inverter 15, the signal Log.1 goes to the recording single-oscillator 26, element 3OR-NE 21, zero-one single-oscillator 22 and on the second turn of the switch 17.

When the signal Log.1 appears at the output of the inverter 15, a one-shot recording 26 is started, which by 35L pulse gives permission to record information from the first input of the command conversion block to the register 27, while the signal Log.1 5 blocks element 21 and the one-shot 22, prohibiting the formation of a zeroing mode for the duration of the input signal.

By the decline of the pulse from the output of the inverter

15 (32D) lowers the one-shot 16, forming a Log signal, 1 (32L), while

There is a transfer of information (ZZL) with

BOD leader in BOD backup.

In the process of information exchange, the counters 18 synchronously increase their content — 5 MoENs 1 at the time of a pulse descent (SZL); for this purpose, the output of the inverter 15 is connected to the input of the counters 18 using a switch 17, respectively, and a single-output 16 output on the leader tractor. transfer. As soon as the contents of any

the counter 18 becomes equal to N; a signal is generated to rewrite the data of the MS register 27 into the data register 28, where it is stored until the next rewriting.

At the same time, the signal from the last discharge of counter 18 is fed to zero-reset one-shot 22, which with a certain delay gives an impulse of ZOL to zero counter 18 and the inclusion of one-shot prohibition 20 prohibiting the passage of information through key 14 from the MIC input.

The matching unit (BS) is designed to receive signal transmission in the form of current parcels of different directions on the communication line (Fig. 3 - signal fn) and issue logical signals O or T depending on the direction of the current to the command conversion unit.

Inputs 5C are interconnected by a communication line. The communication control unit (BCS) is designed to control the correctness of signal transmission in each cycle. In the event of a violation of the transmission mode, the BCS on the leader tractor issues a signal to the indicator (light bulb) in the setpoint device. Turning on the indicator visually signals the tractor driver of a malfunction in the equipment, in the double tractor tractor, the BCS gives a signal to turn off the engine.

The use of the proposed dual control system of tractors allows us to refuse the unreliable operation of the multicore cable used for the communication line, to exclude

all possible emergencies in case of breakage or closure of individual conductors of a multicore cable.

Claims (1)

Invention Formula A tractor trailer control system, including a communication line, a command setter with a command device and a current parameter meter installed on the leader tractor, and a current parameter meter and actuator, which is designed to increase the noise immunity, on the tractor doubler. and reliability of operation, it is equipped with communication control blocks, command conversion blocks and matching blocks connected in series to each tractor, while on the leading tractor the output of the control block It is connected to the command setter, the output of which, together with the output of the current parameter meter, is connected to the command unit and through the converter unit of the command to the corresponding conversion unit, and on the tractor-doubler the output of the communication control unit is connected to the input of the actuator connected to the current parameters meter, and the output via the command converter unit with the corresponding matching unit, the tractor matching unit being connected to each other via a two-wire line . ky x : -N ...