SU1671180A1 - Method of motion control of a tractor-driven unit - Google Patents

Abstract

The invention makes it possible to increase the control accuracy of a machine-tractor unit (MTA) along a predetermined path. MTA 1 is output to a starting point of motion along a predetermined path (LT) 6. The transceiver equipment installed on MTA 1 and repeater 2 form an electr-magn. field representing a series of phase traces. When moving the MTA 1, the current ranges to two reference points (FROM), separated by a known distance, are located in which the corresponding points are located. antennas 3, 4. Initially, the motion of the MTA 1 is carried out along an arc of a circle of radius D _1-1 with the center in the first FROM of the space in which the antenna 3 is situated. MTA's own position 1. CALCULATED DIFFERENCE BETWEEN CURRENT DISTANCE AND EXPECTED DURING MOVEMENT AT 3 6 DISTANCE TO SECOND FROM ANTENNA, WHICH IS LOCATED. e deviation current range MTA 1 to 3 from the new antenna line at a constant distance, which is a circle with a different radius D _I-1 with the center at the first OT. Thus, the control ensures the movement of MTA 1 along an adjustable line equal to the distance relative to the first OT. 1 il.

Description

about vj

The invention relates to agricultural machinery and can be used when performing work in agriculture, as well as in those areas where it is required to ensure the movement of the machine-tractor unit (MTA) along a predetermined trajectory.

The purpose of the invention is to improve the accuracy of controlling the movement of the machine-tractor unit along a predetermined trajectory.

The drawing shows a block diagram of a device that implements the method of controlling the movement of the MTA along a given trajectory.

The device contains a machine-tractor unit 1 with an onboard station, a repeater 2, the first 3 and the second 4 antennas. In the drawing, there are indicated: 5 - lines of constant range relative to the first reference point of space; 6 is a predetermined motion path.

with

ABOUT

The device works as follows.

MTA 1 is brought to the starting point of the movement of a given path. The transceiver equipment MTA 1 and transponder torus 2 forms an electromagnetic field, which is a standing electromagnetic wave (a series of phase tracks). The first 3 and second 4 antennas are located at the first and second reference points of space, respectively, separated by a known distance.

At MTA 1, after the start of the movement, the current ranges DM, D2-1, Oz-1 ...; Di-2, Da-2, Oz-2 ... before the first 3 and second 4 antennas, respectively. The MTA 1 motion control signal is formed proportional to the deviation of the current range D2-1, Oz-1 ... MTA 1 to the first antenna 3 from the constant-range line 5, which is a circle with radius DM centered at the first reference point. Thus, the initial movement of the MTA 1 is carried out along an arc of a circle of radius DM with its center at the first reference point of space.

According to the determined current ranges D2-1, Oz-1 ... and Og-2, Oz-2 ... MTA 1 to the first 3 and second 4 antennas, respectively, and the known distance between antennas 3 and 4, calculate their own location MTA 1 and, using it, calculate the difference of the current D2-2, Oz 2 ... and the expected (i.e., which should be when moving along a given trajectory) distances MTA 1 to the second reference point. When this difference is exceeded, which determines the deviation of the current position of the MTA 1 from the given trajectory of motion 6, form, the motion control signal of the prop - nationally, the deviation of the current range ... D4-1, Ds-1 ... MTA 1 to the first antenna 3 from the new constant-distance line, which is already a circle with a radius DH with the center also at the first reference point (D m the expected distance between the MTA 1 when moving along a given path and the first antenna 3 at the time of exceeding the maximum allowable

deviations from the desired trajectory). Thus, the motion of the MTA 1 continues along an arc of a circle of radius D 1-1 centered at the same first reference point of space. The essence of such control lies in the movement of MTA 1 along a corrected line equal to the distance relative to the first reference point of space, i.e. over corrected iso-phase.

Claims (1)

Claim Method The method of controlling the movement of a machine-tractor unit, consisting in determining the current distance between the machine-tractor unit and the first reference point of space, generating a motion control signal of the machine-tractor unit proportional to the deviation of the current range between the machine-tractor unit and the first reference point of space from the distance between the initial point of motion and the first reference point of space, characterized in that, in order to increase the accuracy of controlling the movement of the machine-tractor unit along a predetermined path, determine the current distance between the machine-tractor unit and the second reference point of space, calculate the difference between the current and expected distance when moving along a predetermined distance path between the machine-tractor unit and the second reference point of space when moving machine - tractor unit, when the obtained difference exceeds the maximum permissible value, form the motion control signal of the machine-tractor unit, the proportion The actual amount of deviation of the current distance between the machine-tractor unit and the first reference point of space from the expected distance between the machine-tractor unit when moving along a given trajectory at the time when the maximum allowed deviation from a given trajectory of movement and the first reference point of space is exceeded.