Lifting controller for agricultural working machine

Abstract

The invention provides an elevating control apparatus for an agricultural working machine which include an elevating drive mechanism. The elevating drive mechanism can be connected with a working apparatus of a drive machine body by elevating freely, control action based on detected high information to ground, maintain high of the working apparatus to ground with a given high, and process elevating action suitably even if high of the working apparatus changing rapidly. A detection value (thet) of a high detection apparatus come from the detection working apparatus to ground and a variable speed (omege) obtained by processing differential coefficient to the detection value, are used as a high information to ground for controlling action of the elevating drive mechanism (5).

Description

technical field [0001] The present invention relates to a lift control device for agricultural working machines such as passenger rice transplanters, agricultural tractors, and combine harvesters. Background technique [0002] As a lifting control device for a passenger-type rice transplanter, a grounding body that can be grounded and tracked is provided on the seedling planting device (working device) that can be freely driven up and down and connected to the rear of the traveling body. Calculated from the swing angle of the grounding body When the height of the seedling emergence and planting device relative to the surface of the paddy field is staggered from the insensitive area between the swing angle of the grounding body and the preset target angle, the lifting drive device is controlled proportionally, and the seedlings are planted in the direction of correcting the stagger. The device is raised and lowered at a speed proportional to the above-mentioned deviation, so ...

AI Technical Summary

Problems solved by technology

[0003] As a conventional lifting control device, the seedling planting device will suddenly move up and down due to the unevenness of the tillage plate, etc., which will cause the traveling body to fluctuate and tilt back and forth. In this case, it is necessary for the lifting control to quickly track this. Difficult, the height of the planting device to the ground deviates greatly from the set height, and the time to deviate from the set height becomes longer

[0004] In order to reduce this disadvantage, although it has been tried to add the differential element (speed element) of the height of the seedling planting device to correct the deviation value deviated from the set height, and perform proportional control to improve the responsiveness, however, until the corrected The lifting action cannot be performed until the deviation value exceeds the size of the dead zone, so this method cannot fully cope with sudden height changes

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