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Hydraulic agricultural machine automatic steering control device and control method

A technology of automatic steering and control devices, which is applied in the direction of automatic steering control components, steering mechanisms, steering rods, etc., to achieve the effects of improving accuracy, facilitating fault analysis and processing, and solving dead zones

Active Publication Date: 2014-07-02
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0004] In order to solve the pressure drop error caused by the traditional voltage control and the limitations of the proportional control method on the asymmetric characteristics of the hydraulic steering system, the present invention proposes a hydraulic agricultural machinery automatic steering control device and control system using current control signals. method

Method used

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  • Hydraulic agricultural machine automatic steering control device and control method
  • Hydraulic agricultural machine automatic steering control device and control method
  • Hydraulic agricultural machine automatic steering control device and control method

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Embodiment Construction

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0035] A hydraulic automatic steering control device for agricultural machinery is proposed, which is composed of a hydraulic drive module and a controller; the hydraulic drive module is composed of an electromagnetic switch valve, a proportional reversing valve, a pressure reducing valve, an integrated valve seat and an amplifier; the controller consists of 32-bit processor minimum system, CAN communication module, electromagnetic switch valve control module, proportional directional valve control module, emergency switch detection module and other circuit modules.

[0036] Hydraulic drive module, installed in parallel in the original hydraulic steering system of agricultural machinery, can be used for steering wheel drive in automatic steering mode; hydraulic drive module includes: electromagnetic switch valve, three, used for manual steering...

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Abstract

The invention relates to a hydraulic agricultural machine automatic steering control device which is characterized in that a controller and a hydraulic drive module which are connected are included. A control method comprises the following steps that the controller receives a start command of an upper computer to control an electromagnetic switch valve in the hydraulic drive module to be closed to enable an agricultural machine to switch to an automatic steering mode; the controller carries out self-adaptation fuzzy PID control according to an angle set value in a steering angle set command, a steering angle measuring angle from a sensor and an agricultural machine speed measuring value; obtained controlled quantity of the flow direction and flow is output to a proportional reversing valve of the hydraulic drive module to achieve automatic steering control. According to the hydraulic agricultural machine automatic steering control method with the self-adaptation fuzzy PID control method as a core, the problems of dead zones, equilibration and errors caused by asymmetric characters of a vehicle hydraulic steering system can be well solved, and automatic steering control precision is improved.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery navigation control, in particular to an automatic steering control device and a control method applied to hydraulic steering systems of agricultural machinery. Background technique [0002] With the promotion of precision agriculture technology, the application of agricultural machinery navigation control technology in the field of agriculture is becoming more and more extensive. As the basis of agricultural machinery navigation control system, the automatic steering technology of agricultural machinery is of high importance. At present, most of the large and medium-sized agricultural machinery use hydraulic steering systems. Whether it is the automatic steering interface of the agricultural machinery that comes with the factory or is modified after the factory, most of them are in the form of electronically controlled hydraulic valves, and basically include proportional directional...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D5/06B62D6/00
Inventor 胡静涛高雷迟浩东白晓平王鹤李逃昌刘晓光
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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