Leveling control system and method of land leveller scraper

Abstract

The invention discloses a leveling control system of a land leveller scraper. The system comprises a hydraulic system, and also comprises a detection sensor, a microcontroller and a proportional flow valve driving circuit which are connected in sequence, wherein the detection sensor detects the real-time horizontal tilt angel theta of the scraper; the microcontroller computes angular speed omega according to the horizontal tilt angel theta of the scraper through an I-PD control algorithm, which is taken as a reference value and is transmitted into a nonlinear limit curve; if the value omega exceeds the working range of the nonlinear limit curve, the practical output control angular speed omegaref is equal to omegaMAX, wherein omegaMAX is the maximum angular speed provided by the hydraulic system; otherwise omegaref is equal to omega; omegaref is taken as a PWM duty cycle value, obtained control voltage U0 is sent to the proportional flow valve driving circuit comprising a PWM switching voltage controlled constant flow source circuit, and a proportional flow valve is driven, so that the hydraulic system levels the scraper. The system and the method can effectively eliminate the phenomenon of overshoot of the scraper, improve the response speed and the control accuracy of the scraper, reduce system power loss and mechanical wear, and improve the land leveling efficiency.

Description

Technical field [0001] The invention relates to the field of agricultural machinery, and in particular to a leveling control system and method for the leveling shovel of a motor grader. Background technique [0002] Modern rice planting technology has high requirements for the flatness of the paddy field. The paddy field laser leveling machine can automatically adjust the height and inclination of the leveling shovel according to the real-time working status to keep it level and maintain the set height. [0003] However, in the prior art, in terms of the electric control system for the leveling shovel of the paddy field grader, when the grader is operating in a complex paddy field environment, there are phenomena such as slow response speed, unstable control, and prone to oscillation and overshoot. [0004] Regarding the hydraulic control system of the leveling shovel of the paddy field grader, there are two types of leveling hydraulic systems of the paddy shovel: One is the levelin...

AI Technical Summary

Problems solved by technology

However, during most of the working process of the grader, the proportional electromagnetic reversing valve requires very little control flow. In order to make the grader blade respond quickly, it is necessary to maintain a certain pressure in the hydraulic system, so the outlet of the hydraulic pump The hydraulic oil depends on the relief valve to build up the pressure to supply the control flow required by the proportional electromagnetic reversing valve. The excess flow can only be overflowed back to the oil tank through the relief valve, so there will inevitably be heating problems, and the system will lose a lot of power. , the energy is not effectively utilized

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