High-ground-clearance plant protection machine body posture balance control system and method

Abstract

The invention discloses a high-ground-clearance plant protection machine body posture balance control system and method, and belongs to the field of plant protection machine control. The control system is matched with the method, and the method comprises the following steps: S1, inputting a platform standard inclination angle interval [a, b] and a pavement flatness interval [c, d] according to experience; s2, the speed V of the vehicle and road surface information in the driving direction are obtained; s3, the flatness, pit depth parameters and position information of the vehicle passing through the road surface are predicted; s4, finding a target object, and calculating the arrival time t, the pit depth H and the height control quantity delta H of the hydraulic cylinder; s5, the displacement sensor feeds the height value of the hydraulic cylinder back to the control system in real time, and whether the measuring range is exceeded is judged; s6, a regulation and control instruction is sent out, so that the platform tends to be horizontal, and rollover is prevented; and S7, collecting the inclination angle value of the chassis during vibration for fine adjustment, returning the posture, and entering the step S2 again to form closed-loop control. The problem that an existing large plant protection machine operation platform cannot be automatically adjusted according to different field pavement flatness is solved.

Description

technical field [0001] The invention relates to the technical field of agricultural machinery, in particular to a body posture balance control system and method of a plant protection machine with high ground clearance. Background technique [0002] As an important part of agricultural production, self-propelled plant protection machines have received more and more attention from our country. Although my country has carried out some research on high-gap plant protection machines, the main models are still difficult to meet the high and post-growth pesticide application operations and In complex terrain operations and other requirements, we can only apply pesticides to low-stem crops; even the core component of the high-ground plant protection machine, the self-propelled chassis frame, only roughly imitates foreign models, and the frame and chassis Rigid connection reduces driving comfort components such as air springs and shock absorbing systems, and there are problems such as ...

AI Technical Summary

Problems solved by technology

[0003] The object of the present invention is to provide a high-gap self-propelled plant protection machine with simple structure, good control performance, high passing efficiency and terrain adaptability, and adjustable chassis height, as well as its body attitude balance control system and control method. Solve or partially solve the poor comfort and poor passability of the current plant protection machines on the market, and most of the current domestic paddy field plant protection machines are rigidly connected suspensions, which are passively adjusted after the vehicle vibrates, so they cannot accurately adapt to various road conditions. Technical issues causing delays in suspension adjustments

Images