Sugarcane harvester roller anti-clogging electro-hydraulic control system and control method

Abstract

A sugarcane harvester roller anti-blocking electro-hydraulic control system and control method, the torque and speed of the input roller, the leaf stripping roller and the tail cutting roller are measured by a torque sensor and a speed sensor respectively, and the torque-speed data average value within a certain time interval is connected to the single-chip microcomputer controller through a data conversion module. The single-chip microcomputer controller outputs a command signal after analysis and judgment, and the command signal is amplified by a proportional amplifier and connected to an electro-hydraulic proportional flow valve to adjust the flow output of the hydraulic motor of the input roller, the leaf stripping roller and the tail cutting roller, and then adjust the above rollers to a rated speed; at the same time, the command signal output by the single-chip microcomputer controller can also control the forward speed of the harvester and adjust the sugarcane feeding amount, so as to prevent the logistics channel from being blocked due to excessive sugarcane feeding.

Description

Technical Field

[0001] The invention relates to single chip computer control technology and hydraulic system control, and is an electro-hydraulic control system for realizing adaptive control. Technical Background

[0002] As of 2018, my country's sugarcane planting area has reached 1,405,800 hectares, but the mechanization level of my country's sugarcane harvesters is low, and the problems of sugarcane lodging and bending are prominent. The sugarcane harvesters currently in use generally have problems with blocked logistics channels. These problems have seriously affected the efficiency and quality of sugarcane harvesting. Summary of the invention

[0003] The present invention measures the torque and speed of each roller and the forward speed signal data of the harvester through a torque sensor and a speed sensor, and inputs the measurement signal into a single-chip microcomputer controller. The single-chip microcomputer controller runs a control program to analyze and determine the changes in the average torque and average speed of each roller within a period of time, and outputs a command control signal. The command signal is used to control the hydraulic system and the vehicle speed adjustment system, so that the speed of each roller and the forward speed of the harvester are within a suitable range of values, thereby achieving the goal of controlling the speed of each roller and the amount of sugarcane fed.

[0004] The present invention solves the above technical problems through the following technical solutions: a sugarcane harvester roller anti-blocking electro-hydraulic control system, including hardware and a control system, characterized in that the hardware includes a one-way quantitative hydraulic motor, an input roller group, a leaf stripping roller group, a support plate, a roller shaft, a speed sensor, a torque sensor and a coupling, and the specific structure and connection relationship are as follows:

[0005] The input roller group mainly includes an upper input roller and a lower input roller, the leaf stripping roller group mainly includes an upper leaf stripping roller and a lower leaf stripping roller, the tail breaking roller group mainly includes an upper tail breaking roller and a lower tail breaking roller, three identical one-way quantitative hydraulic motors are respectively connected to the upper input roller, the upper leaf stripping roller and the upper tail breaking roller; three identical torque sensors are respectively connected to the coupling at both ends, and the other ends of the coupling are respectively connected to the one-way quantitative hydraulic motor and the roller shaft, and the speed sensor is fixed on the support plate to measure the speed of the roller shaft. The upper input roller and the lower input roller are meshed through gears with the same modulus and number of teeth, the upper leaf stripping roller and the lower leaf stripping roller are meshed through gears with the same modulus and number of teeth, and the upper tail breaking roller and the lower tail breaking roller are meshed through gears with the same modulus and number of teeth.

[0006] The electro-hydraulic control system is a closed-loop control system composed of a single-chip microcomputer controller, a hydraulic system and feedback measuring instruments. The torque sensor, speed sensor and vehicle speed sensor are used as signal feedback measuring instruments of the electro-hydraulic control system. The signal measured by the sensor is converted into an electrical signal that can be recognized by the single-chip microcomputer controller through the data conversion module. The single-chip microcomputer controller internally stores programs and data that can adjust the speed and forward speed of each roller. The signal output by the single-chip microcomputer controller is amplified by the proportional amplifier and then input into the three-position four-way electro-hydraulic proportional flow valve to control the opening of the flow valve. The hydraulic system part includes a one-way quantitative hydraulic motor and a three-position four-way electro-hydraulic proportional flow valve. The two ports A and B of the hydraulic motor are respectively connected to the ports C and D of the electro-hydraulic proportional flow valve, and the other two hydraulic ports E and F of the proportional valve are respectively connected to the hydraulic oil circuit and the hydraulic oil tank.

[0007] As shown in the definitions of various parameters in Table 1, except for the average roller torque and average speed, which are real-time measured data, other parameters in this table represent a fixed value, which is the data information set in advance in the program memory of the single-chip controller. It is the parameter basis for the single-chip controller to calculate and analyze the data measured by the sensor, compare the data in the table, make judgments and output control instructions. The symbolic parameters in the table are defined to more clearly describe the control method of the electro-hydraulic control system.

[0008] The control method of the sugarcane harvester roller anti-blocking electro-hydraulic control system comprises the following steps:

[0009] (1) The operation control program of each roller of the sugarcane harvester is written into the program memory of the single-chip microcomputer controller, and several roller torque levels are set. The torque difference between two adjacent torque levels is T.

[0010] (2) The optimal initial speed and speed adjustment value of each roller are set in advance in the program memory of the single-chip microcomputer controller as a program control instruction N.

[0011] (3) Set several vehicle forward speed level program control instructions in the program memory of the single-chip controller. The difference between two adjacent speed levels is V. Set the initial forward speed V of the sugarcane harvester. Q .

[0012] (4) When the average input roller torque T S Each time the torque level value T is increased, that is, T S +T, and the roller speed N' in the corresponding time period S When the speed level N is reduced, the single-chip controller outputs a control command to increase the input roller speed. The control command is used to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the input roller speed, so that the roller speed reaches N' S+N, otherwise keep the current input roller speed N' S If the increase in the average value of the input roller torque TS is less than a torque level value T, the current input roller speed N' is maintained. S and increase forward speed to V Q +V. When the input roller torque is greater than or equal to the roller torque maximum value, and the roller speed is less than or equal to the minimum value, it is necessary to reduce the forward speed of the sugarcane harvester by one level, that is, to V Q -V, to prevent the entire logistics channel from being blocked due to excessive sugarcane flow at the input roller.

[0013] (5) When the average torque T of the stripping roller B Increase the torque level T, that is, T B +T and the roller speed N corresponding to the time period B When the speed difference N is reduced, the single-chip controller outputs a control command to increase the speed of the leaf stripping roller. The control command is used to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the speed of the leaf stripping roller, so that the roller speed reaches N' B +N, otherwise keep the current input roller speed N B , to prevent the logistics channel from being blocked due to excessive sugarcane flow at the stripping roller.

[0014] (6) When the average torque T at the tail drum D Increase the torque level T, that is, T D +T, and the roller speed N' in the corresponding time period D When the speed difference N is reduced, the single-chip controller outputs a control command to increase the speed of the tail cutting roller. The control command is used to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the speed of the tail cutting roller, so that the roller speed reaches N' D +N, otherwise keep the current input roller speed N D , to prevent the logistics channel from being blocked due to excessive sugarcane flow at the tail-breaking roller.

[0015] (7) When the flow rate of the hydraulic motor reaches the maximum value, the roller speed will reach the maximum adjustment limit value N Max At this time, the roller torque will continue to increase with the increase of sugarcane feeding amount, but the roller speed will gradually decrease. In order to ensure that the stripping roller and the logistics channel at the rear end are not blocked, one of the roller mechanisms in the stripping roller or the tail cutting roller has reached the maximum speed limit value N. Max When the single chip controller outputs a control instruction to ensure that the speed of the input roller no longer increases with the increase of the input roller torque, but maintains the current speed of the input roller.

[0016] (8) When the speed of the leaf stripping roller and the tail cutting roller reaches the adjustment limit and cannot be adjusted, the torque of the leaf stripping roller and the tail cutting roller will increase with the increase of sugarcane feeding amount. When the torque of the leaf stripping roller or the tail cutting roller reaches the maximum value T Max , the speed reaches the minimum value N Min When the harvester moves forward, it is necessary to reduce the forward speed to V Q -V, reduce sugarcane feeding amount.

[0017] The switching power supply adopts a 24V switching power supply, and the switching power supply provides working power for the entire electric control system.

[0018] The roller torque sensor adopts a strain gauge torque sensor, and the speed sensor adopts a Hall speed sensor.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The present invention measures the torque and speed signal data of each roller respectively through a torque sensor and a speed sensor, and a single-chip microcomputer controller analyzes and determines the changes in the average torque and average speed of each roller within a period of time, and outputs a command signal that can adjust the roller to a suitable speed and sugarcane feeding amount. The command signal is transmitted to an electro-hydraulic proportional flow valve to control the flow of a one-way quantitative hydraulic motor to control the roller speed, or the output command signal controls the forward speed of a sugarcane harvester, thereby adjusting the sugarcane cutting amount and feeding amount, thereby adjusting the squeezing force of the roller on the sugarcane, and adjusting the roller torque, so that the speed of each roller and the forward speed of the harvester are within a suitable range of values, thereby achieving the goal of preventing the blockage of the logistics channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural front view of each roller of the sugarcane harvester of the present invention.

[0022] Figure 2 It is a top view of the structure of each roller of the sugarcane harvester of the present invention.

[0023] Figure 3 It is a structural side view of each roller of the sugarcane harvester of the present invention.

[0024] Figure 4 The present invention is a schematic diagram of the working principle of the sugarcane harvester roller anti-clogging electro-hydraulic control system.

[0025] Figure 5 The present invention is a system control block diagram of the sugarcane harvester roller anti-clogging electro-hydraulic control system.

[0026] Figure 6 It is a structural block diagram of vehicle speed and input roller speed regulation based on single chip microcomputer control.

[0027] Figure 7 It is a structural block diagram of vehicle speed and leaf stripping roller speed regulation based on single chip microcomputer control.

[0028] Figure 8 It is a structural block diagram of vehicle speed and tail roller speed regulation based on single chip microcomputer control.

[0029] Marked in the figure are: one-way quantitative hydraulic motor 1, input roller gear 2, support plate 3, roller shaft 4, speed sensor 5, upper input roller 6, lower input roller 7, upper leaf stripping roller 8, lower leaf stripping roller 9, upper tail breaking roller 10, lower tail breaking roller 11, coupling 12, torque sensor 13, leaf stripping roller gear 14, tail breaking roller gear 15. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0031] First of all, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0033] like Figures 1 to 3 As shown, the sugarcane harvester roller anti-blocking electro-hydraulic control system and control method of the present invention, the hardware includes a one-way quantitative hydraulic motor 1, an input roller gear 2, a support plate 3, a roller shaft 4, a speed sensor 5, an upper input roller 6, a lower input roller 7, an upper leaf stripping roller 8, a lower leaf stripping roller 9, an upper tail breaking roller 10, a lower tail breaking roller 11, a coupling 12, a torque sensor 13, a leaf stripping roller gear set 14 and a tail breaking roller gear 15. The specific structure and connection relationship are as follows:

[0034] The one-way quantitative hydraulic motor is the actuator of the hydraulic system, which is used to drive each roller to rotate. Each roller group includes an upper roller shaft, an upper roller, a lower roller and a lower roller shaft. The minimum gap between the upper and lower rollers is 10 mm. The input roller group includes an upper input roller shaft 432, an upper input roller 6, a lower input roller 7 and a lower input roller shaft 431. The leaf stripping roller group includes an upper leaf stripping roller shaft 422, an upper leaf stripping roller 8, a lower leaf stripping roller 9 and a lower leaf stripping roller shaft 421. The tail breaking roller group includes an upper tail breaking roller shaft 411, an upper tail breaking roller 10, a lower tail breaking roller 11 and a lower tail breaking roller shaft 4.

[0035] The torque sensors 13, 131 and 132 described in the present invention are all strain gauge torque sensors of the same model, and the torque sensors all measure the torque of the upper roller shaft; the three speed sensors including the speed sensor 5 described in the present invention are all Hall speed sensors of the same model, and the three speed sensors respectively measure the speeds of the lower input roller shaft, the lower leaf stripping roller shaft and the lower tail cutting roller shaft. The speed sensors are installed and fixed on the support plate 3, located above the lower roller shaft, and the installation position is as shown in FIG. Figure 1 As shown; the 6 couplings described in the present invention are rigid couplings of the same model.

[0036] The one-way quantitative hydraulic motor 1 is connected to the coupling 122, the coupling 122 is connected to one end of the torque sensor 132, the other end of the torque sensor 132 is connected to another coupling of the same model, the coupling is connected to the upper input roller shaft 432, the upper input roller shaft 432 is connected to the upper input roller 6; the one-way quantitative hydraulic motor 101 is connected to the coupling 121, the coupling 121 is connected to one end of the torque sensor 131, the other end of the torque sensor 131 is connected to the upper input roller shaft 432. The end is connected to another coupling of the same model, which is connected to the upper leaf stripping roller shaft 422, which is connected to the upper leaf stripping roller 8; the one-way quantitative hydraulic motor 102 is connected to the coupling 12, which is connected to one end of the torque sensor 13, and the other end of the torque sensor 13 is connected to another coupling of the same model, which is connected to the upper tail breaking roller shaft 411, which is connected to the upper tail breaking roller 10. The one-way quantitative hydraulic motor is connected to each roller shaft, and transmits the power of the hydraulic motor to each roller through the roller shaft.

[0037] The upper input roller 6 and the lower input roller 7 are meshed and driven by the input roller gear 2 and the gear 201 having the same module and number of teeth. The upper leaf stripping roller 8 and the lower leaf stripping roller 9 are meshed and driven by the leaf stripping roller gear 14 and the gear 1401 having the same module and number of teeth. The upper tail cutting roller 10 and the lower tail cutting roller 11 are meshed and driven by the tail cutting roller gear 15 and the gear 1501 having the same module and number of teeth. The support plate 3 is used to install three roller groups and other components.

[0038] The electro-hydraulic control system is mainly composed of a single-chip microcomputer controller, a hydraulic system and feedback measuring instruments to form a closed-loop control system. The torque sensor, speed sensor and vehicle speed sensor are used as signal feedback measuring instruments for the electro-hydraulic control system. The signal measured by the sensor is converted into a signal source that can be recognized by the single-chip microcomputer controller through the data conversion module. The single-chip microcomputer controller internally stores a program that can adjust the speed and forward speed of each roller. The signal output by the single-chip microcomputer controller is amplified by the proportional amplifier and then input into the three-position four-way electro-hydraulic proportional flow valve to control the opening of the flow valve. The hydraulic system part includes a one-way quantitative hydraulic motor and a three-position four-way electro-hydraulic proportional flow valve. The two ports A and B of the hydraulic motor are respectively connected to the ports C and D of the electro-hydraulic proportional flow valve. The other two hydraulic ports E and F of the proportional valve are respectively connected to the hydraulic oil circuit and the hydraulic oil tank. The switching power supply adopts a 24V switching electro-hydraulic. Such as Figure 4 Schematic diagram of the working principle of the electro-hydraulic control system for preventing blockage of the logistics channel of the sugarcane harvester Figure 5 The system control block diagram of the anti-blocking electro-hydraulic control system for the logistics channel of the sugarcane harvester is shown in the figure.

[0039] As shown in the definitions of various parameters in Table 1, except for the average roller torque and average speed, which are real-time measured data, other parameters in this table represent a fixed value, which is the data information set in advance in the program memory of the single-chip controller. It is the parameter basis for the single-chip controller to calculate and analyze the data measured by the sensor, compare the data in the table, make judgments and output control instructions. The symbolic parameters in the table are defined to more clearly describe the control method of the electro-hydraulic control system.

[0040] The control method of the anti-blocking electro-hydraulic control system of the leaf stripping roller of the sugarcane harvester according to the present invention comprises the following steps:

[0041] (1) The operation control program of each roller of the sugarcane harvester is written into the program memory of the single-chip microcomputer controller, and several roller torque levels are set. The torque difference between two adjacent torque levels is T.

[0042] (2) The optimal initial speed and speed adjustment value of each roller are set in advance in the program memory of the single-chip microcomputer controller as a program control instruction N.

[0043] (3) Set several vehicle forward speed level program control instructions in the program memory of the single-chip controller, and the difference between two adjacent speed levels is V. Set the initial forward speed V of the sugarcane harvester Q .

[0044] (4) When the average input roller torque T S Each time the torque level value T is increased, that is, T S+T, and the roller speed N' in the corresponding time period S When the speed level N is reduced, the single-chip controller outputs a control command to increase the input roller speed. The control command is used to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the input roller speed, so that the roller speed reaches N' S +N, otherwise keep the current input roller speed N' S If the average input roller torque T S If the increase value is less than a torque level value T, the current input roller speed N' is maintained. S and increase forward speed to V Q +V. When the input roller torque is greater than or equal to the roller torque maximum value T SMax , and the roller speed is less than or equal to the minimum value N SMin When the sugarcane harvester moves forward, it is necessary to reduce the forward speed by one level, that is, to V Q -V, to prevent the entire logistics channel from being blocked due to excessive sugarcane flow at the input roller. Figure 6 As shown, the structural block diagram of vehicle speed and input roller speed regulation based on single chip microcomputer control.

[0045] (5) When the average torque T of the stripping roller B Increase the torque level T, that is, T B +T, and the roller speed N' in the corresponding time period B When the speed difference N is reduced, the single-chip controller outputs a control command to increase the speed of the leaf stripping roller. The control command is used to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the speed of the leaf stripping roller, so that the roller speed reaches N' B +N, otherwise keep the current input roller speed N B , to prevent the logistics channel from being blocked due to excessive sugarcane flow at the stripping roller. Figure 7 As shown, the structural block diagram of vehicle speed and leaf stripping roller speed regulation based on single chip microcomputer control.

[0046] (6) When the average torque T at the tail drum D Increase the torque level T, that is, T D +T, and the roller speed N in the corresponding time period D When the speed difference N is reduced, the single-chip controller outputs a control command to increase the speed of the leaf stripping roller and the tail cutting roller. The control command is used to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the speed of the tail cutting roller, so that the roller speed reaches N' D +N, otherwise keep the current input roller speed N D, to prevent the logistics channel from being blocked due to excessive sugarcane flow at the tailing roller. Figure 8 As shown, the structural block diagram of vehicle speed and tail roller speed regulation based on single chip microcomputer control.

[0047] (7) When the flow rate of the hydraulic motor reaches the maximum value, the roller speed will reach the maximum adjustment limit value N Max At this time, the roller torque will continue to increase with the increase of sugarcane feeding amount, but the roller speed will gradually decrease. In order to ensure that the stripping roller and the logistics channel at the rear end are not blocked, one of the roller mechanisms in the stripping roller or the tail cutting roller has reached the maximum speed limit value N. Max When the single chip controller outputs a control instruction to ensure that the speed of the input roller no longer increases with the increase of the input roller torque, but maintains the current speed of the input roller.

[0048] (8) When the speed of the leaf stripping roller (or tail cutting roller) reaches the adjustment limit and cannot be adjusted, the torque of the leaf stripping roller (or tail cutting roller) will increase with the increase of sugarcane feeding amount. When the torque of the leaf stripping roller (or tail cutting roller) reaches the maximum value T Max , the speed reaches the minimum value N Min When the harvester moves forward, it is necessary to reduce the forward speed to V Q -V, reduce the amount of sugarcane fed. Figure 7 and Figure 8 shown.

[0049] Through the above connection method and setting method, automatic control of anti-blocking of each roller of the sugarcane harvester is realized.

[0050] The above is only a preferred embodiment of the present invention, which certainly cannot be used to limit the scope of the present invention. A person skilled in the art can understand that all or part of the processes of the above embodiments and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

[0051] Table 1 Definition of various parameters

[0052]

[0053]

Claims

1. A control method for an electro-hydraulic control system for preventing roller blockage in a sugarcane harvester, characterized in that: The steps include: (1) Writing the operation control program of each roller of the sugarcane harvester into the single-chip microcomputer controller, setting several roller torque levels, and the torque difference between two adjacent torque levels is T; (2) setting the optimal initial speed and speed adjustment value of each roller to N in advance in the single-chip microcomputer controller; (3) Set several vehicle forward speed level program control instructions in the single-chip controller. The difference between two adjacent speed levels is V. Set the initial forward speed V of the sugarcane harvester. Q ; (4) When the average input roller torque T S Each time the torque level value T is increased, that is, T S +T, and the roller speed N' in the corresponding time period S When the speed level N is reduced, the single-chip microcomputer controller outputs a control command to increase the input roller speed. The control command is used to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the input roller speed, so that the roller speed reaches N' S +N, otherwise keep the current input roller speed N' S , if the average input roller torque T S If the increase in value is less than a torque level value T, the current input roller speed N' is maintained. S and increase forward speed to V Q +V, when the input roller torque is greater than or equal to the roller torque maximum value, and the roller speed is less than or equal to the minimum value, it is necessary to reduce the forward speed of the sugarcane harvester by one level, that is, to V Q -V, to prevent the entire logistics channel from being blocked due to excessive sugarcane flow at the input roller; (5) When the average torque T of the stripping roller B Increase the torque level T, that is, T B +T and the roller speed N' corresponding to the time period B When the speed level T is reduced, the single-chip controller outputs a control command to increase the speed of the leaf stripping roller. The control command is used to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the speed of the leaf stripping roller, so that the roller speed reaches N' B +N, otherwise keep the current input roller speed N B , to prevent the logistics channel from being blocked due to excessive sugarcane flow at the stripping roller; (6) When the average torque T at the tail roller D Increase the torque level T, that is, T D +T, and the roller speed N' in the corresponding time period D When the speed level T is reduced, the single-chip controller outputs a control command to increase the speed of the tail cutting roller. The control command is used to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the speed of the tail cutting roller, so that the roller speed reaches N' D +N, otherwise keep the current input roller speed N' D , to prevent the logistics channel from being blocked due to excessive sugarcane flow at the tail-breaking roller; (7) When the flow rate of the hydraulic motor reaches the maximum value, the roller speed will reach the maximum adjustment limit value N Max At this time, the roller torque will continue to increase with the increase of sugarcane feeding amount, but the roller speed will gradually decrease. In order to ensure that the stripping roller and the logistics channel at the rear end are not blocked, one of the roller mechanisms in the stripping roller or the tail cutting roller has reached the maximum speed limit value N. Max When the single-chip microcomputer controller outputs a control instruction to ensure that the speed of the input roller no longer increases with the increase of the input roller torque, but maintains the current speed of the input roller; (8) When the speed of the leaf stripping roller and the tail cutting roller reaches the adjustment limit and cannot be adjusted, the torque of the leaf stripping roller and the tail cutting roller will increase with the increase of sugarcane feeding amount. When the torque of the leaf stripping roller or the tail cutting roller reaches the maximum value T Max , the speed reaches the minimum value N Min When the harvester moves forward, it is necessary to reduce the forward speed to V Q -V, reduce sugarcane feeding amount.

2. The electro-hydraulic control system for preventing the roller blockage of a sugarcane harvester adopted by the control method according to claim 1 is characterized in that: It includes hardware and control system. The hardware includes a one-way quantitative hydraulic motor, an input roller group, a leaf stripping roller group, a support plate, a roller shaft, a speed sensor, a torque sensor and a coupling. The specific structure and connection relationship are as follows: The input roller group includes an upper input roller and a lower input roller, the leaf stripping roller group includes an upper leaf stripping roller and a lower leaf stripping roller, the tail breaking roller group includes an upper tail breaking roller and a lower tail breaking roller, three identical one-way quantitative hydraulic motors are respectively connected to the upper input roller, the upper leaf stripping roller and the upper tail breaking roller, three identical torque sensors are respectively connected to the coupling at both ends, and the other ends of the coupling are respectively connected to the one-way quantitative hydraulic motor and the roller shaft, the speed sensor is fixed on the support plate to measure the speed of the roller shaft, the upper input roller and the lower input roller are meshed and driven by gears with the same modulus and number of teeth, the upper leaf stripping roller and the lower leaf stripping roller are meshed and driven by gears with the same modulus and number of teeth, the upper tail breaking roller and the lower tail breaking roller are meshed and driven by gears with the same modulus and number of teeth, The electro-hydraulic control system is composed of a single-chip microcomputer controller, a hydraulic system and feedback measuring instruments. The torque sensor, the speed sensor and the vehicle speed sensor are used as signal feedback measuring instruments of the electro-hydraulic control system. The signals measured by the sensors are converted into electrical signals that can be recognized by the single-chip microcomputer controller through a data conversion module. The single-chip microcomputer controller internally stores programs and data for adjusting the speed and forward speed of each roller. The signal output by the single-chip microcomputer controller is amplified by a proportional amplifier and then input into a three-position four-way electro-hydraulic proportional flow valve to control the opening of the flow valve. The hydraulic system part includes a one-way quantitative hydraulic motor and a three-position four-way electro-hydraulic proportional flow valve. The two ports A and B of the hydraulic motor are respectively connected to the ports C and D of the electro-hydraulic proportional flow valve, and the other two hydraulic ports E and F of the proportional valve are respectively connected to the hydraulic oil circuit and the hydraulic oil tank; The switching power supply adopts a 24V switching power supply, which provides working power for the entire electronic control system; The roller torque sensor adopts a strain gauge torque sensor, and the speed sensor adopts a Hall speed sensor. Through the above connection method and setting method, automatic control of anti-blocking of each roller of the sugarcane harvester is realized.

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