Agricultural machinery linear walking control method, system, device, equipment, medium and agricultural machinery

Abstract

The present application relates to a method, system, device, equipment, medium and agricultural machine for controlling straight-line walking of an agricultural machine, which comprises: obtaining a first driving current of a left variable pump and a second driving current of a right variable pump of the agricultural machine at the same motor speed during straight-line walking of the agricultural machine; obtaining a speed deviation between a first vehicle speed of a left wheel and a second vehicle speed of a right wheel of the agricultural machine during straight-line walking of the agricultural machine; determining a target processing mode according to the speed deviation; and performing corresponding control according to the target processing mode. According to the method, three control parameters corresponding to a PID adjustment mode do not need to be adjusted, thereby greatly shortening the debugging period, and the problem of poor adaptability of control parameters caused by changes in the driving environment can also be solved. As long as the speeds of the left and right wheels are inconsistent, the control parameters can be quickly adjusted through the scheme, the speeds of the left and right wheels are kept consistent at all times, and the straight-line driving effect of the tracked agricultural machine is maintained.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and more specifically, to methods, systems, devices, equipment, media, and agricultural machinery for controlling the straight-line movement of agricultural machinery. Background Technology

[0002] Tracked chassis are widely used in agricultural machinery due to their advantages such as protecting farmland, small turning radius, and strong climbing and off-road capabilities. The left and right walking pumps and motors of tracked harvesters are two independent closed hydraulic systems. To maintain good straightness during movement, the two hydraulic systems need high synchronization and consistency. However, due to manufacturing factors, the driving performance of each hydraulic pump and motor varies. For example, with electro-proportional hydraulic pumps, under the same driving current, the speed deviation between different pumps can be as high as 35%. When driving tracked harvesters, the inconsistent speeds on the left and right sides cause serious deviation during movement.

[0003] Currently, the control algorithm for the walking drive system of tracked harvesters based on dual pumps and dual motors generally adopts PID control. This method changes the drive current of the left and right pumps to make the speeds of the left and right motors approach the same target speed, thus ensuring consistent wheel speeds and achieving better straight-line walking performance. However, this PID closed-loop control method controls the hydraulic system. From the control current output driving the variable pump, to the change in hydraulic flow, then to the change in motor speed, and finally to the change in wheel speed, this is a controlled system with long time delays and large lags, resulting in poor real-time performance. Because the time delays and lags of the left and right wheels cannot be synchronized, their speeds cannot be kept consistent, leading to poor straight-line walking performance. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method, system, device, equipment, medium and agricultural machinery for controlling the straight-line movement of agricultural machinery, in order to solve at least one of the above-mentioned technical problems.

[0005] The technical solution of this invention to solve the above-mentioned technical problems is as follows: a method for controlling the linear movement of agricultural machinery, the method comprising:

[0006] The first drive current of the left variable pump and the second drive current of the right variable pump are obtained when the agricultural machinery is traveling in a straight line at the same motor speed. The left variable pump is used to drive the left wheel, and the right variable pump is used to drive the right wheel.

[0007] The speed deviation between the first speed of the left wheel and the second speed of the right wheel during the straight-line movement of the agricultural machinery is obtained.

[0008] Based on the speed deviation, a target processing method is determined. The target processing method is either a first processing method or a second processing method. The first processing method is to adjust the smaller of the first driving current and the second driving current according to the speed deviation. The second processing method is not to adjust either the first driving current or the second driving current.

[0009] When the target processing method is the first processing method, the smaller of the first driving current and the second driving current is adjusted according to the speed deviation so that the speed of the left wheel and the speed of the right wheel are kept consistent.

[0010] When the target processing method is the second processing method, neither the first driving current nor the second driving current is adjusted.

[0011] The beneficial effects of this invention are as follows: In this application, based on the speed deviation between the first speed of the left wheel and the second speed of the right wheel during the straight-line movement of the agricultural machinery, and the processing methods corresponding to different speed deviations, a target processing method is determined. According to the speed deviation, the straight-line movement of the agricultural machinery is controlled according to the target processing method. Since this application does not use the PID adjustment method, it is not necessary to adjust the three control parameters corresponding to the PID adjustment method, which greatly shortens the debugging cycle. At the same time, it can also solve the problem of poor adaptability of control parameters caused by changes in the driving environment of the PID control method. With this application, regardless of the change in driving conditions caused by changes in load or road surface softness, as long as the speeds of the left and right wheels are inconsistent, the control parameters can be quickly adjusted to keep the speeds of the left and right wheels consistent at all times, thus maintaining the straight-line movement effect of the tracked agricultural machinery.

[0012] Based on the above technical solution, the present invention can be further improved as follows.

[0013] Furthermore, when the target processing method is the first processing method, adjusting the smaller of the first and second drive currents according to the speed deviation to keep the speed of the left wheel and the speed of the right wheel consistent includes:

[0014] When the target processing method is the first processing method, the target deviation type of the speed deviation is determined according to the speed deviation and the preset conditions. The target deviation type is a first type, a second type, or a third type. The speed deviation corresponding to the first type is greater than the speed deviation corresponding to the second type, which is greater than the speed deviation corresponding to the third type.

[0015] Based on the target deviation type, determine the target adjustment step size corresponding to the smaller of the first drive current and the second drive current, wherein the adjustment step size corresponding to the first type is greater than the adjustment step size corresponding to the second type is greater than the adjustment step size corresponding to the third type;

[0016] Adjust the step size according to the target, and adjust the smaller of the first drive current and the second drive current to make the speed of the left wheel and the speed of the right wheel keep the same.

[0017] The beneficial effect of adopting the above-mentioned further solution is that different speed deviations can correspond to different adjustment step sizes. Before adjusting the drive current, the target deviation type corresponding to the current speed deviation can be determined first. Then, based on the target adjustment step size corresponding to the target deviation type, the smaller drive current between the first drive current and the second drive current can be adjusted. This can smoothly adjust the speed change of the left and right wheels without causing speed shock and maintain the straight-line driving effect of the tracked agricultural machinery.

[0018] Furthermore, the aforementioned adjustment of the step size based on the target, adjusting the smaller of the first and second drive currents to ensure that the speed of the left wheel and the speed of the right wheel are consistent, includes:

[0019] The wheel corresponding to the larger of the first driving current and the second driving current is used as the reference wheel, and the wheel corresponding to the smaller of the first driving current and the second driving current is used as the following wheel.

[0020] Determine the first target speed corresponding to the reference wheel;

[0021] If the speed of the following wheel is greater than the first target speed, the step size is adjusted according to the target, and the driving current of the following wheel is reduced so that the speed of the left wheel and the speed of the right wheel are kept consistent.

[0022] If the speed of the following wheel is less than the first target speed, the step size is adjusted according to the target, and the driving current of the following wheel is increased so that the speed of the left wheel and the speed of the right wheel are consistent.

[0023] The advantage of adopting the above-mentioned further solution is that, depending on the situation, different adjustment methods (increasing or decreasing) can be selected to adjust the drive current corresponding to the following wheel, thereby achieving a more precise adjustment effect.

[0024] Furthermore, if the agricultural machinery is in the initial stage, obtaining the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery includes:

[0025] Receive speed adjustment signals from the driver;

[0026] Based on the speed adjustment signal, determine the second target speed corresponding to the left wheel and the right wheel;

[0027] Based on the second target speed, adjust the first drive current and the second drive current so that the actual speed of the left wheel is equal to the second target speed and the actual speed of the right wheel is equal to the second target speed;

[0028] After the actual speed of the left wheel is equal to the actual speed of the right wheel, the first drive current of the left variable pump and the second drive current of the right variable pump are obtained when the agricultural machinery is traveling in a straight line at the same motor speed.

[0029] The beneficial effect of adopting the above-mentioned further scheme is that when the agricultural machinery is in the starting stage, the signal can be adjusted according to the driver's speed to control the actual speed of the left wheel of the agricultural machinery to be equal to the actual speed of the right wheel, that is, to control the agricultural machinery to enter the stable stage of straight-line travel. Then, the first drive current of the left variable pump and the second drive current of the right variable pump are obtained at the same motor speed during the straight-line travel process. In this way, a comparison benchmark for subsequent drive currents can be obtained, making the scheme more suitable for the control of the straight-line travel stage.

[0030] Secondly, in order to solve the above-mentioned technical problems, the present invention also provides a linear walking control system for agricultural machinery, comprising: a controller, a left variable pump, a right variable pump, a left wheel speed sensor, a right wheel speed sensor, a left fixed displacement motor, and a right fixed displacement motor. The left wheel speed sensor is connected to the left wheel of the agricultural machinery and the controller, the left fixed displacement motor is connected to the left wheel and the left variable pump, the right fixed displacement motor is connected to the right wheel of the agricultural machinery and the right variable pump, and the right wheel speed sensor is connected to the controller and the right fixed displacement motor.

[0031] The left variable pump is used to obtain the first drive current corresponding to the same motor speed during the straight-line movement of the agricultural machinery, and to drive the left wheel through the left fixed-displacement motor;

[0032] The right variable pump is used to obtain the second drive current corresponding to the same motor speed during the straight-line movement of the agricultural machinery, and to drive the right wheel through the right fixed-displacement motor.

[0033] The left wheel speed sensor is used to obtain the first speed of the left wheel of the agricultural machinery during straight-line travel;

[0034] The right wheel speed sensor is used to obtain the second speed of the right wheel of the agricultural machinery during straight-line travel;

[0035] The controller is configured to determine the speed deviation based on the first vehicle speed and the second vehicle speed, and to determine a target processing method based on the speed deviation. The target processing method is either a first processing method or a second processing method. The first processing method is to adjust the smaller of the first drive current and the second drive current based on the speed deviation. The second processing method is to not adjust either the first drive current or the second drive current.

[0036] And when the target processing method is the first processing method, the smaller of the first driving current and the second driving current is adjusted according to the speed deviation so that the speed of the left wheel and the speed of the right wheel are consistent; when the target processing method is the second processing method, neither of the first driving current and the second driving current is adjusted.

[0037] Thirdly, in order to solve the above-mentioned technical problems, the present invention also provides an agricultural machinery linear travel control device, which includes:

[0038] The drive current acquisition module is used to acquire the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery. The left variable pump is used to drive the left wheel, and the right variable pump is used to drive the right wheel.

[0039] The speed deviation determination module is used to obtain the speed deviation between the first speed of the left wheel and the second speed of the right wheel during the straight-line movement of the agricultural machinery.

[0040] The target processing method determination module is used to determine the target processing method based on the speed deviation. The target processing method is either a first processing method or a second processing method. The first processing method is to adjust the smaller of the first driving current and the second driving current based on the speed deviation. The second processing method is not to adjust either the first driving current or the second driving current.

[0041] The control module is configured to, when the target processing mode is the first processing mode, adjust the smaller of the first driving current and the second driving current according to the speed deviation, so that the speed of the left wheel and the speed of the right wheel are kept consistent; and when the target processing mode is the second processing mode, not adjust either the first driving current or the second driving current.

[0042] Fourthly, in order to solve the above-mentioned technical problems, the present invention also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the agricultural machinery linear travel control method of the present application.

[0043] Fifthly, in order to solve the above-mentioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the agricultural machinery linear travel control method of the present application.

[0044] In a sixth aspect, to solve the above-mentioned technical problems, the present invention also provides an agricultural machine, which includes the electronic equipment described in the fourth aspect.

[0045] Additional aspects and advantages of this application will be set forth in part in the description which follows, and will become apparent from the description or may be learned by practice of this application. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments of the present invention will be briefly introduced below.

[0047] Figure 1 A schematic diagram illustrating the principle of a prior art method for controlling the linear movement of agricultural machinery based on the PID method, provided as an embodiment of the present invention;

[0048] Figure 2 This is a flowchart illustrating a method for controlling the linear movement of agricultural machinery according to an embodiment of the present invention.

[0049] Figure 3 This is a schematic diagram of the structure of a linear walking control system for agricultural machinery provided in one embodiment of the present invention;

[0050] Figure 4 This invention provides a schematic diagram of an agricultural machinery control process in the initial stage of startup, as provided in one embodiment of the invention.

[0051] Figure 5 A flowchart illustrating another method for controlling the linear movement of agricultural machinery according to an embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram of the structure of a linear travel control device for agricultural machinery provided in one embodiment of the present invention;

[0053] Figure 7 This is a schematic diagram of the structure of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0054] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0055] The technical solution of the present invention and how the technical solution of the present invention solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0056] In existing technologies, agricultural machinery is typically controlled to move in a straight line using PID closed-loop control. For details on the principle, please refer to [link to relevant documentation]. Figure 1 After the driver's operating commands are processed by the vehicle controller's driving operation processing module, the target speeds for the left and right wheels are calculated. Simultaneously, the actual rotational speeds of the left and right wheels are collected from the actual vehicle data. After calculation using PID closed-loop control algorithms for the left and right wheels, the respective drive control currents for each wheel are output. The left and right wheel drive systems are driven by two independent hydraulic drive systems. The speed closed-loop control for the left and right wheels also uses two independent PID control modules. Due to differences in hydraulic pump manufacturing processes, mechanical structures, and installation tightness, the PID closed-loop control modules for the left and right wheels need to adjust their proportional, integral, and derivative coefficients to ensure that the speeds of the left and right wheels approach the target speeds, achieving the same speed for both wheels and maintaining straight-line travel.

[0057] Existing solutions require precise adjustment of the closed-loop PID coefficients for the left and right wheels to maintain their speeds at the same target speed. This control method has several problems:

[0058] ① The PID closed-loop control method adopted is that the left wheel and the right wheel adjust around the same target speed at the same time. This is equivalent to comparing the left wheel and the right wheel with a third target speed, and the speeds of the left wheel and the right wheel are indirectly compared.

[0059] ② Meanwhile, PID control inherently suffers from overshoot or undershoot because the left and right wheels are two independent hydraulic systems. They cannot simultaneously overshoot or undershoot at the same time, inevitably leading to overshoot on one side while undershoot on the other. This results in an increased speed difference between the left and right wheels, causing severe vehicle veer. Experiments have confirmed that, based on existing technologies, the speed difference between the left and right wheels exceeds 90 r / min, a deviation approaching 12%, making straight-line driving impossible.

[0060] ③ The PID control algorithm requires precise adjustment of the three control parameters: proportional (P), integral (I), and derivative (D), to create an ideal set of control coefficients. This makes the tuning process difficult and time-consuming.

[0061] ④ A set of adjusted control parameters may become unsuitable for the changing driving conditions due to changes in road surface softness or full grain bins. The control parameters may not automatically adjust and may not adapt to all driving conditions.

[0062] To address the aforementioned technical problems, this invention provides a method for controlling the linear movement of agricultural machinery. This method is applicable to any application scenario that requires control of agricultural machinery during linear movement.

[0063] This invention provides a possible implementation, such as... Figure 2 As shown, a flowchart of a method for controlling the linear movement of agricultural machinery is provided, as follows: Figure 2 The flowchart shown indicates that the method may include the following steps:

[0064] Step S110: Obtain the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery. The left variable pump is used to drive the left wheel, and the right variable pump is used to drive the right wheel.

[0065] Step S120: Obtain the speed deviation between the first speed of the left wheel and the second speed of the right wheel during the straight-line movement of the agricultural machinery;

[0066] Step S130: Determine the target processing method based on the speed deviation. The target processing method is either a first processing method or a second processing method. The first processing method is to adjust the smaller of the first driving current and the second driving current according to the speed deviation. The second processing method is not to adjust either the first driving current or the second driving current.

[0067] Step S140: When the target processing method is the first processing method, adjust the smaller of the first driving current and the second driving current according to the speed deviation, so that the speed of the left wheel and the speed of the right wheel are consistent.

[0068] Step S150: When the target processing mode is the second processing mode, neither the first driving current nor the second driving current is adjusted.

[0069] The method of this invention determines a target processing method based on the speed deviation between the first speed of the left wheel and the second speed of the right wheel during the straight-line movement of the agricultural machinery, and the processing methods corresponding to different speed deviations. The straight-line movement of the agricultural machinery is then controlled according to the target processing method based on the speed deviation. Since this application does not use a PID adjustment method, it is unnecessary to adjust the three control parameters corresponding to the PID adjustment method, greatly shortening the debugging cycle. Furthermore, it solves the problem of poor adaptability of control parameters caused by changes in the driving environment. With this application's solution, regardless of changes in load or road surface softness, as long as the speeds of the left and right wheels are inconsistent, the control parameters can be quickly adjusted to maintain consistent speeds of the left and right wheels, thus ensuring the straight-line movement of the tracked agricultural machinery.

[0070] The following specific embodiments further illustrate the solution of the present invention. In these embodiments, for a better understanding of the agricultural machinery linear travel control method proposed in this application, please refer to... Figure 3 First, let me describe the agricultural machinery linear travel control system provided in this application:

[0071] To address at least one technical problem in the prior art, this embodiment provides a linear walking control system for agricultural machinery, comprising: a controller, a left variable pump, a right variable pump, a left wheel speed sensor, a right wheel speed sensor, a left fixed displacement motor, and a right fixed displacement motor. The left wheel speed sensor is connected to the left wheel of the agricultural machinery and the controller, the left fixed displacement motor is connected to the left wheel and the left variable pump, the right fixed displacement motor is connected to the right wheel of the agricultural machinery and the right variable pump, and the right wheel speed sensor is connected to the controller and the right fixed displacement motor.

[0072] The left variable pump 3 is used to obtain the first drive current corresponding to the same motor speed during the straight-line movement of the agricultural machinery, and to drive the left wheel through the left fixed-displacement motor 7;

[0073] The right variable pump 4 is used to obtain the second drive current corresponding to the same motor speed during the straight-line movement of the agricultural machinery, and to drive the right wheel through the right fixed-displacement motor 8;

[0074] The left wheel speed sensor 10 is used to obtain the first speed of the left wheel of the agricultural machinery during straight-line travel;

[0075] The right wheel speed sensor 11 is used to obtain the second speed of the right wheel of the agricultural machinery during straight-line travel;

[0076] The controller 2 ( Figure 3The whole machine controller shown is used to determine the speed deviation based on the first vehicle speed and the second vehicle speed, and to determine the target processing mode based on the speed deviation. The target processing mode is either a first processing mode or a second processing mode. The first processing mode is to adjust the smaller of the first driving current and the second driving current based on the speed deviation. The second processing mode is not to adjust either the first driving current or the second driving current.

[0077] And when the target processing method is the first processing method, the smaller of the first driving current and the second driving current is adjusted according to the speed deviation so that the speed of the left wheel and the speed of the right wheel are consistent; when the target processing method is the second processing method, neither of the first driving current and the second driving current is adjusted.

[0078] The specific implementation process of the above scheme will be described in detail in the corresponding instruction manual section below, and will not be repeated here.

[0079] Optionally, the left wheel speed sensor 10 and the left quantitative motor 7 can be connected via a wheel-side reducer 6. When adjusting the speed of the left wheel, the adjustment can be made through the wheel-side reducer 6, making the adjustment process smoother. Similarly, the right wheel speed sensor 11 and the right quantitative motor 8 can be connected via a wheel-side reducer 9. When adjusting the speed of the left wheel, the adjustment can be made through the wheel-side reducer 9, making the adjustment process smoother.

[0080] The left variable pump 3 and the left fixed displacement motor 7 can be connected by a hydraulic line, and the right variable pump 4 and the right fixed displacement motor 8 can be connected by a hydraulic line. A power input shaft 5 is provided between the left variable pump 3 and the right variable pump 4.

[0081] The aforementioned agricultural machinery linear travel control system is based on the hydraulic chassis of a tracked agricultural harvester driven by a dual-pump, dual-motor hydraulic chassis. The driver operates the machine via a control handle 1, generating operating commands (which can be gear shifting commands). These commands are transmitted to the machine controller 2 via the control handle 1, which calculates the corresponding target speed. Simultaneously, the machine controller 2 outputs proportional current from the variable pumps to control the left variable pump 3 and the right variable pump 4. As the current increases, the left and right motors drive the left and right wheels forward via wheel-side reducers (6 or 7). When the wheel speed reaches the target speed set by the control handle, the drive currents of the left and right pumps are compared. Because the pumps have different driving characteristics, the drive currents of the left and right pumps are different at the same motor speed. The side with the larger drive current is selected as the reference wheel. Based on the speed deviation of the left and right wheels fed back by sensors, the drive current of the other side is constantly adjusted to keep the speeds of both wheels consistent. The agricultural machinery in this application is a dual-pump, dual-motor agricultural machine.

[0082] Based on the above-described agricultural machinery linear travel control system, the agricultural machinery linear travel control method provided in this embodiment will be described in detail below. The executing entity of this method can be understood as the controller 2 in the system, and the method may include the following steps:

[0083] Step S110: Obtain the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery. The left variable pump is used to drive the left wheel, and the right variable pump is used to drive the right wheel.

[0084] In this context, "the process of agricultural machinery traveling in a straight line" can refer to the agricultural machinery having passed the initial stage and entered the stage of stable, straight-line travel.

[0085] Optionally, if the agricultural machinery is in the starting phase, obtaining the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery includes:

[0086] Receive the driver's speed adjustment signal, which can be generated based on the driver's operation of the driving control handle 1, such as shifting gears, which can adjust the vehicle speed.

[0087] Based on the speed adjustment signal, a second target speed corresponding to the left wheel and the right wheel is determined, wherein the second target speed refers to the target speed that the driver wants to adjust the agricultural vehicle to based on the speed adjustment signal;

[0088] According to the second target speed, the first drive current and the second drive current are adjusted so that the actual speed of the left wheel is equal to the second target speed and the actual speed of the right wheel is equal to the second target speed. As the current (first drive current and second drive current) increases, the left and right motors drive the left and right wheels forward through the wheel-side reducer (6 or 7) until the wheel speed reaches the second target speed set by the handle.

[0089] After the actual speed of the left wheel is equal to the actual speed of the right wheel, the first drive current of the left variable pump and the second drive current of the right variable pump are obtained when the agricultural machinery is traveling in a straight line at the same motor speed.

[0090] Step S120: Obtain the speed deviation between the first speed of the left wheel and the second speed of the right wheel during the straight-line movement of the agricultural machinery.

[0091] The first speed of the left wheel can be obtained through the left wheel speed sensor 10, and the second speed of the right wheel can be obtained through the right wheel speed sensor 11. The difference between the first speed and the second speed is the speed deviation.

[0092] Step S130: Determine the target processing method based on the speed deviation. The target processing method is either a first processing method or a second processing method. The first processing method is to adjust the smaller of the first driving current and the second driving current according to the speed deviation. The second processing method is not to adjust either the first driving current or the second driving current.

[0093] Different speed deviations can be handled using different methods. Based on the current speed deviation (the difference between the first and second vehicle speeds), the target handling method can be determined. Typically, when the speed deviation is large, the drive current needs to be adjusted to regulate the wheel speeds, ensuring the left and right wheels maintain the same speed. When the speed deviation is small, indicating smooth vehicle movement, no adjustment to the drive current is needed; that is, the first speed of the left wheel and the second speed of the right wheel are maintained. Therefore, the first handling method corresponds to the case of a large speed deviation, and the second handling method corresponds to the case of a small speed deviation.

[0094] Step S140: When the target processing method is the first processing method, adjust the smaller of the first driving current and the second driving current according to the speed deviation, so that the speed of the left wheel and the speed of the right wheel are consistent.

[0095] When the speed deviation is large, it can be further subdivided into multiple different ranges, each corresponding to an adjustment step size. These ranges can include a first range, a second range, and a third range. If the speed deviation corresponding to the first range is greater than that corresponding to the second range, which is also greater than that corresponding to the third range, then the speed deviation falls within the first range, and the corresponding adjustment step size is greater than that corresponding to the second range, which is also greater than that corresponding to the third range. The larger the speed deviation, the larger the adjustment step size, and the faster the adjustment speed. This variable step size adaptive following control algorithm can effectively balance control during periods of rapid speed change at start-up and stopping, while maintaining straight-line accuracy at a stable operating speed. It can maintain straight-line driving well even during start-up and stopping.

[0096] Specifically, when the target processing method is the first processing method, adjusting the smaller of the first and second drive currents according to the speed deviation to keep the speed of the left wheel and the speed of the right wheel consistent includes:

[0097] When the target processing method is the first processing method, the target deviation type of the speed deviation is determined according to the speed deviation and the preset conditions. The target deviation type is a first type, a second type, or a third type. The speed deviation corresponding to the first type is greater than the speed deviation corresponding to the second type, which is greater than the speed deviation corresponding to the third type. The first type is the first range described above, the second type is the second range described above, and the third type is the third range described above.

[0098] Based on the target deviation type, determine the target adjustment step size corresponding to the smaller of the first drive current and the second drive current, wherein the adjustment step size corresponding to the first type is greater than the adjustment step size corresponding to the second type is greater than the adjustment step size corresponding to the third type;

[0099] Adjust the step size according to the target, and adjust the smaller of the first drive current and the second drive current to make the speed of the left wheel and the speed of the right wheel keep the same.

[0100] In the process of adjusting the drive current, the smaller of the first drive current and the second drive current can be selected for adjustment to improve the adjustment speed.

[0101] Optionally, the above-mentioned adjustment of the smaller of the first and second drive currents according to the target adjustment step size to keep the speed of the left wheel and the speed of the right wheel consistent includes:

[0102] The wheel corresponding to the larger of the first driving current and the second driving current is used as the reference wheel, and the wheel corresponding to the smaller of the first driving current and the second driving current is used as the following wheel.

[0103] Determine the first target speed corresponding to the reference wheel;

[0104] If the speed of the following wheel is greater than the first target speed, the step size is adjusted according to the target, and the driving current of the following wheel is reduced so that the speed of the left wheel and the speed of the right wheel are consistent. Since the speed of the following wheel is greater than the first target speed, the driving current of the following wheel needs to be reduced to reduce the speed of the following wheel so that the speed of the left wheel and the speed of the right wheel are consistent and equal to the first target speed.

[0105] Similarly, if the speed of the following wheel is less than the first target speed, the step size is adjusted according to the target, and the driving current of the following wheel is increased to increase the speed of the following wheel so that the speed of the left wheel and the speed of the right wheel are kept consistent and are both equal to the first target speed.

[0106] Step S150: When the target processing mode is the second processing mode, neither the first driving current nor the second driving current is adjusted.

[0107] It should be noted that the execution order of steps S140 and S150 is not limited.

[0108] Optionally, when the agricultural machinery is turning, the straight-line adaptive control mode can be exited, and the control method corresponding to the turning mode can be used to control the movement of the agricultural machinery.

[0109] To better illustrate and understand the principle of the method provided by this invention, the following description uses an optional specific embodiment to illustrate the solution of this invention. It should be noted that the specific implementation of each step in this specific embodiment should not be construed as a limitation of the solution of this invention. Other implementations that can be conceived by those skilled in the art based on the principle of the solution provided by this invention should also be considered within the scope of protection of this invention.

[0110] See details Figure 4 and Figure 5 The present application provides a further description of the agricultural machinery linear travel control method, which includes the following steps:

[0111] Step 1: If the agricultural machinery is in the starting stage, receive the speed adjustment signal generated by the driver's operation of the handle;

[0112] Step 2: Determine the second target speed corresponding to the left wheel and the right wheel based on the speed adjustment signal; Figure 4 The calculation of the target speed of the left and right wheels (second target speed) is shown.

[0113] Step 3: Output the target current according to the ramp, which is the drive current corresponding to the second target speed.

[0114] Step 4: Obtain the first speed of the left wheel and the second speed of the right wheel of the agricultural machinery under the target current. This step corresponds to... Figure 4 The image shows the actual rotational speed of the left and right wheels.

[0115] Step 5: Determine if both left and right wheels have reached the target speed, i.e., determine if the first vehicle speed has reached the second target speed, and if the second vehicle speed has reached the second target speed. If both the first and second vehicle speeds have reached the second target speed, obtain the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery. If at least one of the first and second vehicle speeds has not reached the second target speed, return to step 3 and redetermine the target current until both the first and second vehicle speeds have reached the second target speed.

[0116] Step 6: Compare the first drive current and the second drive current, i.e., the corresponding... Figure 4 The comparison of the drive currents of the left and right wheels is shown. If the drive current of the left wheel is greater than that of the right wheel, the left wheel is used as the target following reference (reference wheel, also known as the reference side). If the drive current of the left wheel is not greater than that of the right wheel, the left wheel is used as the target following reference (following wheel, also known as the following side).

[0117] Step 7: During the straight-line movement of the agricultural machinery, the third speed of the left wheel and the fourth speed of the right wheel are obtained based on the current output of the handle signal. This step corresponds to... Figure 5 The actual rotational speeds of the acquisition reference side and the follower side are shown in the figure.

[0118] Step 8: Determine the magnitude of the real-time speed deviation (the speed deviation between the first and second vehicle speeds) and the large threshold range. If the speed deviation is greater than the large threshold range (the first range described above), then determine the target adjustment step size as a large step size. Adjust the following side current (the driving current corresponding to the following side) based on this large step size to obtain the corrected current output on the following side. After adjustment, the speed of the left wheel and the speed of the right wheel are consistent. If the speed deviation is not greater than the large threshold range, proceed to step 9.

[0119] Step 9: Compare the speed deviation with the middle threshold range (the second range described above). If the speed deviation is greater than the middle threshold range, the target adjustment step size is determined to be the middle step size. Based on this middle step size, the current on the following side (the driving current corresponding to the following side) is adjusted to obtain the corrected current output on the following side. After adjustment, the speed of the left wheel and the speed of the right wheel are the same. If the speed deviation is not greater than the middle threshold range, proceed to step 10.

[0120] Step 10: Compare the speed deviation with the small threshold range (the third range described above). If the speed deviation is greater than the small threshold range, determine the target adjustment step size as a small step size. Adjust the following side current (the driving current corresponding to the following side) based on this small step size to obtain the corrected current output of the following side. After adjustment, the speed of the left wheel and the speed of the right wheel are the same. If the speed deviation is not greater than the small threshold range, proceed to step 11.

[0121] Step 11: Do not adjust the follower-side current.

[0122] The solution of the present invention can bring about the following technical effects:

[0123] (1) The adaptive control algorithm can quickly correct deviations and make the vehicle drive smoothly. The drive current of the pump is adjusted by varying the step size according to the speed deviation. When the speed deviation is serious, the speed of the left and right wheels is quickly synchronized; when the speed deviation is small, the drive current is adjusted by a small step size or not at all, and the vehicle drives smoothly and the driving experience is comfortable. That is, the drive current is adjusted by varying the step size according to the different speed deviation threshold ranges. It can quickly correct back to a straight state when the deviation is serious, and does not correct when the straightness is good, resulting in a good driving experience.

[0124] (2) The control parameters are adaptively adjusted, and the working conditions are well adapted. Regardless of the inconsistency in left and right speed caused by changes in road surface hardness or changes in mechanical load, the adaptive control algorithm can make real-time corrections to keep the machine moving in a straight line at all times;

[0125] (3) The control parameters are the determination of three threshold ranges and three correction step sizes. The control parameters are easy to tune and the debugging time is short. Unlike PID coefficients, which are a set of combinations, only the correct combination of PID coefficients can achieve the ideal control effect. The debugging cycle is long and the effect is not ideal.

[0126] (4) The program has a simple structure, adopts threshold control, is modularly developed, and has good portability.

[0127] (5) For the adaptive control algorithm for straight-line driving with dual pumps and dual motors, the algorithm first selects the wheel with the larger drive current as the following reference side based on the same speed of the left and right wheels, and then corrects the drive current of the other side. The correction method can adaptively adjust the step size according to the speed deviation between the left and right wheels. When the deviation is large, a large step size is used for correction; when the deviation is small, a small correction amount is used, which can quickly correct back to the straight-line driving state when deviation occurs. When the deviation is even smaller, no correction is made because the drive current does not change, the pump and motor speeds are stable, and the vehicle driving experience is good.

[0128] (6) Based on the reference quantity associated with the driving push lever handle, the correction quantity caused by the speed deviation is superimposed as the control algorithm architecture mode for the final control current output.

[0129] Based on and Figure 1 Based on the same principle as the method shown, this embodiment of the invention also provides an agricultural machinery linear travel control device 20, such as... Figure 6 As shown, the agricultural machinery linear travel control device 20 may include:

[0130] The drive current acquisition module 210 is used to acquire the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery. The left variable pump is used to drive the left wheel, and the right variable pump is used to drive the right wheel.

[0131] The speed deviation determination module 220 is used to obtain the speed deviation between the first speed of the left wheel and the second speed of the right wheel during the straight-line movement of the agricultural machinery.

[0132] The target processing method determination module 230 is used to determine a target processing method based on the speed deviation. The target processing method is either a first processing method or a second processing method. The first processing method is to adjust the smaller of the first driving current and the second driving current based on the speed deviation. The second processing method is not to adjust either the first driving current or the second driving current.

[0133] The control module 240 is configured to, when the target processing mode is the first processing mode, adjust the smaller of the first driving current and the second driving current according to the speed deviation so that the speed of the left wheel and the speed of the right wheel are consistent; and when the target processing mode is the second processing mode, not adjust either the first driving current or the second driving current.

[0134] Optionally, when the target processing method is the first processing method, the control module 240, when adjusting the smaller of the first drive current and the second drive current according to the speed deviation to keep the speed of the left wheel and the speed of the right wheel consistent, is specifically used for:

[0135] When the target processing method is the first processing method, the target deviation type of the speed deviation is determined according to the speed deviation and the preset conditions. The target deviation type is a first type, a second type, or a third type. The speed deviation corresponding to the first type is greater than the speed deviation corresponding to the second type, which is greater than the speed deviation corresponding to the third type.

[0136] Based on the target deviation type, determine the target adjustment step size corresponding to the smaller of the first drive current and the second drive current, wherein the adjustment step size corresponding to the first type is greater than the adjustment step size corresponding to the second type is greater than the adjustment step size corresponding to the third type;

[0137] Adjust the step size according to the target, and adjust the smaller of the first drive current and the second drive current to make the speed of the left wheel and the speed of the right wheel keep the same.

[0138] Optionally, when the control module 240 adjusts the smaller of the first and second drive currents according to the target adjustment step size to keep the speed of the left wheel and the speed of the right wheel consistent, it is specifically used for:

[0139] The wheel corresponding to the larger of the first driving current and the second driving current is used as the reference wheel, and the wheel corresponding to the smaller of the first driving current and the second driving current is used as the following wheel.

[0140] Determine the first target speed corresponding to the reference wheel;

[0141] If the speed of the following wheel is greater than the first target speed, the step size is adjusted according to the target, and the driving current of the following wheel is reduced so that the speed of the left wheel and the speed of the right wheel are kept consistent.

[0142] If the speed of the following wheel is less than the first target speed, the step size is adjusted according to the target, and the driving current of the following wheel is increased so that the speed of the left wheel and the speed of the right wheel are consistent.

[0143] Optionally, if the agricultural machinery is in the starting stage, the drive current acquisition module 210, when acquiring the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery, is specifically used for:

[0144] Receive speed adjustment signals from the driver;

[0145] Based on the speed adjustment signal, determine the second target speed corresponding to the left wheel and the right wheel;

[0146] Based on the second target speed, adjust the first drive current and the second drive current so that the actual speed of the left wheel is equal to the second target speed and the actual speed of the right wheel is equal to the second target speed;

[0147] After the actual speed of the left wheel is equal to the actual speed of the right wheel, the first drive current of the left variable pump and the second drive current of the right variable pump are obtained when the agricultural machinery is traveling in a straight line at the same motor speed.

[0148] The agricultural machinery straight-line walking control device of the present invention can execute the agricultural machinery straight-line walking control method provided in the present invention. The implementation principle is similar. The actions performed by each module and unit in the agricultural machinery straight-line walking control device in each embodiment of the present invention correspond to the steps in the agricultural machinery straight-line walking control method in each embodiment of the present invention. For detailed functional descriptions of each module of the agricultural machinery straight-line walking control device, please refer to the descriptions in the corresponding agricultural machinery straight-line walking control methods shown above, which will not be repeated here.

[0149] The aforementioned agricultural machinery linear movement control device can be a computer program (including program code) running on a computer device, such as an application software; the device can be used to execute the corresponding steps in the method provided in the embodiments of the present invention.

[0150] In some embodiments, the agricultural machinery straight-line walking control device provided in this invention can be implemented using a combination of hardware and software. As an example, the agricultural machinery straight-line walking control device provided in this invention can be a processor in the form of a hardware decoding processor, which is programmed to execute the agricultural machinery straight-line walking control method provided in this invention. For example, the processor in the form of a hardware decoding processor can be one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), or other electronic components.

[0151] In other embodiments, the agricultural machinery linear travel control device provided in this invention can be implemented in software. Figure 6 A linear motion control device for agricultural machinery stored in a memory is shown. It can be software in the form of programs and plug-ins, and includes a series of modules, including a drive current acquisition module 210, a speed deviation determination module 220, a target processing mode determination module 230, and a control module 240, for implementing the method provided in the embodiments of the present invention.

[0152] The modules described in the embodiments of the present invention can be implemented in software or hardware. The names of the modules are not, in some cases, limiting the scope of the module itself.

[0153] Based on the same principles as the methods shown in the embodiments of the present invention, the embodiments of the present invention also provide an electronic device, which may include, but is not limited to: a processor and a memory; the memory for storing computer programs; and the processor for executing the methods shown in any embodiment of the present invention by invoking the computer programs.

[0154] In one alternative embodiment, an electronic device is provided, such as Figure 7 As shown, Figure 7 The illustrated electronic device 4000 includes a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, for example, via a bus 4002. Optionally, the electronic device 4000 may further include a transceiver 4004, which can be used for data interaction between the electronic device and other electronic devices, such as sending and / or receiving data. It should be noted that in practical applications, the transceiver 4004 is not limited to one type, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present invention.

[0155] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this invention. Processor 4001 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0156] Bus 4002 may include a pathway for transmitting information between the aforementioned components. Bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Bus 4002 can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0157] The memory 4003 may be ROM (Read Only Memory) or other types of static storage devices capable of storing static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices capable of storing information and instructions, or EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0158] The memory 4003 stores application code (computer program) for executing the present invention, and its execution is controlled by the processor 4001. The processor 4001 executes the application code stored in the memory 4003 to implement the content shown in the foregoing method embodiments.

[0159] Among these, electronic devices can also be terminal devices. Figure 7 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.

[0160] This invention provides a computer-readable storage medium storing a computer program that, when run on a computer, enables the computer to execute the corresponding content in the aforementioned method embodiments.

[0161] According to another aspect of the present invention, a computer program product or computer program is also provided, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the agricultural machinery linear travel control method provided in the various embodiments described above.

[0162] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0163] It should be understood that the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of methods and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0164] The computer-readable storage medium provided in this invention can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0165] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to perform the method shown in the above embodiments.

[0166] The above description is merely a preferred embodiment of the present invention and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this invention is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this invention.

Claims

1. A method for controlling the linear movement of agricultural machinery, characterized in that, Includes the following steps: The first drive current of the left variable pump and the second drive current of the right variable pump are obtained when the agricultural machinery is traveling in a straight line at the same motor speed. The left variable pump is used to drive the left wheel, and the right variable pump is used to drive the right wheel. The speed deviation between the first speed of the left wheel and the second speed of the right wheel during the straight-line movement of the agricultural machinery is obtained. Based on the speed deviation, a target processing method is determined. The target processing method is either a first processing method or a second processing method. The first processing method is to adjust the smaller of the first driving current and the second driving current according to the speed deviation. The second processing method is not to adjust either the first driving current or the second driving current. When the target processing method is the first processing method, the smaller of the first driving current and the second driving current is adjusted according to the speed deviation so that the speed of the left wheel and the speed of the right wheel are kept consistent. When the target processing method is the second processing method, neither the first driving current nor the second driving current is adjusted.

2. The method according to claim 1, characterized in that, When the target processing method is the first processing method, adjusting the smaller of the first and second drive currents according to the speed deviation to keep the speed of the left wheel and the speed of the right wheel consistent includes: When the target processing method is the first processing method, the target deviation type of the speed deviation is determined according to the speed deviation and the preset conditions. The target deviation type is a first type, a second type, or a third type. The speed deviation corresponding to the first type is greater than the speed deviation corresponding to the second type, which is greater than the speed deviation corresponding to the third type. Based on the target deviation type, determine the target adjustment step size corresponding to the smaller of the first drive current and the second drive current, wherein the adjustment step size corresponding to the first type is greater than the adjustment step size corresponding to the second type is greater than the adjustment step size corresponding to the third type; Adjust the step size according to the target, and adjust the smaller of the first drive current and the second drive current to make the speed of the left wheel and the speed of the right wheel keep the same.

3. The method according to claim 2, characterized in that, The step of adjusting the smaller of the first and second drive currents according to the target adjustment step size to keep the speed of the left wheel and the speed of the right wheel consistent includes: The wheel corresponding to the larger of the first driving current and the second driving current is used as the reference wheel, and the wheel corresponding to the smaller of the first driving current and the second driving current is used as the following wheel. Determine the first target speed corresponding to the reference wheel; If the speed of the following wheel is greater than the first target speed, the step size is adjusted according to the target, and the driving current of the following wheel is reduced so that the speed of the left wheel and the speed of the right wheel are kept consistent. If the speed of the following wheel is less than the first target speed, the step size is adjusted according to the target, and the driving current of the following wheel is increased so that the speed of the left wheel and the speed of the right wheel are consistent.

4. The method according to any one of claims 1 to 3, characterized in that, If the agricultural machinery is in the initial stage, obtaining the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery includes: Receive speed adjustment signals from the driver; Based on the speed adjustment signal, determine the second target speed corresponding to the left wheel and the right wheel; Based on the second target speed, adjust the first drive current and the second drive current so that the actual speed of the left wheel is equal to the second target speed and the actual speed of the right wheel is equal to the second target speed; After the actual speed of the left wheel is equal to the actual speed of the right wheel, the first drive current of the left variable pump and the second drive current of the right variable pump are obtained when the agricultural machinery is traveling in a straight line at the same motor speed.

5. A linear travel control system for agricultural machinery, characterized in that, According to any one of claims 1 to 4, the system comprises: a controller, a left variable pump, a right variable pump, a left wheel speed sensor, a right wheel speed sensor, a left metering motor, and a right metering motor, wherein the left wheel speed sensor is connected to the left wheel of the agricultural machinery and the controller, the left metering motor is connected to the left wheel and the left variable pump, the right metering motor is connected to the right wheel of the agricultural machinery and the right variable pump, and the right wheel speed sensor is connected to the controller and the right metering motor. The left variable pump is used to obtain the first drive current corresponding to the same motor speed during the straight-line movement of the agricultural machinery, and to drive the left wheel through the left fixed-displacement motor; The right variable pump is used to obtain the second drive current corresponding to the same motor speed during the straight-line movement of the agricultural machinery, and to drive the right wheel through the right fixed-displacement motor. The left wheel speed sensor is used to obtain the first speed of the left wheel of the agricultural machinery during straight-line travel; The right wheel speed sensor is used to obtain the second speed of the right wheel of the agricultural machinery during straight-line travel; The controller is configured to determine the speed deviation based on the first vehicle speed and the second vehicle speed, and to determine a target processing method based on the speed deviation. The target processing method is either a first processing method or a second processing method. The first processing method is to adjust the smaller of the first drive current and the second drive current based on the speed deviation. The second processing method is to not adjust either the first drive current or the second drive current. And when the target processing method is the first processing method, the smaller of the first driving current and the second driving current is adjusted according to the speed deviation so that the speed of the left wheel and the speed of the right wheel are consistent; when the target processing method is the second processing method, neither of the first driving current and the second driving current is adjusted.

6. A linear travel control device for agricultural machinery, characterized in that, include: The drive current acquisition module is used to acquire the first drive current of the left variable pump and the second drive current of the right variable pump at the same motor speed during the straight-line movement of the agricultural machinery. The left variable pump is used to drive the left wheel, and the right variable pump is used to drive the right wheel. The speed deviation determination module is used to obtain the speed deviation between the first speed of the left wheel and the second speed of the right wheel during the straight-line movement of the agricultural machinery. The target processing method determination module is used to determine the target processing method based on the speed deviation. The target processing method is either a first processing method or a second processing method. The first processing method is to adjust the smaller of the first driving current and the second driving current based on the speed deviation. The second processing method is not to adjust either the first driving current or the second driving current. The control module is configured to, when the target processing mode is the first processing mode, adjust the smaller of the first driving current and the second driving current according to the speed deviation, so that the speed of the left wheel and the speed of the right wheel are kept consistent; and when the target processing mode is the second processing mode, not adjust either the first driving current or the second driving current.

7. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1-4.

9. An agricultural machine, characterized in that, Including the electronic device as described in claim 7.

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