A tractor unit plowing control integrated system

Abstract

The application provides a tractor unit plowing control integrated system, which comprises a tractor unit, the tractor unit comprises a tractor and a machine tool, and a suspension adjusting assembly is arranged between the tractor and the machine tool; the suspension adjusting assembly comprises a lifting oil cylinder arranged on the tractor, a pair of lifting arms are rotationally arranged on the telescopic shaft of the lifting oil cylinder, an inclined pull rod and a leveling oil cylinder are rotationally arranged at the two ends of the pair of lifting arms, respectively, a right lower pull rod is arranged at the end of the inclined pull rod, a left lower pull rod is arranged on the telescopic shaft of the leveling oil cylinder, one end of the left lower pull rod and the right lower pull rod is rotationally connected with the tractor, the machine tool is rotationally connected with the other end of the left lower pull rod and the right lower pull rod, and an upper pull rod is rotationally arranged between the tractor and the machine tool, which is arranged above and in the middle of the left lower pull rod and the right lower pull rod. The application has the advantages of reasonable structure, suitable machine tool pose control and field working condition, reduced working intensity of the tractor operator, improved overall machine efficiency, improved working quality, and good energy-saving and environment-friendly effect.

Description

Technical Field

[0001] This application relates to a tractor set joint operation control system, specifically, to a tractor set tillage control integrated system. Background Technology

[0002] Tractor sets are widely used in agricultural production. As the working machine for attached implements, the tractor suspends and pulls various implements during operation. In the field, it is necessary to quickly lift, flip, or fold the implements to achieve row-changing tillage. After adjusting the set's posture to align with the next work path, the implements need to be lowered slowly to gradually enter the soil, so as to avoid sudden changes in traction load, which could cause engine stalling, missed tillage, or re-tilling, thus reducing work efficiency.

[0003] In the existing technology, when a tractor carries implements for relocation, the load on the front wheels of the tractor decreases significantly due to the weight of the implements suspended at the rear of the tractor. Uneven road surfaces during travel can easily cause pitching vibrations in the unit, increasing the impact load on tractor components, affecting product reliability, impacting the driving experience of the tractor driver, and causing driver fatigue.

[0004] In existing technology, when tractors are leveling the ground, the tractor driver should constantly observe the quality of the work. The combined lifting and leveling operations are carried out by manually operating a dual hydraulic directional valve, which results in poor work quality and makes the tractor driver prone to fatigue.

[0005] Moreover, the traditional engine high and low power switching method is designed for long-term low-power field transitions or long-term high-power tillage, and is controlled by a manual knob switch. This can easily cause a mismatch between the high-power power transmission system and the low-power turning and changing conditions, requiring frequent manual operation, resulting in significant power loss and being neither energy-efficient nor environmentally friendly. Therefore, there is an urgent need for an integrated tractor set tillage control system to solve the above-mentioned problems. Summary of the Invention

[0006] In view of the shortcomings of the existing technology, the purpose of this application is to provide an integrated control system for tractor sets to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, this application provides an integrated tillage control system for tractor sets, comprising:

[0008] A tractor set, which includes a tractor and a implement, with a suspension adjustment assembly between the tractor and the implement;

[0009] The suspension adjustment assembly includes a lifting cylinder mounted on the tractor. A pair of lifting arms are rotatably mounted on the telescopic shaft of the lifting cylinder. A tie rod and a leveling cylinder are rotatably mounted at the two ends of the pair of lifting arms, respectively. A right lower tie rod is mounted at the end of the tie rod. A left lower tie rod is mounted on the telescopic shaft of the leveling cylinder. One end of both the left and right lower tie rods is rotatably connected to the tractor. The implements are rotatably connected to the other ends of the left and right lower tie rods. An upper tie rod is rotatably mounted between the tractor and the implements, positioned above and centered on the left and right lower tie rods.

[0010] The tractor is equipped with a hydraulic control unit, which includes a lifting hydraulic proportional solenoid valve and a leveling hydraulic proportional solenoid valve that are installed on the tractor and connected to the lifting cylinder and the leveling cylinder respectively through pipelines.

[0011] The tractor is equipped with an implement controller, which includes a implement entry speed control module, an implement transport vibration reduction module, an implement automatic leveling module, an implement attachment module, a turning and lifting control module, and a tillage depth control module.

[0012] The lifting arm is equipped with a speed sensor for obtaining the descent speed or lifting speed of the implement;

[0013] The implement controller is equipped with a kinematic analysis submodule for the unit mechanism. The implement soil entry speed control module, implement transportation vibration reduction module, implement automatic leveling module, implement attachment module, turning and lifting control module and tillage depth control module share the kinematic analysis submodule for the unit mechanism.

[0014] The lifting mechanism in the kinematic analysis submodule of the unit mechanism in the tractor consists of a lifting arm, a diagonal tie rod, a leveling cylinder, a right lower tie rod, a left lower tie rod, an upper tie rod, and a tool. The lifting arm is driven by the lifting cylinder and becomes the driving component of the mechanism.

[0015] The speed sensor collects signals and integrates them to obtain the position and angular velocity parameters of the lifting arm. The position and angular velocity of the lifting arm are then used by the kinematic analysis submodule of the unit mechanism to determine the position and velocity of the implement relative to the tractor.

[0016] The lifting or lowering speed of the implement, its position relative to the tractor, and the real-time position and posture parameters of the tractor together constitute the unit's position and posture parameters.

[0017] The implement entry speed control module is used to control the entry speed of the implement into the soil within the longitudinal travel plane of the tractor set;

[0018] The implement attachment module is used to control the height of the suspension points of the left and right lower levers of the tractor set in the longitudinal travel plane;

[0019] The turning and lifting control module is used to control the height of the implements in the longitudinal travel plane of the tractor set;

[0020] The tillage depth control module is used to control the height of implements within the longitudinal travel plane of the tractor set;

[0021] The machine transport vibration reduction module is used to reduce pitch and vertical vibration of tractor sets for tractor set transfer transport, with lifting cylinder as the actuator.

[0022] The automatic leveling module is used to control the lateral sway of the implements in a plane perpendicular to the direction of travel. It works in conjunction with the tillage depth control module to control the implements and achieve the leveling operation of farmland after preliminary leveling.

[0023] Furthermore, the machinery entry speed control module is used to control the entry speed of the machinery into the soil as follows:

[0024] The implement entry speed control module obtains the angular velocity of the lifting arm based on the speed sensor installed on the lifting arm, and obtains the implementation's descent speed and position relative to the tractor from the kinematic analysis submodule of the unit mechanism. Then, through its internal entry speed algorithm, it outputs a lifting voltage PWM control signal to the coils at both ends of the lifting hydraulic proportional solenoid valve to control the direction and size of its valve core opening, thereby controlling the speed of the piston of the lifting cylinder to achieve the control of the implementation's entry speed.

[0025] Furthermore, the tool attachment module is used to control the height of the suspension points of the left and right lower levers as follows:

[0026] The tool attachment module obtains the ground clearance of the suspension points of the left and right lower levers after integrating the speed sensor signal. It then calculates the difference between the obtained ground clearance of the suspension points of the left and right lower levers and the required suspension point height of the tool, and uses PID negative feedback control to output a boost voltage PWM control signal to the lifting hydraulic proportional solenoid valve. This controls the valve core opening direction and size, thereby controlling the flow and pressure of the hydraulic oil and the extension length of the lifting cylinder, so that the ground clearance of the suspension points of the left and right lower levers matches that of the required tool suspension point.

[0027] Furthermore, the turning and lifting control module is used to control the height of the implement specifically as follows:

[0028] The turning and lifting control module obtains the angular velocity of the lifting arm based on the speed sensor installed on the lifting arm. The lifting speed of the implement and the position of the implement relative to the tractor are obtained by the kinematic analysis submodule of the unit mechanism. Then, the internal lifting algorithm outputs a PWM control signal to the lifting hydraulic proportional solenoid valve to control the opening direction and size of the valve core, thereby controlling the speed of the lifting cylinder piston and lifting the implement to the height set for the turning condition to realize the implementation flipping and the whole machine turning at the end of the road.

[0029] Furthermore, the tillage depth control module is used to control the height of the implements specifically as follows:

[0030] The tillage depth control module integrates the signals obtained from the three-axis angular velocity sensors on the tractor and corrects them with the signals from the three-axis accelerometer sensors installed on the tractor body to obtain the pitch and tilt parameters of the tractor. Then, based on the lifting speed of the implement obtained from the speed sensor installed on the lifting arm, the module integrates and Kalman filters the implement's position relative to the tractor. Finally, its internal control algorithm starts with minimizing the error between the real-time angle between the tractor and the rotatable lifting arm and the set value as the control objective.

[0031] When the tractor's pitch angle changes, the tillage depth control module uses the average of three historical tractor pitch attitude data points with a 20-second interval as a reference. The tractor's real-time pitch posture parameters are subtracted from the average and negatively fed back. Fuzzy PID control outputs a boost voltage PWM control signal to the coils at both ends of the lifting hydraulic proportional solenoid valve to control its opening direction and size, thereby controlling the flow and pressure of the hydraulic oil, and controlling the extension and retraction of the lifting cylinder to achieve control of the implement tillage depth.

[0032] Furthermore, the vibration damping module for machinery transportation is specifically used for vibration damping during tractor-mounted transport as follows:

[0033] The vibration reduction module for machinery transportation is based on a three-axis accelerometer installed on the tractor body to acquire the vibration acceleration in the first three directions (x, y, z) during the tractor's movement, and a three-axis angular velocity sensor installed on the tractor body to acquire the vibration angular acceleration in the second three directions (x', y', z') via differential measurement. The two signals of vibration acceleration in the first three directions (x, y, z) and vibration angular acceleration in the second three directions (x', y', z') are calibrated in the direction of gravity acceleration to obtain the noise-reduced vertical vibration and pitch vibration parameters of the tractor.

[0034] The machine transport vibration reduction module obtains the angular velocity of the lifting arm based on the speed sensor installed on the lifting arm, and obtains the lifting speed of the machine and the position of the machine relative to the tractor through the kinematic analysis submodule of the unit mechanism, and obtains the vibration parameters of the machine through differential analysis;

[0035] The vibration reduction module for implement transportation adopts negative feedback fuzzy PID control. It takes the tractor and implement posture parameters as input, the lifting cylinder as the actuator, and pitch and vertical vibration reduction as the control targets. Based on the vehicle speed sensor installed on the tractor wheels, it assigns a vehicle speed weighting coefficient in real time. The internal vibration reduction control algorithm outputs a PWM control signal to the lifting solenoid valve and sends it to the coils at both ends of the lifting hydraulic proportional solenoid valve. This controls the opening direction and size of the valve core, thereby controlling the flow direction and pressure of the lifting hydraulic oil. It controls the extension and retraction of the lifting cylinder to drive the implement to lift and lower. During this process, the change in suspension force is coupled with the tractor vibration to achieve vibration reduction control for tractor-mounted transport.

[0036] During the vibration reduction process of tractor-driven transport, when the lifting arm angle of the tractor is less than the set value, the implement transport vibration reduction module lifts the implement back to the transport position to protect the road surface.

[0037] Furthermore, the automatic leveling module is used to perform leveling operations on farmland after preliminary leveling, specifically as follows:

[0038] The automatic leveling module integrates the yaw rate signal obtained by the three-axis angular velocity sensor installed on the tractor body to obtain the tractor's yaw rate, and uses the direction of gravitational acceleration measured by the three-axis accelerometer to calibrate the angular velocity integration error to obtain noise-reduced real-time yaw posture parameters of the tractor.

[0039] The automatic leveling module obtains the optimal estimate of the yaw angle signal by performing Kalman filtering on the yaw angle signal obtained by the triaxial tilt sensor installed on the machine and used to obtain the yaw angle of the machine.

[0040] When the tractor starts on a relatively flat surface, the automatic leveling module uses its internal control algorithm to take the average of three historical data points—the yaw angle, the lift height, and the position of the implement—as the control target. It provides negative feedback on the error between the real-time yaw position parameters of the tractor and the control target, and uses fuzzy PID control to output a leveling voltage PWM control signal to the coils at both ends of the leveling proportional solenoid valve. This controls the direction and size of the valve core opening, and controls the extension and retraction of the lifting cylinder and the leveling cylinder to achieve the control of implement leveling. The module adjusts the length of the lifting cylinder and the leveling cylinder in real time to compensate for the impact of changes in the tractor's yaw angle on the leveling operation.

[0041] Furthermore, the tractor is equipped with an integrated armrest box and an onboard display. The onboard display is connected to the integrated armrest box via a CAN bus, and the integrated armrest box is connected to the implement controller via a CAN bus.

[0042] Furthermore, the tractor is equipped with an engine controller (ECU) for controlling the engine operation and a transmission controller (TCU) for controlling the transmission operation. The CAN interface module integrated in the armrest box is connected to the CAN interface modules in the engine controller (ECU) and the transmission controller (TCU) via a CAN bus. The engine controller (ECU), the transmission controller (TCU), and the CAN interface module communicate with each other through standard messages, and the engine controller (ECU) and the transmission controller (TCU) work together by setting message priorities.

[0043] According to the present application, a tractor set tillage control integrated system is used to control the speed of implements entering the soil, control the overturning and turning of the whole machine at the end of the field, level the implements, control the tillage depth and suspension of the implements, and control the vibration reduction of the tractor set during transportation. This makes the position and posture control of the implements adapt to the field operation conditions, reduces the workload of the tractor operator, and improves the overall efficiency of the machine.

[0044] By integrating the armrest box and sending control commands to the engine controller ECU via the CAN bus, the engine throttle opening, speed, torque, emissions, fuel injection quantity and pressure are controlled, thereby controlling the overall speed and keeping the engine at its optimal fuel economy or maximum power output, which has the effect of energy saving and emission reduction. Attached Figure Description

[0045] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0046] Figure 1 This is a schematic diagram of the structure of a tractor-train tillage control integrated system according to an embodiment of this application;

[0047] Figure 2 The integral displacement s control target diagram is shown in the figure below, which is used by the implement entry speed control module in a tractor set tillage control integrated system according to an embodiment of this application to control the entry descent speed of the implement.

[0048] In the diagram: 1. Vehicle speed sensor; 2. Onboard display; 3. Integrated armrest box; 4. Three-axis angular velocity sensor; 5. Three-axis acceleration sensor; 6. Speed ​​sensor; 7. Lifting arm; 8. Diagonal tie rod; 9. Upper tie rod; 10. Three-axis tilt sensor; 11. Right lower tie rod; 12. Implement; 13. Left lower tie rod; 14. Leveling cylinder; 15. Lifting cylinder; 16. Implement controller; 17. Hydraulic control unit; 18. Wheel; 19. Tractor. Detailed Implementation

[0049] To make the technical means, creative features, objectives and effects of this application easier to understand, the following describes this application in conjunction with specific implementation methods.

[0050] like Figure 1 and Figure 2 As shown, this application provides a technical solution: a tractor-train tillage control integrated system, comprising:

[0051] The tractor set includes a tractor 19 and a implement 12, and a suspension adjustment assembly is provided between the tractor 19 and the implement 12.

[0052] The suspension adjustment assembly includes a lifting cylinder 15 mounted on a tractor 19. A pair of lifting arms 7 are rotatably mounted on the telescopic shaft of the lifting cylinder 15. A tie rod 8 and a leveling cylinder 14 are rotatably mounted at the two ends of the pair of lifting arms 7, respectively. A right lower tie rod 11 is mounted at the end of the tie rod 8. A left lower tie rod 13 is mounted on the telescopic shaft of the leveling cylinder 14. One end of the left lower tie rod 13 and the right lower tie rod 11 are rotatably connected to the tractor 19. The implement 12 is rotatably connected to the other end of the left lower tie rod 13 and the right lower tie rod 11. An upper tie rod 9 is rotatably mounted between the tractor 19 and the implement 12, positioned above and in the center of the left lower tie rod 13 and the right lower tie rod 11. The lifting arms 7 are existing technology. There are two lifting arms 7, which are structural components welded together, coaxial, at the same speed, and in the same position.

[0053] The tractor 19 is equipped with a hydraulic control unit 17. The hydraulic control unit 17 includes a lifting hydraulic proportional solenoid valve and a leveling hydraulic proportional solenoid valve, which are installed on the tractor 19 and connected to the lifting cylinder 15 and the leveling cylinder 14 respectively through pipelines. The lifting hydraulic proportional solenoid valve and the leveling hydraulic proportional solenoid valve are connected to the hydraulic source on the tractor 19.

[0054] The tractor 19 is equipped with an implement controller 16, which includes an implement entry speed control module, an implement transport vibration reduction module, an implement automatic leveling module, an implement attachment module, a turning and lifting control module, and a tillage depth control module.

[0055] The lifting arm 7 is equipped with a speed sensor 6 for obtaining the descent speed or lifting speed of the implement 12. In one embodiment, the speed sensor 6 may be an angular velocity sensor.

[0056] The implement controller 16 is equipped with a kinematic analysis submodule for the unit mechanism. The implement soil entry speed control module, implement transportation vibration reduction module, implement automatic leveling module, implement attachment module, turning and lifting control module and tillage depth control module share the kinematic analysis submodule for the unit mechanism to obtain the position and speed parameters in the unit posture parameters.

[0057] The lifting mechanism in the kinematic analysis submodule of the unit mechanism in tractor 19 consists of lifting arm 7, diagonal tie rod 8, leveling cylinder 14, right lower tie rod 11, left lower tie rod 13, upper tie rod 9 and tool 12. The lifting arm 7 is driven by the lifting cylinder 15 and becomes the driving element of the mechanism.

[0058] The angular velocity sensor 6 collects signals and integrates them to obtain the position and angular velocity parameters of the lifting arm 7. The position and rotational angular velocity of the lifting arm 7 are then used by the kinematic analysis submodule of the unit mechanism to determine the position and speed of the implement 12 relative to the tractor 19.

[0059] The lifting or lowering speed of implement 12, its position relative to tractor 19, and the real-time posture parameters of tractor 19 constitute the unit posture parameters. The unit posture parameters are shared by the implement soil entry speed control module, implement transport vibration reduction module, implement automatic leveling module, implement attachment module, turning and lifting control module, and tillage depth control module in tractor 19.

[0060] The implement entry speed control module is used to control the entry and descent speed of implement 12 in the longitudinal travel plane of the tractor set;

[0061] The implement attachment module is used to control the height of the suspension points of the left lower lever 13 and the right lower lever 11 in the longitudinal travel plane of the tractor set;

[0062] The turning and lifting control module is used to control the height of implement 12 in the longitudinal travel plane of the tractor set;

[0063] The tillage depth control module is used to control the height of implement 12 in the longitudinal travel plane of the tractor set;

[0064] The machine transport vibration reduction module is used to set up vibration reduction for tractor sets during transfer transportation, targeting pitch and vertical vibration reduction in the longitudinal plane. The lifting cylinder 15 is used as the actuator.

[0065] The automatic leveling module is used to control the lateral sway of implement 12 in a plane perpendicular to the direction of travel of the tractor set, and works in conjunction with the tillage depth control module to control implement 12 in order to achieve farmland leveling operation after preliminary leveling.

[0066] The soil entry speed control module is used to control the soil entry descent speed of the implement 12 as follows:

[0067] The implement entry speed control module obtains the angular velocity of the lifting arm 7 based on the angular velocity sensor 6 installed on the lifting arm 7, and obtains the entry descent speed of the implement 12 and the position of the implement 12 relative to the tractor 19 from the kinematic analysis submodule of the unit mechanism. Then, it outputs the lifting voltage PWM control signal to the coils at both ends of the lifting hydraulic proportional solenoid valve through its internal entry speed algorithm, controls the opening direction and size of its valve core, and then controls the speed of the piston of the lifting cylinder 15 to achieve the control of the entry speed of the implement 12.

[0068] Among them, the descent speed of the equipment 12 smoothly accelerates from 0 to its maximum speed, with no impact in the initial stage of acceleration. The speed curve is selected as a sine curve or a 5th-order spline curve. Taking the sine curve as an example, the formulas for the target speed v and the integral displacement s are as follows:

[0069]

[0070]

[0071] Where: A—the overall pitch vibration influence factor;

[0072] V1—Maximum descent speed of implement 12 when the hydraulic valve is fully open, which depends on the weight of implement 12, in m / s;

[0073] T1 — Time for the equipment 12 to descend to the target, historical data or manual input, unit: seconds;

[0074] t — The timer for triggering the burial enable, in seconds.

[0075] The soil entry speed algorithm of this design takes speed and position state variables as inputs and adopts fuzzy PID negative feedback control of the descent speed throughout the descent displacement range. For each descent displacement, the difference between the target speed and the measured value is taken and negatively fed back into the fuzzy PID module. The output boost voltage PWM control signal is sent to the terminal of the boost proportional solenoid valve to control the opening direction and size of its valve core. The speed formula takes into account the influence of the overall machine pitch vibration factor A, avoiding the phenomenon of the whole machine tilting due to excessive acceleration in the initial stage of machine 12 descent. During the soil entry stage of machine 12, the descent speed control curve gradually approaches 0, avoiding excessive soil entry speed, damage to machine 12, and the phenomenon of missed tillage.

[0076] The tool attachment module is used to control the height of the suspension points of the left lower lever 13 and the right lower lever 11, specifically as follows:

[0077] The tool attachment module obtains the ground height of the suspension points of the left lower lever 13 and the right lower lever 11 by integrating the signal from the angular velocity sensor 6. It then calculates the difference between the ground height of the suspension points of the left lower lever 13 and the right lower lever 11 and the required suspension point height of the tool 12. Finally, it uses PID negative feedback control to output a PWM control signal to the lifting hydraulic proportional solenoid valve, controlling the valve core opening direction and size, thereby controlling the flow and pressure of the hydraulic oil and controlling the extension length of the lifting cylinder 15, so that the ground height of the suspension points of the left lower lever 13 and the right lower lever 11 is consistent with the ground height of the required suspension point of the tool 12.

[0078] The turning and lifting control module is used to control the height position of implement 12, specifically as follows:

[0079] The turning and lifting control module obtains the angular velocity of the lifting arm 7 based on the angular velocity sensor 6 installed on the lifting arm 7. The lifting speed of the implement 12 and the position of the implement 12 relative to the tractor 19 are obtained by the kinematic analysis submodule of the unit mechanism. Then, the PWM control signal is output to the lifting hydraulic proportional solenoid valve through its internal lifting algorithm to control the opening direction and size of its valve core, thereby controlling the speed of the piston of the lifting cylinder 15 and lifting the implement 12 to the height set for the turning condition to realize the flipping of the implement 12 and the turning of the whole machine.

[0080] Taking a non-impact sine curve as an example, the formulas for the target velocity v' and integral displacement s' are as follows:

[0081]

[0082]

[0083] Where: A—the overall pitch vibration influence factor;

[0084] V2—Maximum lifting speed of implement 12 when the hydraulic valve is fully open, depending on the hydraulic pump, in m / s;

[0085] T2 — Time for machine 12 to lift target, historical data or manual input, unit: seconds;

[0086] t — the timeout period for enabling the boost, in seconds.

[0087] The design of the turning and lifting control module takes speed and position state variables as inputs and adopts fuzzy PID negative feedback control of the lifting displacement range to control the lifting speed. For each lifting displacement, the difference between the target speed and the measured value is taken and negatively fed back into the fuzzy PID module. The output voltage PWM control signal is sent to the terminal of the lifting proportional solenoid valve to control the opening direction and size of its valve core. The speed formula takes into account the influence of the overall machine pitch vibration factor A, avoiding the overall machine tilting phenomenon caused by excessive acceleration in the early stage of lifting of implement 12. When implement 12 approaches the highest position, the lifting speed control curve gradually approaches 0, avoiding the phenomenon of overall machine pitch vibration caused by excessive lifting speed impacting the bottom of the cylinder. This improves the reliability of the product, avoids affecting the driving experience of tractor driver 19, improves the comfort of tractor driver 19, and avoids fatigue.

[0088] The tillage depth control module is used to control the elevation position of implement 12, specifically as follows:

[0089] The tillage depth control module integrates the signal obtained by the three-axis angular velocity sensor 4 on the tractor 19 and corrects it with the signal of the three-axis acceleration sensor 5 installed on the body of the tractor 19 to obtain the pitch posture parameters of the tractor 19. Then, based on the lifting speed of the implement 12 obtained by the one-axis angular velocity sensor 6 installed on the lifting arm 7, the position of the implement 12 relative to the tractor 19 is obtained by integration and Kalman filtering. Then, the internal control algorithm starts with minimizing the error between the real-time included angle between the tractor 19 and the rotatable lifting arm 7 and the set value as the control objective. The Kalman filtering algorithm is existing technology.

[0090] When the pitch angle of tractor 19 changes, the tillage depth control module uses the average of three historical pitch attitude data of tractor 19 taken at 20-second intervals as the control target. The real-time pitch posture parameters of tractor 19 are subtracted from the control target and negatively fed back. Fuzzy PID control is used to output a boost voltage PWM control signal to the coils at both ends of the lifting hydraulic proportional solenoid valve, controlling its opening direction and size, thereby controlling the flow and pressure of hydraulic oil, controlling the extension and retraction of lifting cylinder 15, and realizing the control of the tillage depth of implement 12. This tillage depth control module mainly works during tractor plowing operations, overcoming the inconsistency in tillage depth caused by uneven farmland, and has a certain contour-following function according to changes in farmland terrain, and compensates for the control error of the soil entry control module. The implement transportation vibration reduction module is used for vibration reduction settings during tractor transfer transportation.

[0091] The vibration reduction module for machinery transportation is based on a three-axis accelerometer 5 installed on the body of the tractor 19 to acquire the vibration acceleration in the first three directions (x, y, z) during the tractor's movement. Simultaneously, it is based on a three-axis angular velocity sensor 4 installed on the body of the tractor 19 to acquire the vibration angular acceleration in the second three directions (x', y', z') through differential acquisition. The two signals of vibration acceleration in the first three directions (x, y, z) and vibration angular acceleration in the second three directions (x', y', z') are obtained. After calibration in the direction of gravity acceleration, the vertical vibration and pitch vibration parameters of the tractor 19 after noise reduction are obtained. Due to the constant value offset of the three-axis angular velocity sensor 4, the integral error of the angular velocity will gradually increase over time. Calibration is performed using the direction of gravity acceleration.

[0092] The vibration reduction module for transporting implements obtains the angular velocity of the lifting arm 7 based on the angular velocity sensor 6 installed on the lifting arm 7. The lifting speed of the implement 12 and the position of the implement 12 relative to the tractor 19 are obtained by the kinematic analysis submodule of the unit mechanism, and the vibration parameters of the implement 12 are obtained by differential analysis.

[0093] The vibration reduction module for machinery transportation adopts negative feedback fuzzy PID control. It takes the position parameters of tractor 19 and implement 12 as inputs, the lifting cylinder 15 as the actuator, and pitch and vertical vibration reduction as control targets. Based on the vehicle speed sensor 1 installed on the wheel 18 of tractor 19, the speed weighting coefficient is assigned in real time and outputs the PWM control signal of the lifting solenoid valve through its internal vibration reduction control algorithm to the coils at both ends of the lifting hydraulic proportional solenoid valve. This controls the opening direction and size of the valve core, thereby controlling the flow direction and pressure of the lifting hydraulic oil, and controlling the extension and retraction of the lifting cylinder 15 to drive the implement 12 to lift and lower. During this process, the change of suspension force is coupled with the vibration of tractor 19 to realize the control of vibration reduction in tractor transportation.

[0094] During the vibration reduction process of tractor transport, when the lifting arm 7 of tractor 19 turns less than the set value, the implement transport vibration reduction module lifts implement 12 again to return to the transport position to protect the road surface, improve the reliability of the product, avoid affecting the driving experience of tractor 19 driver, improve the comfort of tractor 19 driver, and avoid fatigue.

[0095] The automatic leveling module is used to perform leveling operations on farmland after preliminary leveling.

[0096] The automatic leveling module integrates the yaw rate signal obtained by the triaxial angular velocity sensor 4, which is installed on the body of the tractor 19 and is used to obtain the yaw rate of the tractor 19, and uses the direction of gravitational acceleration measured by the triaxial accelerometer 5 to calibrate the angular velocity integration error, so as to obtain the noise-reduced real-time yaw posture parameters of the tractor.

[0097] The automatic leveling module obtains the optimal estimate of the yaw angle signal by performing Kalman filtering on the yaw angle signal acquired by the triaxial tilt sensor 10 installed on the machine 12 and used to acquire the yaw angle of the machine 12.

[0098] When the tractor starts on a relatively flat surface, the automatic leveling module uses its internal control algorithm to take the average of three historical data points—the yaw angle and the lift height—as the control target. Using the leveled surface as a reference, it provides negative feedback on the error between the tractor's real-time yaw posture parameters and the control target. A fuzzy PID control outputs a leveling voltage PWM control signal to the coils at both ends of the leveling proportional solenoid valve, controlling the valve core opening direction and size. This controls the extension and retraction of the lift cylinder 15 and the leveling cylinder 14, achieving leveling control of the implement 12. The module adjusts the length of the lift cylinder 15 and the leveling cylinder 14 in real time to compensate for the impact of tractor yaw angle changes on the leveling operation. The tillage depth control module controls the height of the implement 12 to compensate for the impact of tractor pitch angle changes caused by ground undulations on the leveling operation. This design facilitates control of the leveling cylinder and the lift cylinder based on the error between the real-time yaw posture parameters and the historical average of the implement posture.

[0099] This design uses an implement controller 16 to control the speed at which the implement 12 enters the soil, the tilting and turning of the implement 12, the leveling of the implement 12, the tillage depth and suspension of the implement 12, and the vibration reduction of the tractor group during transport. This allows the position and posture control of the implement 12 to adapt to the working conditions in the field, reducing the workload of the tractor operator, improving the overall efficiency and the quality of work.

[0100] The tractor 19 is equipped with an integrated armrest box 3 and an onboard display 2. The onboard display 2 is connected to the integrated armrest box 3 via a CAN bus, and the integrated armrest box 3 is connected to the implement controller 16 via a CAN bus.

[0101] Tractor 19 is equipped with a transmission controller TCU for controlling the speed of tractor 19. The integrated armrest box 3 is connected to the transmission controller TCU via CAN bus. This design sends control commands to the transmission controller TCU via CAN bus through the integrated armrest box 3 to control the shifting sequence when the tractor accelerates and decelerates, as well as the gear position of the tractor during long-term stable operation.

[0102] The tractor 19 is equipped with an engine controller ECU for controlling the engine operation and a transmission controller TCU for controlling the transmission operation. The CAN interface module in the integrated armrest box 3 is connected to the CAN interface modules in the engine controller ECU and the transmission controller TCU via a CAN bus. The engine controller ECU, the transmission controller TCU and the CAN interface module communicate with each other through standard messages. By setting message priorities, the engine controller ECU and the transmission controller TCU can work together. This design sends control commands to the engine controller ECU via the CAN bus through the integrated armrest box 3 to control the engine throttle opening, speed, torque, emissions, fuel injection quantity and pressure, thereby controlling the overall speed of the machine and keeping the machine at the best fuel economy or maximum power output, which has the effect of energy saving and emission reduction.

[0103] The foregoing has shown and described the basic principles, main features, and advantages of this application. It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or basic characteristics of this application. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this application is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0104] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A tractor-mounted tillage control integrated system, wherein, The tractor set includes a tractor (19) and a implement (12), and a suspension adjustment assembly is provided between the tractor (19) and the implement (12); The suspension adjustment assembly includes a lifting cylinder (15) mounted on the tractor (19). A pair of lifting arms (7) are rotatably mounted on the telescopic shaft of the lifting cylinder (15). A diagonal tie rod (8) and a leveling cylinder (14) are rotatably mounted at the two ends of the pair of lifting arms (7). A right lower tie rod (11) is mounted at the end of the diagonal tie rod (8). A left lower tie rod (13) is mounted on the telescopic shaft of the leveling cylinder (14). One end of the left lower tie rod (13) and the right lower tie rod (11) are rotatably connected to the tractor (19). The implement (12) is rotatably connected to the other end of the left lower tie rod (13) and the right lower tie rod (11). An upper tie rod (9) is rotatably mounted between the tractor (19) and the implement (12), positioned above and centered on the left lower tie rod (13) and the right lower tie rod (11). The tractor (19) is equipped with a hydraulic control unit (17), which includes a lifting hydraulic proportional solenoid valve and a leveling hydraulic proportional solenoid valve, which are installed on the tractor (19) and connected to the lifting cylinder (15) and the leveling cylinder (14) respectively through pipelines. The lifting arm (7) is equipped with a speed sensor (6) for obtaining the descent speed or lifting speed of the tool (12); Its features are, The tillage control integrated system includes an implement controller (16), an implement entry speed control module, an implement transport vibration reduction module, an implement automatic leveling module, an implement attachment module, a turning and lifting control module, and a tillage depth control module. The implement entry speed control module is used to control the entry speed of the implement (12) into the soil in the longitudinal travel plane of the tractor set; The implement attachment module is used to control the height of the suspension points of the left lower lever (13) and right lower lever (11) of the tractor set in the longitudinal travel plane; The turning and lifting control module is used to control the turning height of the implement (12) in the longitudinal travel plane of the tractor group; The tillage depth control module is used to control the height of the implements (12) in the longitudinal travel plane of the tractor set; The vibration damping module for machinery transportation is used to set up pitch and vertical vibration damping for tractor sets in the longitudinal plane by lifting the hydraulic cylinder (15); The automatic leveling module is used to control the lateral sway of the implements in a plane perpendicular to the direction of travel, and works in conjunction with the tillage depth control module to control the implements to achieve farmland leveling operations.

2. The tractor-mounted tillage control integrated system according to claim 1, characterized in that, The soil entry speed control module is used to control the soil entry descent speed of the machinery (12) as follows: The implement entry speed control module obtains the position of the implement (12) relative to the tractor (19) by integrating and Kalman filtering the entry speed obtained by the speed sensor (6). Then, based on the obtained entry speed and the position of the implement (12) relative to the tractor (19), the implementation speed is controlled. The implementation controller (16) outputs a control signal to the lifting cylinder (15) based on the obtained entry speed to control the piston speed of the lifting cylinder (15) to achieve the control of the entry speed of the implement (12).

3. The tractor-mounted tillage control integrated system according to claim 2, characterized in that, The tool attachment module is used to control the height of the suspension points of the left lower lever (13) and the right lower lever (11) specifically as follows: The implement attachment module integrates the descent speed obtained by the speed sensor (6) to obtain the actual ground height of the suspension points of the left lower lever (13) and the right lower lever (11). Based on the difference between the actual ground height of the suspension points of the left lower lever (13) and the right lower lever (11) and the preset required implement suspension point height, the implement controller (16) outputs a control signal to the lifting hydraulic proportional solenoid valve to control the extension length of the lifting hydraulic cylinder (15), so that the ground height of the suspension points of the left lower lever (13) and the right lower lever (11) is consistent with the ground height of the suspension point of the preset required implement (12).

4. The tractor-mounted tillage control integrated system according to claim 2, characterized in that, The turning and lifting control module is used to control the turning height of the implement (12) specifically as follows: The turning and lifting control module obtains the position of the implement (12) relative to the tractor (19) by integrating and Kalman filtering the lifting speed of the implement (12) obtained by the speed sensor (6). Based on the height set according to the turning condition of the implement (12), the lifting height of the implement is obtained. According to the obtained lifting height of the implement, the implement controller (16) outputs a control signal for lifting the hydraulic cylinder (15) to the lifting hydraulic proportional solenoid valve to control the speed of the piston of the lifting hydraulic cylinder (15), so that the implement (12) is lifted to the height set for the turning condition to realize the turning of the implement (12) and the whole machine.

5. The tractor-mounted tillage control integrated system according to claim 2, characterized in that, The tillage depth control module is used to control the height of the implement (12) specifically as follows: The tillage depth control module integrates the yaw rate signal of the tractor (19) obtained by the three-axis angular velocity sensor (4) on the tractor (19), and then corrects the error of the yaw rate signal integration by the gravity acceleration direction signal measured by the three-axis acceleration sensor (5) set on the body of the tractor (19) to obtain the pitch posture parameters of the tractor (19). When the pitch angle of the tractor (19) changes, the tillage depth control module takes the average of the three historical pitch posture data of the tractor at 20-second intervals as a reference. The real-time pitch posture parameters of the tractor (19) are subtracted from the average value and negatively fed back to the implement controller (16). The controller outputs a control signal to the lifting hydraulic proportional solenoid valve to control the extension and retraction of the lifting hydraulic cylinder (15), thereby realizing the control of the tillage depth of the implement (12).

6. The tractor-mounted tillage control integrated system according to claim 2, characterized in that, The vibration damping module for machinery transportation is specifically used for vibration damping during tractor-mounted transport. The vibration reduction module for the transport machinery is based on the vibration acceleration in the three directions (x, y, z) of the first point during the movement of the tractor group, obtained by the triaxial accelerometer (5) installed on the body of the tractor (19), and the vibration angular acceleration in the three directions (x', y', z') of the second point, obtained by the triaxial angular velocity sensor (4) installed on the body of the tractor (19) through differential acquisition, and the gravity acceleration direction obtained by the triaxial accelerometer (5) to obtain the vertical vibration and pitch vibration parameters of the tractor (19) after noise reduction. The vibration reduction module for transporting machinery is based on the speed sensor (6) installed on the lifting arm (7) to obtain the lifting speed of the machinery (12), and after integration and Kalman filtering, the position of the machinery (12) relative to the tractor (19) is obtained, and then the vibration parameters of the machinery are obtained by differential analysis. The implement transport vibration reduction module takes the position parameters of the tractor (19) and implement (12) as input, the lifting cylinder (15) as actuator, and pitch and vertical vibration reduction as control targets. Based on the vehicle speed sensor (1) installed on the wheel (18) of the tractor (19), the target height of the implement is output by assigning a vehicle speed weighting coefficient in real time. The control signal for lifting cylinder (15) is output by the implement controller (16) to the lifting hydraulic proportional solenoid valve to control the extension and shortening of lifting cylinder (15) to drive the implement (12) to lift and lower. During this period, the change of suspension force and the vibration of tractor (19) are measured in real time and coupled to realize the control of tractor group transport vibration reduction.

7. The tractor-mounted tillage control integrated system according to claim 6, characterized in that, The automatic leveling module is used to perform farmland leveling operations after preliminary leveling, specifically as follows: The automatic leveling module integrates the yaw rate signal obtained by the triaxial angular velocity sensor (4) installed on the body of the tractor (19) and used to obtain the yaw rate of the tractor (19), and uses the gravitational acceleration measured by the triaxial accelerometer (5) to calibrate the angular velocity integration error, so as to obtain the noise-reduced real-time yaw posture parameters of the tractor. The automatic leveling module of the machine obtains the optimal estimate of the yaw angle signal by performing Kalman filtering on the yaw angle signal obtained by the triaxial tilt sensor (10) installed on the machine (12) and used to obtain the yaw angle of the machine (12); When the tractor starts on a relatively flat surface, the automatic leveling module of the implement uses the average of three historical data points—implement yaw angle, lifting height, and so on—as the control target. It provides negative feedback on the error between the real-time yaw posture parameters of the tractor and the control target. The implement controller (16) outputs a control signal for the lifting cylinder (15) to the lifting hydraulic proportional solenoid valve and the leveling hydraulic proportional solenoid valve to control the extension and shortening of the lifting cylinder (15) and the leveling cylinder (14) respectively, thereby achieving the leveling control of the implement (12). The length of the lifting cylinder (15) and the leveling cylinder (14) is adjusted in real time to compensate for the influence of the tractor yaw angle change on the leveling operation.

8. The tractor-mounted tillage control integrated system according to claim 1, characterized in that, The tractor (19) is equipped with an integrated armrest box (3) and an onboard display (2). The onboard display (2) is connected to the integrated armrest box (3) via a CAN bus. The integrated armrest box (3) is connected to the implement controller (16) via a CAN bus.

9. The tractor-mounted tillage control integrated system according to claim 8, characterized in that, The tractor (19) is equipped with a transmission controller (TCU) for controlling the speed of the tractor (19), and the integrated armrest box (3) is connected to the transmission controller (TCU) via a CAN bus.

10. The tractor-mounted tillage control integrated system according to claim 8, characterized in that, The tractor (19) is equipped with an engine controller ECU for controlling the engine operation of the tractor (19) and a transmission controller TCU for controlling the transmission operation of the tractor (19). The CAN interface module in the integrated armrest box (3) is connected to the CAN interface modules in the engine controller ECU and the transmission controller TCU through the CAN bus. The engine controller ECU, the transmission controller TCU and the CAN interface module communicate with each other through standard messages, and the engine controller ECU and the transmission controller TCU work together by setting message priority.

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