Steering hydraulic control method and system for tractor

Abstract

The present invention relates to the field of hydraulic steering technology, and discloses a steering hydraulic control method and system for a tractor, the method comprising: collecting steering signals to determine the opening of a proportional valve; collecting hydraulic oil temperature data to determine whether to turn on feedback regulation; when the hydraulic oil temperature is lower than a general range, judging to turn on feedback regulation and turning on auxiliary heating; when judging to turn on, collecting temperature difference and determining the opening adjustment value based on an adaptive neural fuzzy inference model; collecting the hydraulic oil temperature change rate to determine the opening recovery rate; collecting the actual steering displacement and comparing it with the target displacement to determine whether the steering is completed; when the steering is not completed, establishing a feature vector and comparing it with a historical feature vector set in a historical adjustment scheme to determine the amount of supplementary oil; and controlling the hydraulic cylinder to run with the supplementary oil to complete the steering. The present application realizes precise control of the hydraulic steering system by integrating multi-dimensional data such as steering signals, hydraulic oil temperature changes, and actual steering displacement.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic steering, and in particular to a steering hydraulic control method and system for a tractor. Background Art

[0002] In modern agricultural machinery, tractors, as one of the key equipment, are widely used in tasks such as tillage, sowing, fertilization, and harvesting. With the rapid development of agricultural mechanization, the performance requirements of tractors are constantly improving. Among them, the stability and efficiency of the steering system are one of the key factors to ensure its operating accuracy and operating comfort. The hydraulic system completes the steering process by controlling the flow and pressure of hydraulic oil. However, in current technology, the proportional valve opening adjustment of the hydraulic system still faces many challenges.

[0003] The working efficiency of the hydraulic system is closely related to the temperature of the hydraulic oil. In low temperature environments, the viscosity of the hydraulic oil increases, resulting in poor oil flow, which in turn affects the response speed and stability of the system. Currently, the oil quantity control method is usually based on preset control rules, and fails to fully consider the actual state of the hydraulic oil, temperature changes, and real-time feedback during the steering process, resulting in adjustment lags under extreme temperature conditions, affecting the accuracy and response of the steering.

[0004] Therefore, it is necessary to design a steering hydraulic control method and system for a tractor to solve the problems existing in the current technology. Summary of the invention

[0005] In view of this, the present invention proposes a steering hydraulic control method and system for a tractor, aiming to solve the problem that the current hydraulic steering technology fails to fully consider the actual state of the hydraulic oil, temperature changes and real-time feedback during the steering process, resulting in adjustment lag under extreme temperature conditions.

[0006] In one aspect, the present invention provides a steering hydraulic control method for a tractor, comprising:

[0007] Collecting a steering signal and determining a proportional valve opening according to the steering signal, wherein the steering signal includes a steering angle, a steering load, and a real-time speed;

[0008] Collect hydraulic oil temperature data, and determine whether to turn on feedback regulation according to the hydraulic oil temperature data; when the hydraulic oil temperature is lower than the general range, determine to turn on the feedback regulation and turn on auxiliary heating, and the auxiliary heating is used to heat the hydraulic oil;

[0009] When it is determined that the feedback regulation is turned on, the temperature difference is collected and the opening adjustment value is determined based on the adaptive neural fuzzy inference model; the hydraulic oil temperature change rate is collected to determine the opening recovery rate;

[0010] Collect the actual displacement of the steering, compare the actual displacement with the target displacement to determine whether the steering is completed; when it is determined that the steering is not completed, establish a feature vector according to the actual state of the hydraulic oil and the displacement difference, compare the feature vector with the historical feature vector set in the historical adjustment plan, and determine the amount of supplementary oil;

[0011] The hydraulic cylinder is controlled to operate with the supplementary oil amount to complete the steering.

[0012] Further, when determining the proportional valve opening according to the steering signal, the proportional valve opening is calculated by the following formula:

[0013]

[0014] Among them, K represents the proportional valve opening, represents the normalized result of steering angle, F represents the normalized result of steering load, V represents the normalized result of real-time speed, Indicates the difference between the real-time ambient temperature and the standard temperature.

[0015] Further, judging whether to start feedback regulation according to the hydraulic oil temperature data includes:

[0016] Comparing the hydraulic oil temperature data with the hydraulic oil low temperature threshold, and determining whether to start feedback regulation according to the comparison result;

[0017] When the hydraulic oil temperature data is lower than the hydraulic oil low temperature threshold, it is determined to turn on the feedback regulation and auxiliary heating; when the hydraulic oil temperature data is equal to or higher than the hydraulic oil low temperature threshold, it is determined not to turn on the feedback regulation.

[0018] Furthermore, when collecting the temperature difference and determining the opening adjustment value based on the adaptive neural fuzzy inference model, it includes:

[0019] Obtaining a hydraulic oil temperature difference according to the hydraulic oil temperature data and a hydraulic oil low temperature threshold;

[0020] Define the temperature difference and steering load as input variables, and define the opening adjustment value of the proportional valve as the output variable;

[0021] Dividing the temperature difference into several temperature fuzzy sets according to the size of the temperature difference, and dividing the load fuzzy sets into several load fuzzy sets according to the size of the steering load, and determining the fuzzy rule base with the temperature fuzzy sets and the load fuzzy sets;

[0022] Compare the current temperature difference and steering load with the temperature fuzzy set and the load fuzzy set respectively, and determine the temperature difference membership and steering load membership based on the triangular membership function;

[0023] Calculate the output value of each rule in the fuzzy rule base using the temperature difference membership and the steering load membership;

[0024] Defuzzify the output value of each rule by weighted summing the following formula, and obtain a total output value, wherein the total output value is the opening adjustment value;

[0025]

[0026] Among them, E represents the opening adjustment value, Qi represents the weight of the output of the i-th rule, and Si represents the output value of the i-th rule.

[0027] Furthermore, when the hydraulic oil temperature change rate is collected and the opening recovery rate is determined, the opening recovery rate is calculated by the following formula:

[0028] ;

[0029] in, It represents the difference of hydraulic oil temperature change rate, R represents the opening recovery rate, T represents the normalized result of the current hydraulic oil temperature, V represents the normalized result of the real-time speed, and F represents the normalized result of the steering load.

[0030] Furthermore, when comparing the actual displacement with the target displacement to determine whether the steering is completed, it includes:

[0031] Obtaining the target displacement according to the steering signal, and comparing the actual displacement with the target displacement;

[0032] When the actual displacement is less than the target displacement, it is determined that the steering is not completed;

[0033] When the actual displacement amount is equal to the target displacement amount, it is determined that the steering is completed.

[0034] Further, when it is determined that the steering is not completed, the feature vector is compared with a historical feature vector set in a historical adjustment scheme to determine the amount of supplementary oil, including:

[0035] The hydraulic oil real-time status includes hydraulic oil temperature and hydraulic oil pressure;

[0036] When there is data in the historical feature vector set whose similarity with the feature vector is greater than a similarity threshold, determining the amount of supplementary oil according to the historical feature vector set in the historical adjustment scheme;

[0037] When the similarities between the data in the historical feature vector set and the feature vector are both less than or equal to the similarity threshold, the replenishment oil amount is determined according to the actual state of the hydraulic oil and the displacement difference.

[0038] Further, when determining the amount of supplementary oil according to the historical feature vector set in the historical adjustment scheme, it includes:

[0039] The data in the historical feature vector set whose similarity with the feature vector is greater than a similarity threshold is formed into a similar feature set;

[0040] When the data of the similar feature set is unique, the historical replenishment oil quantity corresponding to the historical feature vector in the similar feature set is used as the replenishment oil quantity;

[0041] When the data of the similar feature set is not unique, obtaining the mean value of the historical replenishment oil quantity according to the historical replenishment oil quantity corresponding to the historical feature vector in the similar feature set;

[0042] The data in the similar feature set whose historical supplementary oil amount is greater than the mean value of the historical supplementary oil amount is established as a first supplementary oil amount set; the data in the similar feature set whose historical supplementary oil amount is less than the mean value of the historical supplementary oil amount is established as a second supplementary oil amount set;

[0043] Acquire the means of the first supplementary oil quantity set and the second supplementary oil quantity set respectively, obtain the first supplementary oil quantity mean and the second supplementary oil quantity mean, determine a first weight according to the number of the first supplementary oil quantity set, determine a second weight according to the number of the second supplementary oil quantity set, sum the product of the first supplementary oil quantity mean and the first weight and the product of the second supplementary oil quantity mean and the second weight, to obtain the supplementary oil quantity.

[0044] Further, when the amount of supplementary oil is determined according to the actual state of the hydraulic oil and the displacement difference, the amount of supplementary oil is calculated by the following formula:

[0045]

[0046] Among them, B represents the amount of replenished oil, Δx represents the displacement difference, xv represents the steering speed, β represents the temperature compensation coefficient, and the value range of β is [0.05, 0.1]. T represents the normalized result of the current hydraulic oil temperature, T0 represents the normalized result of the hydraulic oil low temperature threshold, and P represents the hydraulic oil pressure.

[0047] Compared with the prior art, the beneficial effects of the present invention are as follows: by comprehensively considering multi-dimensional data such as steering signals, hydraulic oil temperature changes, and actual steering displacement, precise control of the hydraulic steering system is achieved. The use of an adaptive neural fuzzy inference model to adjust the proportional valve opening can dynamically respond to changes in oil fluidity under different temperature conditions, ensuring the accuracy and response speed of the steering process. By real-time acquisition of the hydraulic oil temperature and determining whether to turn on feedback regulation and auxiliary heating functions, the negative impact of low temperature environments on the hydraulic system is effectively avoided, and the stability of the system under extreme temperatures is improved. At the same time, the feature vector established by combining the actual state of the hydraulic oil and the displacement difference with the historical data comparison method further optimizes the accuracy of oil replenishment, ensuring that the amount of hydraulic oil replenishment always matches the demand during the steering process, avoiding the situation of too much or too little oil, and improving the stability and controllability of the steering.

[0048] On the other hand, the present application also provides a steering hydraulic control system for a tractor, which is used to apply the above-mentioned steering hydraulic control method for a tractor, comprising:

[0049] A collection unit is configured to collect a steering signal and determine a proportional valve opening according to the steering signal, wherein the steering signal includes a steering angle, a steering load, and a real-time speed;

[0050] a judgment unit configured to collect hydraulic oil temperature data, and judge whether to start feedback regulation according to the hydraulic oil temperature data; when the hydraulic oil temperature is lower than the general range, judge to start the feedback regulation and start auxiliary heating, the auxiliary heating is used to heat the hydraulic oil;

[0051] The processing unit is configured to collect the temperature difference and determine the opening adjustment value based on the adaptive neural fuzzy inference model when it is determined that the feedback adjustment is turned on; collect the hydraulic oil temperature change rate to determine the opening recovery rate;

[0052] The adjustment unit is configured to collect the actual displacement of the steering, compare the actual displacement with the target displacement to determine whether the steering is completed; when it is determined that the steering is not completed, establish a feature vector according to the actual state of the hydraulic oil and the displacement difference, compare the feature vector with the historical feature vector set in the historical adjustment scheme, and determine the amount of supplementary oil;

[0053] The control unit is configured to control the hydraulic cylinder to operate with the supplementary oil volume to complete the steering. It can be understood that the above-mentioned steering hydraulic control method and system for tractors have the same beneficial effects, which will not be described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0055] Figure 1 A flow chart of a steering hydraulic control method for a tractor provided by an embodiment of the present invention;

[0056] Figure 2 A functional block diagram of a steering hydraulic control system for a tractor provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0057] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0058] In some embodiments of the present application, see Figure 1 As shown, a steering hydraulic control method for a tractor comprises:

[0059] S100: collecting a steering signal and determining a proportional valve opening according to the steering signal, the steering signal including a steering angle, a steering load and a real-time speed.

[0060] S200: Collect hydraulic oil temperature data, and determine whether to start feedback regulation according to the hydraulic oil temperature data. When the hydraulic oil temperature is lower than the general range, it is determined to start feedback regulation and start auxiliary heating, which is used to heat the hydraulic oil.

[0061] S300: When it is determined that feedback regulation is turned on, the temperature difference is collected and the opening adjustment value is determined based on the adaptive neural fuzzy inference model. The hydraulic oil temperature change rate is collected to determine the opening recovery rate.

[0062] S400: Collect the actual displacement of the steering, compare the actual displacement with the target displacement to determine whether the steering is completed. When it is determined that the steering is not completed, establish a feature vector based on the actual state of the hydraulic oil and the displacement difference, compare the feature vector with the historical feature vector set in the historical adjustment plan, and determine the amount of supplementary oil.

[0063] S500: Control the hydraulic cylinder to replenish oil and complete the steering.

[0064] In some embodiments of the present application, when determining the proportional valve opening according to the steering signal, the proportional valve opening is calculated by the following formula:

[0065]

[0066] Among them, K represents the proportional valve opening, represents the normalized result of steering angle, F represents the normalized result of steering load, V represents the normalized result of real-time speed, Indicates the difference between the real-time ambient temperature and the standard temperature.

[0067] Specifically, in S100, the steering signals of the tractor are collected through sensors, mainly including steering angle, steering load and real-time speed. Since the units and numerical ranges between these signals are different, these signals need to be normalized (for example, the angle is converted to a value between 0 and 1, and the load and speed are also normalized). After normalization, the opening of the proportional valve is determined according to the calculation formula. By combining these factors, the opening of the proportional valve is determined, so as to accurately control the oil flow and oil pressure to ensure the accuracy and responsiveness of the steering. In S200, the temperature data of the hydraulic oil is collected in real time, and it is determined whether feedback adjustment needs to be turned on based on the temperature. If the temperature is lower than the general range, the auxiliary heating function will be turned on to heat the hydraulic oil to prevent the oil viscosity from being too high, which will affect the smoothness and response speed of the hydraulic system. The general range includes the hydraulic oil low temperature threshold. In S300, when the hydraulic oil temperature is lower than the standard temperature, feedback adjustment is started and the temperature difference is calculated. The temperature difference is the absolute value of the difference between the hydraulic oil temperature data and the hydraulic oil low temperature threshold. According to the temperature difference, the proportional valve opening is intelligently adjusted through the adaptive neural fuzzy inference model. The model can combine the flexibility of fuzzy control with the self-learning ability of neural networks to dynamically adjust the valve opening under different working conditions to ensure the stability and efficiency of the hydraulic system. In S400, the actual steering displacement is collected and compared with the target displacement to determine whether the steering is completed. If the steering is not completed, a feature vector is constructed based on the actual state of the hydraulic oil (such as temperature, pressure, etc.) and the difference in displacement, and compared with the historical feature vector set. In this way, the system can determine in real time whether additional oil is needed to complete the steering action and ensure the accuracy of the steering action. In S500, the amount of supplementary oil is calculated based on the comparison results of the historical feature vector set, and the hydraulic cylinder is controlled to operate according to the calculated amount of oil to ensure the smooth completion of the steering action.

[0068] It is understandable that ANFIS (Adaptive Network-based Fuzzy Inference System) combines the advantages of fuzzy control systems and neural networks and can handle complex nonlinear control problems. Through this model, the proportional valve opening can be automatically adjusted based on the temperature difference to achieve adaptive control. This model can not only respond to system changes in real time, but also continuously learn and optimize based on historical data, enhancing its adaptability under different environmental conditions. Through real-time monitoring of hydraulic oil temperature, the impact of oil temperature changes on hydraulic system performance can be judged and adjusted in time. The feedback mechanism can effectively avoid the problem of hydraulic steering performance degradation under extreme temperatures and improve reliability and stability. By creating feature vectors of the actual state and displacement difference of the hydraulic oil and comparing them with the historical feature vector set. By combining past experience and real-time data, the amount of supplementary oil is dynamically adjusted according to the actual working conditions to ensure smooth and accurate steering.

[0069] In some embodiments of the present application, when judging whether to start feedback regulation according to the hydraulic oil temperature data, it includes: comparing the hydraulic oil temperature data with the hydraulic oil low temperature threshold, and judging whether to start feedback regulation according to the comparison result. When the hydraulic oil temperature data is lower than the hydraulic oil low temperature threshold, it is judged that feedback regulation is started and auxiliary heating is turned on. When the hydraulic oil temperature data is equal to or higher than the hydraulic oil low temperature threshold, it is judged that feedback regulation is not started.

[0070] In some embodiments of the present application, when collecting the temperature difference and determining the opening adjustment value based on the adaptive neural fuzzy inference model, it includes:

[0071] A hydraulic oil temperature difference is obtained according to the hydraulic oil temperature data and the hydraulic oil low temperature threshold.

[0072] Define the temperature difference and steering load as input variables, and define the opening adjustment value of the proportional valve as the output variable.

[0073] The temperature difference is divided into several temperature fuzzy sets, and the steering load is divided into several load fuzzy sets. The temperature fuzzy sets and load fuzzy sets are used to determine the fuzzy rule base.

[0074] The current temperature difference and steering load are compared with the temperature fuzzy set and the load fuzzy set respectively, and the temperature difference membership and the steering load membership are determined based on the triangular membership function.

[0075] The temperature difference membership and steering load membership are used to calculate the output value of each rule in the fuzzy rule base.

[0076] The output value of each rule is defuzzified by weighted summation using the following formula, and the total output value is obtained. The total output value is the opening adjustment value.

[0077]

[0078] Among them, E represents the opening adjustment value, Qi represents the weight of the output of the i-th rule, and Si represents the output value of the i-th rule.

[0079] Specifically, in the hydraulic system, the temperature of the hydraulic oil directly affects the fluidity of the hydraulic oil. When the temperature of the hydraulic oil is too low, its viscosity increases, resulting in poor oil flow and affecting the response time of the hydraulic system. Therefore, it is necessary to judge the real-time temperature of the hydraulic oil and compare it with the set low temperature threshold to decide whether to turn on the feedback adjustment. If the hydraulic oil temperature is lower than the low temperature threshold, it is determined that the feedback adjustment needs to be turned on and the auxiliary heating function is activated to heat the hydraulic oil to ensure that the hydraulic oil is within the appropriate temperature range and maintains a low viscosity, thereby improving the fluidity and response speed of the hydraulic system. The temperature difference and the steering load are divided into several fuzzy sets. Fuzzy sets are divided according to different intervals, usually including classifications such as "low", "medium", and "high". For example, the temperature difference can be divided into three fuzzy sets of low, medium, and high, and the steering load can be divided into three fuzzy sets of light, medium, and heavy. The fuzzy rule base defines several fuzzy rules by combining the various fuzzy sets of the temperature difference and the steering load. For example, rules such as "if the temperature difference is high and the steering load is heavy, the opening is adjusted to large". The output value of each rule is closely related to the membership of the fuzzy set. The membership of the temperature difference and steering load is calculated by the triangular membership function (or other types of membership functions). For example, for the temperature difference, assuming it is 25°C, if the fuzzy set is divided into "low" (below 20°C), "medium" (20-30°C) and "high" (above 30°C), then the membership of 25°C belonging to "medium" is 0.8, and the membership of "low" is 0.2. The output value of each rule is weighted and summed with its corresponding weight, and the final total output value (i.e. the opening adjustment value of the proportional valve) is obtained.

[0080] It is understandable that by real-time monitoring of the hydraulic oil temperature and determining whether to turn on feedback regulation, fluidity problems caused by low temperatures can be avoided, and the smooth operation of the hydraulic system can be ensured by accurately controlling the oil temperature. The adaptive neural fuzzy reasoning model further enhances the adaptive capability. Through fuzzy processing and rule reasoning, it accurately calculates the opening adjustment value of the proportional valve to ensure that the hydraulic system can achieve the best steering accuracy and response speed under different workloads and temperature conditions. In addition, dynamic adjustment based on temperature difference and load changes effectively improves reliability and efficiency in extreme environments, reduces mechanical losses and improves energy efficiency.

[0081] In some embodiments of the present application, when collecting the hydraulic oil temperature change rate and determining the opening recovery rate, the opening recovery rate is calculated by the following formula:

[0082] ;

[0083] in, It represents the difference of hydraulic oil temperature change rate, R represents the opening recovery rate, T represents the normalized result of the current hydraulic oil temperature, V represents the normalized result of the real-time speed, and F represents the normalized result of the steering load.

[0084] Specifically, in a low temperature environment, the viscosity of the hydraulic oil increases, causing the system's response speed to slow down, and the initially determined proportional valve opening cannot meet the steering requirements. Therefore, in low temperature conditions, the hydraulic system needs to increase the proportional valve opening to increase the flow rate, thereby meeting the requirements of steering accuracy and response speed. At this time, the opening is increased to ensure that the system can operate normally. When the hydraulic oil temperature is heated by the auxiliary heating device, the viscosity of the hydraulic oil gradually returns to normal and the fluidity improves. During this process, if the increased opening is maintained, it may cause excessive flow or excessive pressure in the hydraulic system, thereby affecting the stability of the system and even damaging the hydraulic system. Therefore, the opening of the proportional valve must be controlled by the opening recovery rate to gradually return to the initial setting value to avoid over-adjustment caused by excessive adjustment.

[0085] It is understandable that the control of the opening recovery rate avoids the problem of the proportional valve adjusting the opening too large at low temperatures. By combining factors such as the hydraulic oil temperature change rate, real-time speed and steering load, the opening recovery rate is dynamically adjusted, allowing the system to flexibly respond to the impact of temperature changes. When the auxiliary heating device is working, the opening is increased through the fuzzy algorithm to meet the steering requirements; and when the temperature gradually recovers, the opening gradually returns to the initially set level to avoid excessive flow or abnormal pressure caused by over-adjustment, thereby effectively improving the stability and efficiency of the hydraulic system and ensuring steering accuracy and system life.

[0086] In some embodiments of the present application, comparing the actual displacement with the target displacement to determine whether the steering is completed includes: obtaining the target displacement according to the steering signal, and comparing the actual displacement with the target displacement.

[0087] Specifically, when the actual displacement is less than the target displacement, it is determined that the steering is not completed. When the actual displacement is equal to the target displacement, it is determined that the steering is completed.

[0088] In some embodiments of the present application, when it is determined that the steering is not completed, the feature vector is compared with the historical feature vector set in the historical adjustment scheme to determine the amount of supplementary oil, including:

[0089] The real-time status of the hydraulic oil includes the hydraulic oil temperature and the hydraulic oil pressure.

[0090] When there is data in the historical feature vector set whose similarity to the feature vector is greater than the similarity threshold, the amount of supplementary oil is determined according to the historical feature vector set in the historical adjustment plan.

[0091] When the similarity between the data in the historical feature vector set and the feature vector is less than or equal to the similarity threshold, the amount of supplementary oil is determined according to the actual state of the hydraulic oil and the displacement difference.

[0092] In some embodiments of the present application, when determining the amount of supplementary oil according to the historical feature vector set in the historical adjustment scheme, it includes:

[0093] The data in the historical feature vector set whose similarity with the feature vector is greater than the similarity threshold are grouped as a similar feature set.

[0094] When the data of the similar feature set is unique, the historical oil replenishment amount corresponding to the historical feature vector in the similar feature set is used as the oil replenishment amount.

[0095] When the data of the similar feature set is not unique, the mean value of the historical replenishment oil volume is obtained according to the historical replenishment oil volume corresponding to the historical feature vector in the similar feature set.

[0096] Specifically, the data in the similar feature set whose historical replenishment oil quantity is greater than the mean value of the historical replenishment oil quantity is established as the first replenishment oil quantity set. The data in the similar feature set whose historical replenishment oil quantity is less than the mean value of the historical replenishment oil quantity is established as the second replenishment oil quantity set. The means of the first replenishment oil quantity set and the second replenishment oil quantity set are respectively obtained to obtain the mean value of the first replenishment oil quantity and the mean value of the second replenishment oil quantity, a first weight is determined according to the number of the first replenishment oil quantity sets, a second weight is determined according to the number of the second replenishment oil quantity sets, the product of the mean value of the first replenishment oil quantity and the first weight is summed with the product of the mean value of the second replenishment oil quantity and the second weight to obtain the replenishment oil quantity.

[0097] Specifically, the first weight and the second weight are respectively the first supplementary fuel quantity set and the ratio of the quantity of the first supplementary fuel quantity set to the total quantity of the first and second supplementary fuel quantity sets, and the sum of the first weight and the second weight is 1.

[0098] It can be understood that by combining real-time steering feedback, the actual status of hydraulic oil and historical operation data, accurate control of the amount of supplementary oil is achieved. When steering is not completed, it can automatically identify whether the amount of supplementary oil needs to be adjusted according to historical data to avoid excessive or insufficient oil replenishment. Especially when there are similar data in the historical feature vector set, the precise adjustment of the amount of supplementary oil based on historical experience improves the response speed and stability. By fusing multiple historical data through the weighted average method, the calculation method of the amount of supplementary oil is further optimized, so that the hydraulic system can complete the steering operation more efficiently and smoothly, thereby improving the operation accuracy, efficiency and safety of agricultural machinery.

[0099] In some embodiments of the present application, when the amount of supplementary oil is determined according to the actual state of the hydraulic oil and the displacement difference, the amount of supplementary oil is calculated by the following formula:

[0100]

[0101] Among them, B represents the amount of replenished oil, Δx represents the displacement difference, xv represents the steering speed, β represents the temperature compensation coefficient, and the value range of β is [0.05, 0.1]. T represents the normalized result of the current hydraulic oil temperature, T0 represents the normalized result of the hydraulic oil low temperature threshold, and P represents the hydraulic oil pressure.

[0102] It is understandable that by considering multiple real-time factors such as hydraulic oil temperature, pressure, steering speed, and displacement difference, and introducing a temperature compensation coefficient to calculate the amount of supplementary oil, the demand changes of the hydraulic system under different working conditions can be effectively responded to. Especially in low temperature environments, the amount of supplementary oil can be automatically adjusted through the temperature compensation coefficient to avoid problems such as unsmooth steering or delayed response due to increased viscosity of the hydraulic oil. In addition, by calculating the amount of supplementary oil, steering tasks can be completed efficiently and stably, ensuring that agricultural machinery can maintain optimal performance under different operating conditions, improving operating accuracy and operating efficiency, and avoiding the burden on the hydraulic system caused by over-adjustment.

[0103] In the above embodiments, precise control of the hydraulic steering system is achieved by comprehensively considering multi-dimensional data such as steering signals, hydraulic oil temperature changes, and actual steering displacement. The use of an adaptive neural fuzzy inference model to adjust the proportional valve opening can dynamically respond to changes in oil fluidity under different temperature conditions, ensuring the accuracy and response speed of the steering process. By collecting the hydraulic oil temperature in real time and determining whether to turn on feedback regulation and auxiliary heating functions, the negative impact of low temperature environments on the hydraulic system is effectively avoided, and the stability of the system under extreme temperatures is improved. At the same time, the feature vector established by combining the actual state of the hydraulic oil and the displacement difference with the historical data comparison method further optimizes the accuracy of oil replenishment, ensuring that the amount of hydraulic oil replenishment always matches the demand during the steering process, avoiding excessive or insufficient oil, and improving the stability and controllability of the steering.

[0104] In another preferred embodiment based on the above embodiment, refer to Figure 2 As shown, this embodiment provides a steering hydraulic control system for a tractor, which is used to apply the above-mentioned steering hydraulic control method for a tractor, including:

[0105] A collection unit is configured to collect a steering signal and determine a proportional valve opening according to the steering signal, wherein the steering signal includes a steering angle, a steering load, and a real-time speed;

[0106] A judgment unit is configured to collect hydraulic oil temperature data and judge whether to start feedback regulation according to the hydraulic oil temperature data; when the hydraulic oil temperature is lower than the general range, it is judged to start feedback regulation and start auxiliary heating, and the auxiliary heating is used to heat the hydraulic oil;

[0107] The processing unit is configured to collect the temperature difference and determine the opening adjustment value based on the adaptive neural fuzzy inference model when it is determined that the feedback adjustment is turned on; collect the hydraulic oil temperature change rate to determine the opening recovery rate;

[0108] The adjustment unit is configured to collect the actual displacement of the steering, compare the actual displacement with the target displacement to determine whether the steering is completed; when it is determined that the steering is not completed, establish a feature vector according to the actual state of the hydraulic oil and the displacement difference, compare the feature vector with the historical feature vector set in the historical adjustment plan, and determine the amount of supplementary oil;

[0109] The control unit is configured to control the hydraulic cylinder to operate with supplementary oil to complete the steering.

[0110] Specifically, the control system is applied in the hydraulic steering system, which consists of key components such as hydraulic cylinder, proportional valve, hydraulic pump, hydraulic oil pipeline and pressure sensor. The proportional valve controls the hydraulic oil flow and pressure by controlling the opening, adjusts the displacement of the cylinder and realizes the steering process. The core of the control system is the opening adjustment of the proportional valve. By collecting steering signals (such as steering angle, steering load, real-time speed) and determining the opening value by calculation, the steering angle can be obtained by collecting the steering angle of the steering wheel to control the propulsion of the cylinder and then realize the steering. When the temperature of the hydraulic oil is low, the hydraulic oil is heated by a temperature control device (such as an auxiliary heater) to reduce the viscosity of the oil, ensure smooth flow of the hydraulic oil and improve the response speed of the system. Through the adaptive neural fuzzy inference model, the proportional valve opening can be adjusted according to the real-time changes of the temperature difference and the steering load to optimize the steering accuracy. When the steering is not completed, the amount of supplementary oil is dynamically calculated according to the historical adjustment plan and the actual state of the hydraulic oil, and the oil supply is adjusted by comparing the similarity between the historical feature vector and the current feature vector to ensure the continuity and stability of the steering process.

[0111] It is understandable that precise control of the hydraulic steering system is achieved by comprehensively considering multi-dimensional data such as steering signals, hydraulic oil temperature changes, and actual steering displacement. The use of an adaptive neural fuzzy inference model to adjust the proportional valve opening can dynamically respond to changes in oil fluidity under different temperature conditions to ensure the accuracy and response speed of the steering process. By collecting the hydraulic oil temperature in real time and determining whether to turn on feedback regulation and auxiliary heating functions, the negative impact of low temperature environments on the hydraulic system is effectively avoided, and the stability of the system under extreme temperatures is improved. At the same time, the feature vector established by combining the actual state of the hydraulic oil and the displacement difference with the historical data comparison method further optimizes the accuracy of oil replenishment, ensuring that the amount of hydraulic oil replenishment always matches the demand during the steering process, avoiding too much or too little oil, and improving the stability and controllability of the steering.

[0112] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0113] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0114] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0115] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0116] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A steering hydraulic control method for a tractor, characterized in that: include: Collecting a steering signal and determining a proportional valve opening according to the steering signal, wherein the steering signal includes a steering angle, a steering load, and a real-time speed; Collecting hydraulic oil temperature data, and determining whether to start feedback regulation according to the hydraulic oil temperature data; When the hydraulic oil temperature is lower than the general range, it is determined to start the feedback regulation and start the auxiliary heating, where the auxiliary heating is used to heat the hydraulic oil; When it is determined that the feedback regulation is turned on, the temperature difference is collected and the opening adjustment value is determined based on the adaptive neural fuzzy inference model; Collect the hydraulic oil temperature change rate to determine the opening recovery rate; Collect the actual displacement of the steering, compare the actual displacement with the target displacement to determine whether the steering is completed; when it is determined that the steering is not completed, establish a feature vector according to the actual state of the hydraulic oil and the displacement difference, compare the feature vector with the historical feature vector set in the historical adjustment plan, and determine the amount of supplementary oil; When it is determined that the steering is not completed, the feature vector is compared with the historical feature vector set in the historical adjustment scheme to determine the amount of supplementary oil, including: The hydraulic oil real-time status includes hydraulic oil temperature and hydraulic oil pressure; When there is data in the historical feature vector set whose similarity with the feature vector is greater than a similarity threshold, determining the amount of supplementary oil according to the historical feature vector set in the historical adjustment scheme; When the similarity between the data in the historical feature vector set and the feature vector is less than or equal to the similarity threshold, determining the replenishment oil amount according to the actual state of the hydraulic oil and the displacement difference; The hydraulic cylinder is controlled to operate with the supplementary oil amount to complete the steering.

2. The steering hydraulic control method for a tractor according to claim 1, characterized in that: When determining the proportional valve opening according to the steering signal, the proportional valve opening is calculated by the following formula: ； Among them, K represents the proportional valve opening, represents the normalized result of steering angle, F represents the normalized result of steering load, V represents the normalized result of real-time speed, Indicates the difference between the real-time ambient temperature and the standard temperature.

3. The steering hydraulic control method for a tractor according to claim 1, characterized in that: When judging whether to start feedback adjustment according to the hydraulic oil temperature data, it includes: Comparing the hydraulic oil temperature data with the hydraulic oil low temperature threshold, and determining whether to start feedback regulation according to the comparison result; When the hydraulic oil temperature data is lower than the hydraulic oil low temperature threshold, it is determined to turn on the feedback regulation and auxiliary heating; when the hydraulic oil temperature data is equal to or higher than the hydraulic oil low temperature threshold, it is determined not to turn on the feedback regulation.

4. The steering hydraulic control method for a tractor according to claim 1, characterized in that: When collecting temperature difference and determining the opening adjustment value based on the adaptive neuro-fuzzy inference model, it includes: Obtaining a hydraulic oil temperature difference according to the hydraulic oil temperature data and a hydraulic oil low temperature threshold; Define the temperature difference and steering load as input variables, and define the opening adjustment value of the proportional valve as the output variable; Dividing the temperature difference into several temperature fuzzy sets according to the size of the temperature difference, and dividing the load fuzzy sets into several load fuzzy sets according to the size of the steering load, and determining a fuzzy rule base according to the temperature fuzzy sets and the load fuzzy sets; Compare the current temperature difference and steering load with the temperature fuzzy set and the load fuzzy set respectively, and determine the temperature difference membership and steering load membership based on the triangular membership function; Calculating the output value of each rule in the fuzzy rule base according to the temperature difference membership and the steering load membership; Defuzzify the output value of each rule by weighted summing the following formula, and obtain a total output value, wherein the total output value is the opening adjustment value; ； Among them, E represents the opening adjustment value, Qi represents the weight of the output of the i-th rule, and Si represents the output value of the i-th rule.

5. The steering hydraulic control method for a tractor according to claim 1, characterized in that: When collecting the hydraulic oil temperature change rate and determining the opening recovery rate, the opening recovery rate is calculated by the following formula: ； in, It represents the difference of hydraulic oil temperature change rate, R represents the opening recovery rate, T represents the normalized result of the current hydraulic oil temperature, V represents the normalized result of the real-time speed, and F represents the normalized result of the steering load.

6. The steering hydraulic control method for a tractor according to claim 1, characterized in that: When comparing the actual displacement with the target displacement to determine whether the steering is completed, it includes: Obtaining the target displacement according to the steering signal, and comparing the actual displacement with the target displacement; When the actual displacement is less than the target displacement, it is determined that the steering is not completed; When the actual displacement amount is equal to the target displacement amount, it is determined that the steering is completed.

7. The steering hydraulic control method for a tractor according to claim 6, characterized in that: When determining the amount of supplementary oil according to the historical feature vector set in the historical adjustment scheme, it includes: The data in the historical feature vector set whose similarity with the feature vector is greater than a similarity threshold are formed into a similar feature set; When the data of the similar feature set is unique, the historical replenishment oil quantity corresponding to the historical feature vector in the similar feature set is used as the replenishment oil quantity; When the data of the similar feature set is not unique, obtaining the mean value of the historical replenishment oil quantity according to the historical replenishment oil quantity corresponding to the historical feature vector in the similar feature set; The data in the similar feature set whose historical supplementary oil amount is greater than the mean value of the historical supplementary oil amount is established as a first supplementary oil amount set; the data in the similar feature set whose historical supplementary oil amount is less than the mean value of the historical supplementary oil amount is established as a second supplementary oil amount set; Acquire the means of the first supplementary oil quantity set and the second supplementary oil quantity set respectively, obtain the first supplementary oil quantity mean and the second supplementary oil quantity mean, determine a first weight according to the number of the first supplementary oil quantity set, determine a second weight according to the number of the second supplementary oil quantity set, sum the product of the first supplementary oil quantity mean and the first weight and the product of the second supplementary oil quantity mean and the second weight, to obtain the supplementary oil quantity.

8. The steering hydraulic control method for a tractor according to claim 7, characterized in that: When the replenishment oil amount is determined according to the actual state of the hydraulic oil and the displacement difference, the replenishment oil amount is calculated by the following formula: ； Among them, B represents the amount of replenished oil, Δx represents the displacement difference, xv represents the steering speed, β represents the temperature compensation coefficient, and the value range of β is [0.05, 0.1]. T represents the normalized result of the current hydraulic oil temperature, T0 represents the normalized result of the hydraulic oil low temperature threshold, and P represents the hydraulic oil pressure.

9. A steering hydraulic control system for a tractor, used for applying the steering hydraulic control method for a tractor as claimed in any one of claims 1 to 8, characterized in that: include: A collection unit is configured to collect a steering signal and determine a proportional valve opening according to the steering signal, wherein the steering signal includes a steering angle, a steering load, and a real-time speed; A judgment unit is configured to collect hydraulic oil temperature data and judge whether to start feedback regulation according to the hydraulic oil temperature data; When the hydraulic oil temperature is lower than the general range, it is determined to start the feedback regulation and start the auxiliary heating, where the auxiliary heating is used to heat the hydraulic oil; a processing unit configured to collect a temperature difference value and determine an opening adjustment value based on an adaptive neural fuzzy inference model when determining to turn on the feedback regulation; Collect the hydraulic oil temperature change rate to determine the opening recovery rate; The adjustment unit is configured to collect the actual displacement of the steering, compare the actual displacement with the target displacement to determine whether the steering is completed; when it is determined that the steering is not completed, establish a feature vector according to the actual state of the hydraulic oil and the displacement difference, compare the feature vector with the historical feature vector set in the historical adjustment scheme, and determine the amount of supplementary oil; The control unit is configured to control the hydraulic cylinder to operate with the supplementary oil volume to complete the steering.

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