A method and system for controlling turning radius of crawler tractor

Abstract

The present invention relates to the field of mechanical control technology, and specifically to a method and system for controlling the turning radius of a crawler tractor, comprising the following steps: based on the tractor crawler size data, simulating and analyzing the behavior of the tractor crawler on various terrains, calculating the contact effect and stress distribution of the crawler on various ground materials, and generating crawler behavior simulation results. In the present invention, by analyzing the behavior of the tractor crawler on various terrains, the understanding of the contact effect and stress distribution between the crawler and the ground material is optimized, so that the crawler performance prediction on different ground materials is more accurate, the compensation parameters required for turning are calculated in combination with the mechanical performance parameters, and the torque and speed of the crawler are adjusted according to the actual situation, so as to improve the adaptability and operation accuracy of the tractor in complex terrains, monitor and adjust the turning parameters in real time, identify and correct the yaw angle and path deviation in time, reduce errors and adjustment time in operation, and improve the operation efficiency and maneuverability of the tractor.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical control, and in particular to a turning radius control method and system for a crawler tractor. Background Art

[0002] The field of mechanical control technology focuses on developing and implementing automatic or semi-automatic control strategies for mechanical systems to improve equipment performance, efficiency and safety. It combines control theory and engineering practice, and uses sensor technology, control algorithms, human-computer interaction interfaces, actuators and other technologies to accurately control the behavior and response of mechanical equipment, ensure that mechanical equipment performs tasks according to predetermined behaviors, optimize operating processes, reduce energy consumption and maintenance requirements, and improve the reliability and durability of control systems. It is used in industries such as industry, agriculture, medical care and transportation, involving the control of multiple physical quantities such as speed, force and position, and enhancing the performance and safety of mechanical systems.

[0003] Among them, the crawler tractor turning radius control method is used to optimize the turning performance of the crawler tractor. By timely controlling the turning radius of the tractor, it can adapt to different agricultural operation environments and requirements, improve the maneuverability and precision of the tractor in narrow or complex terrains, improve operation efficiency, enhance the adaptability of the tractor in farmland operations, and reduce soil compaction and damage. By adjusting the speed difference of the two crawlers and changing the movement direction of the crawlers, the tractor can achieve precise turning while maintaining a lower speed. It is applied to a variety of agricultural operations, including planting, fertilizing, spraying, etc., to improve the accuracy and efficiency of agricultural machinery during operations.

[0004] When dealing with complex and changeable agricultural operating environments, traditional crawler tractor turning radius control technology is not sensitive enough and parameter adjustments are not timely enough, affecting operational accuracy and efficiency. Without the use of real-time data integration and dynamic adjustment technology, tractors often have inaccurate turning radius when operating in narrow or irregular terrain, resulting in reduced operating efficiency and damage to crops due to improper operation. Due to the lack of stress distribution and tension change analysis, the performance of crawlers on different ground materials cannot be accurately predicted, which limits the wide adaptability and safety of tractors, increases energy consumption and maintenance requirements, and affects the long-term reliability and durability of mechanical equipment. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings in the prior art and to propose a turning radius control method and system for a crawler tractor.

[0006] In order to achieve the above object, the present invention adopts the following technical scheme, a crawler tractor turning radius control method, comprising the following steps:

[0007] S1: Based on the tractor track size data, simulate and analyze the behavior of tractor tracks on various terrains, calculate the contact effect and stress distribution of the tracks on various ground materials, and generate track behavior simulation results;

[0008] S2: Based on the track behavior simulation results, by calculating the influence of track tension changes on track stability and turning radius, analyzing the influence of various tensions on track performance, and generating tension evaluation data;

[0009] S3: Based on the tension evaluation data, using a load sensor and a terrain sensor, real-time collection of load data of the crawler tractor and terrain data of the current working area is performed to generate a real-time load and terrain data set;

[0010] S4: using the real-time load and terrain data set, combined with the actual mechanical performance parameters of the tractor, calculating the compensation parameters required for turning, including the torque and speed of the crawler, and generating a compensation parameter calculation result;

[0011] S5: Calculating the control parameters required for the crawler tractor to turn according to the calculation result of the compensation parameters, the actual terrain and the load conditions, and generating crawler turning control parameters;

[0012] S6: Based on the track turning control parameters, the actual tractor's turning behavior is monitored in real time, the yaw angle and path deviation are identified, the turning parameters are adjusted in real time, and a parameter real-time adjustment record is generated.

[0013] As a further solution of the present invention, the track behavior simulation results include the friction coefficient between the track and various ground materials, contact pressure distribution information, and track deformation data; the tension evaluation data include the track extension under various tension settings, the track sliding resistance data under various terrain conditions, and the evaluation results of the influence of tension on the turning radius; the real-time load and terrain data set includes the terrain slope, soil compaction, and tractor load data of the tractor's current operating area; the compensation parameter calculation results include engine torque output data, track speed adjustment value, and steering torque demand data; the track turning control parameters include adjusted track speed, target turning radius, and torque distribution ratio information; the real-time parameter adjustment records include real-time path deviation, yaw angle correction records, and real-time adjustment data of track speed and torque during track turning.

[0014] As a further solution of the present invention, based on the tractor track size data, the behavior of the tractor track on various terrains is simulated and analyzed, the contact effect and stress distribution of the track on various ground materials are calculated, and the steps of generating the track behavior simulation results are specifically as follows:

[0015] S101: Based on the tractor track size data, collect the movement data of tracks of various sizes on soil, sand, and rock, perform mechanical analysis of the contact between the track and the ground, record the pressure and friction coefficient of the track on the ground of various materials, and generate track contact surface analysis data;

[0016] S102: Based on the track contact surface analysis data, simulate the stress distribution of the track on various terrains, calculate the stress deviation of the track caused by the terrain change, and generate track stress distribution data;

[0017] S103: Based on the track stress distribution data, evaluate the influence of various terrain and load conditions on the track behavior and performance, analyze the adaptability and operational performance of the track, and generate track behavior simulation results.

[0018] As a further solution of the present invention, based on the track behavior simulation results, by calculating the influence of track tension changes on track stability and turning radius, analyzing the influence of various tensions on track performance, the steps of generating tension evaluation data are specifically as follows:

[0019] S201: using the track behavior simulation results, identifying the performance of the track under various tensions, recording the sliding, sinking and steering performance data of the track under various tensions, and generating track performance evaluation data;

[0020] S202: Based on the track performance evaluation data, simulate the changes in track stability and turning radius under various tensions, calculate the effects of various tension levels on track grip, sliding resistance and sinking depth, evaluate the relationship between track performance and tension, and generate relationship data calculation results;

[0021] S203: Analyze the influence of various tensions on track performance according to the calculation results of the relationship data, including the optimal track tension settings under various terrain conditions, and generate tension evaluation data.

[0022] As a further solution of the present invention, based on the tension evaluation data, using a load sensor and a terrain sensor, real-time collection of the load data of the crawler tractor and the terrain data of the current working area, the steps of generating a real-time load and terrain data set are specifically as follows:

[0023] S301: Based on the tension evaluation data, using a load sensor, real-time collect and record the load data of the tractor during actual operation to generate real-time load data;

[0024] S302: Based on the real-time load data, using a terrain sensor, collect soil hardness and ground slope information of the working area to generate a terrain data collection record;

[0025] S303: Based on the terrain data collection record, the terrain data is formatted and standardized, the load data of the crawler is calculated, and a real-time load and terrain data set is generated.

[0026] As a further solution of the present invention, the real-time load and terrain data set is used in combination with the actual mechanical performance parameters of the tractor to calculate the compensation parameters required for turning, including the torque and speed of the crawler. The steps of generating the compensation parameter calculation results are specifically as follows:

[0027] S401: Based on the real-time load and terrain data set, evaluate the mechanical performance of the tractor, including the actual output power of the engine and the efficiency of the transmission system, consider the wear of the machine, calculate the deviation between the actual output and the theoretical performance, and generate performance deviation data;

[0028] S402: Based on the performance deviation data, considering the workload and terrain conditions, analyzing the difference between the actual track grip and the design value, evaluating the performance of the track in actual work, and generating grip evaluation data;

[0029] S403: Based on the grip evaluation data, taking into account the stability and accuracy of the tractor's turning operation, the torque and speed compensation parameters required by the track are calculated, and the compensation parameter calculation results are generated.

[0030] As a further solution of the present invention, according to the calculation result of the compensation parameter, according to the actual terrain and load conditions, the control parameters required for the crawler tractor when turning are calculated, and the steps of generating the crawler turning control parameters are specifically as follows:

[0031] S501: According to the calculation result of the compensation parameter, using the crawler speed adjustment data, according to the working terrain and load state data, the speed parameters of the crawlers on both sides of the tractor are adjusted to generate a speed parameter configuration;

[0032] S502: In combination with the speed parameter configuration, according to the real-time ground slope and soil hardness information, adjusting the torque output of the crawler, optimizing the turning response, and generating a torque parameter adjustment result;

[0033] S503: Based on the torque parameter adjustment result, adjust and execute the turning control parameters, evaluate the adjustment effect and terrain adaptability, and generate the track turning control parameters.

[0034] As a further solution of the present invention, based on the crawler turning control parameters, the actual tractor's turning behavior is monitored in real time, the yaw angle and the path deviation are identified, and the turning parameters are adjusted in real time. The steps of generating a parameter real-time adjustment record are specifically as follows:

[0035] S601: Based on the crawler turning control parameters, real-time monitoring of the actual turning behavior of the tractor includes measuring the real-time yaw angle and path deviation, and generating turning behavior monitoring data;

[0036] S602: Analyze the monitoring data based on the turning behavior monitoring data, calculate the turning parameter adjustment value by analyzing and presetting the deviation of the turning path and angle, and generate a deviation analysis result;

[0037] S603: According to the deviation analysis result, the control parameters of the track turning are adjusted, the speed and torque settings of the track are updated in real time to correct the yaw angle and path deviation, the radius and stability of the tractor steering are optimized, and a real-time parameter adjustment record is generated.

[0038] As a further solution of the present invention, the specific formula for calculating the turning parameter adjustment value is:

[0039] ,

[0040] in, Represents the required turn parameter adjustment amount, which is used to correct the actual behavior of the turn to match the preset path and angle. Represents the actual turning angle, indicating the turning angle of the tractor in actual operation. Represents the preset turning angle, which indicates the target turning angle preset by the tractor control system. The difference between the two directly reflects the turning angle deviation. Represents the variance of the turning angle, which is used to evaluate the consistency between the predicted accuracy of the turning angle and the actual behavior. The angle adjustment coefficient adjusts the influence of the difference between the actual turning angle and the preset angle. Represents the actual turning speed, indicating the actual speed of the tractor when turning. represents the preset turning speed, which indicates the ideal turning speed set by the control system. The ratio of the two reflects the speed adaptability. Represents the variance of speed, which is used to evaluate the consistency of speed control and the accuracy of prediction, The speed ratio adjustment coefficient is used to adjust the ratio of the actual speed to the preset speed. is the error correction coefficient, which is used to integrate the influence of other unlisted error factors. Represents systematic error, which summarizes other error factors not directly accounted for by the model.

[0041] A crawler tractor turning radius control system, the crawler tractor turning radius control system is used to execute the crawler tractor turning radius control method, the system comprises:

[0042] The crawler simulation analysis module simulates and analyzes the crawler behavior based on the tractor crawler size data, calculates the contact effect and stress distribution of the crawler on various terrains, and obtains crawler simulation data;

[0043] The tension analysis module analyzes the track tension change based on the track simulation data, evaluates the influence of the differential tension on the track stability and turning radius, and generates tension influence analysis data;

[0044] The terrain data acquisition module collects the load data of the crawler tractor and the terrain data of the current working area in real time based on the tension influence analysis data, using a load sensor and a terrain sensor, and generates tractor working load data;

[0045] The turning control module calculates the compensation parameters of the crawler torque and speed required for turning based on the tractor workload data and the actual mechanical performance parameters of the tractor, and adjusts the turning control parameters according to the actual terrain and load conditions to obtain the control parameter calculation results;

[0046] The real-time turning monitoring module continuously monitors the actual turning behavior of the tractor in real time based on the control parameter calculation results, identifies the yaw angle and path deviation, adjusts the control parameters, and generates real-time parameter adjustment records.

[0047] Compared with the prior art, the advantages and positive effects of the present invention are:

[0048] In the present invention, by analyzing the behavior of tractor tracks on various terrains, the expression of the contact effect and stress distribution between the tracks and the ground material is optimized, so that the prediction of track performance on different ground materials is more accurate, the compensation parameters required for turning are calculated in combination with the mechanical performance parameters, and the torque and speed of the tracks are adjusted according to actual conditions, thereby improving the adaptability and operating accuracy of the tractor in complex terrains, monitoring and adjusting turning parameters in real time, identifying and correcting yaw angles and path deviations in a timely manner, reducing errors and adjustment time in operations, and improving operating efficiency and the maneuverability of the tractor. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a schematic diagram of the workflow of the present invention;

[0050] Figure 2 This is a detailed flow chart of S1 of the present invention;

[0051] Figure 3 This is a detailed flow chart of S2 of the present invention;

[0052] Figure 4 This is a detailed flow chart of S3 of the present invention;

[0053] Figure 5 This is a detailed flow chart of S4 of the present invention;

[0054] Figure 6 This is a detailed flow chart of S5 of the present invention;

[0055] Figure 7 This is a detailed flow chart of S6 of the present invention;

[0056] Figure 8 It is a system flow chart of the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0058] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0059] See also Figure 1 The present invention provides a technical solution, a method for controlling the turning radius of a crawler tractor, comprising the following steps:

[0060] S1: Based on the tractor track size data, simulate and analyze the behavior of tractor tracks on various terrains, calculate the contact effect and stress distribution of the tracks on various ground materials, and generate track behavior simulation results;

[0061] S2: Based on the track behavior simulation results, the influence of track tension changes on track stability and turning radius is calculated, and the influence of various tensions on track performance is analyzed to generate tension evaluation data;

[0062] S3: Based on the tension evaluation data, load sensors and terrain sensors are used to collect the load data of the crawler tractor and the terrain data of the current working area in real time to generate a real-time load and terrain data set;

[0063] S4: using the real-time load and terrain data set, combined with the actual mechanical performance parameters of the tractor, calculate the compensation parameters required for turning, including the torque and speed of the crawler, and generate the compensation parameter calculation results;

[0064] S5: according to the calculation result of the compensation parameter, according to the actual terrain and load conditions, the control parameters required by the crawler tractor when turning are calculated, and the crawler turning control parameters are generated;

[0065] S6: Based on the track turning control parameters, the actual tractor’s turning behavior is monitored in real time, the yaw angle and path deviation are identified, the turning parameters are adjusted in real time, and the parameter real-time adjustment records are generated.

[0066] The track behavior simulation results include the friction coefficient between the track and various ground materials, contact pressure distribution information, and track deformation data. The tension evaluation data includes the track extension under various tension settings, the track sliding resistance data under various terrain conditions, and the evaluation results of the impact of tension on turning radius. The real-time load and terrain data set includes the terrain slope, soil compaction, and tractor load data of the tractor's current operating area. The compensation parameter calculation results include engine torque output data, track speed adjustment value, and steering torque demand data. The track turning control parameters include adjusted track speed, target turning radius, and torque distribution ratio information. The real-time parameter adjustment records include real-time path deviation during track turning, yaw angle correction records, and real-time adjustment data of track speed and torque.

[0067] See also Figure 2 Based on the tractor track size data, the behavior of the tractor track on various terrains is simulated and analyzed, and the contact effect and stress distribution of the track on various ground materials are calculated. The specific steps to generate the track behavior simulation results are as follows:

[0068] S101: Based on the tractor track size data, collect the movement data of tracks of various sizes on soil, sand, and rock, perform mechanical analysis of the contact between the track and the ground, record the pressure and friction coefficient of the track on the ground of various materials, and generate track contact surface analysis data;

[0069] In sub-step S101, based on tractor tracks of different sizes, the movement data of the tracks on various surfaces such as soil, sand, and rock are collected, and the mechanical parameters of the tracks when in contact with the ground are recorded using pressure sensors and friction coefficient measuring devices. The data is recorded and stored in real time through a data acquisition system, and data preprocessing is performed, including denoising, outlier processing, and data normalization, to ensure the accuracy of the analysis. The contact surface analysis is performed using a classical mechanical model, and the analysis tools are scripts written in MATLAB and Python. The scripts are used to calculate and output the pressure and friction coefficient of the tracks on surfaces of different materials. The generated track contact surface analysis data is used for engineering applications and optimization design.

[0070] S102: Based on the track contact surface analysis data, simulate the stress distribution of the track on various terrains, calculate the stress deviation of the track caused by the terrain change, and generate track stress distribution data;

[0071] In the above content, based on the track contact surface analysis data, the stress distribution of the track on various terrains is simulated, and the stress deviation of the track caused by terrain changes is calculated according to the formula Calculate stress ;

[0072] In the formula, represents stress, represents the force acting on the track, Represents the area of ​​the track in contact with the ground;

[0073] Detailed explanation of the formula and the process of formula calculation and derivation:

[0074] Assuming that under sandy terrain conditions, the force Newton, contact area square meters, calculate stress :

[0075] ;

[0076] result It shows that in sandy terrain, the stress of the track is 10,000 Pa. By evaluating the stress response of the track in different terrains and analyzing the impact of terrain changes on the stress distribution of the track, the adaptability and long-term durability of the track are ensured.

[0077] S103: Based on the track stress distribution data, evaluate the impact of various terrain and load conditions on track behavior and performance, analyze the adaptability and operational performance of the track, and generate track behavior simulation results;

[0078] In sub-step S103, the track stress distribution data is used to evaluate the behavior and performance of the track under different terrain and load conditions using multivariate regression analysis and machine learning techniques, including data standardization and selection of the machine learning model support vector machine. The trained model is used to predict the track performance. The model is trained and validated using cross-validation technology to ensure the accuracy and generalization ability of the model. The analysis results reveal the impact of terrain and load on track performance and provide important data for the optimization of track design. The analysis and evaluation results are crucial to improving the adaptability and operational performance of the track.

[0079] See also Figure 3 Based on the track behavior simulation results, the influence of track tension changes on track stability and turning radius is calculated, and the influence of various tensions on track performance is analyzed. The steps for generating tension evaluation data are as follows:

[0080] S201: using the track behavior simulation results, identifying the performance of the track under various tensions, recording the sliding, sinking and turning performance data of the track under various tensions, and generating track performance evaluation data;

[0081] In sub-step S201, data is extracted from the track behavior simulation results, and sensing equipment is used to measure the sliding, sinking and steering performance of the track under different tensions. The parameters include the length, width, material properties and different tension conditions of the track. The data collection method includes a combination of dynamic simulation and field testing to ensure the accuracy and reliability of the data. The performance of the track under various working conditions is captured in real time by data recording equipment. The collected data is screened, cleaned and analyzed using data analysis software. The performance stability of the track is evaluated through descriptive statistics and coefficient of variation analysis. The results are presented using data visualization tools to intuitively analyze the performance changes of the track under different tensions. The data will provide a scientific basis for the next step of analyzing the relationship between performance and tension.

[0082] S202: Based on the track performance evaluation data, simulate the changes in track stability and turning radius under various tensions, calculate the effects of various tension levels on track grip, sliding resistance and sinking depth, evaluate the relationship between track performance and tension, and generate relationship data calculation results;

[0083] In sub-step S202, based on the track performance evaluation data, a combination of physical modeling and mathematical modeling is used to simulate the changes in track stability and turning radius under various tensions. Key parameters include tension, contact area between the track and the ground, friction coefficient and material properties of the track. A finite element model is used to perform stress and deformation analysis of the track, and dynamic system analysis software is introduced to calculate the turning radius and track stability. By simulating different track tension levels, the effects on grip, sliding resistance and sinking depth are evaluated. By statistically processing and graphically outputting the simulation results, a quantitative relationship between track performance and tension is obtained. The relationship data provides an accurate basis for design optimization and performance improvement.

[0084] S203: Analyze the influence of various tensions on track performance according to the calculation results of the relationship data, including the optimal tension setting of the track under various terrain conditions, and generate tension evaluation data;

[0085] In the above content, based on the calculation results of the relationship data, the influence of various tensions on the track performance is analyzed, including the optimal track tension setting under various terrain conditions. According to the formula Calculate the optimal track tension ;

[0086] In the formula, Represents tension, represents the applied load, Represents the area of ​​the track contact surface;

[0087] Detailed explanation of the formula and the process of formula calculation and derivation:

[0088] Assuming the applied load is 3000 Newtons and the track contact surface area is 0.5 square meters, calculate the tension :

[0089] ,

[0090] result It shows that under the conditions of load and contact area, the optimal tension of the track is 6000 Newtons per square meter. The tension setting is used to optimize the performance of the track under various terrain conditions, ensuring its stability and grip, and providing a reasonable parameter basis for practical applications. The calculation process is used to derive the tension adjustment strategy of the track under different terrain conditions and obtain effective performance optimization suggestions.

[0091] See also Figure 4 Based on the tension evaluation data, the load sensor and terrain sensor are used to collect the load data of the crawler tractor and the terrain data of the current working area in real time. The steps of generating the real-time load and terrain data set are as follows:

[0092] S301: Based on the tension evaluation data, using a load sensor, real-time collection and recording of load data of the tractor during actual operation to generate real-time load data;

[0093] In sub-step S301, load sensor technology is used to continuously monitor and record the actual load data of the tractor in different operating environments. The key parameter types involved include the tractor's operating speed, acceleration, load weight, and change frequency. Sensors are installed on the key structures of the tractor to ensure the real-time and accuracy of the data. During the data acquisition process, a data recorder is used to store and transmit the load change data every second to the central processing unit. Preliminary data screening and noise removal are performed through real-time data processing software to improve data quality. The trend and periodic changes of load data are evaluated through time series analysis. The generation of real-time load data provides a basis for adjusting operating strategies and maintenance plans.

[0094] S302: Based on the real-time load data, using the terrain sensor, collect soil hardness and ground slope information of the working area, and generate a terrain data collection record;

[0095] In sub-step S302, terrain sensors, including surface hardness sensors and inclination sensors, are used to collect soil hardness and ground slope information in the working area. The sensors are installed at the front of the tractor to achieve instant sensing of the terrain ahead. Parameters include soil compression strength, moisture content, and ground inclination angle and direction. The terrain data obtained by the sensors are transmitted to the data processing center in real time. The data are geocoded and visualized using geographic information system software, allowing operators to adjust operating strategies based on soil hardness and slope information, optimize tractor operating efficiency and reduce energy consumption. The generation of terrain data collection records helps adjust the tractor's operating mode and path planning.

[0096] S303: Based on the terrain data collection records, the terrain data is formatted and standardized, the load data of the crawler is calculated, and a real-time load and terrain data set is generated;

[0097] In sub-step S303, the terrain data collection records are used to format and standardize the collected terrain and load data. The key technologies used include data cleaning and conversion tools and unified data formatting standards. In the process, the terrain data and load data are matched and fused to generate a real-time load and terrain data set. The data set provides performance information of the track under specific terrain and load conditions. During the data processing, the data matching algorithm is used to ensure that data from different sources accurately correspond. Data exploration and pattern recognition are performed through the data analysis platform. The generated data set provides decision support for the daily management of the tractor and provides an empirical data basis for future performance optimization and model adjustment.

[0098] See also Figure 5 , using the real-time load and terrain data set, combined with the actual mechanical performance parameters of the tractor, the compensation parameters required for turning, including the torque and speed of the crawler, are calculated. The steps for generating the compensation parameter calculation results are as follows:

[0099] S401: Based on the real-time load and terrain data set, evaluate the mechanical performance of the tractor, including the actual output power of the engine and the efficiency of the transmission system, consider the wear of the machine, calculate the deviation between the actual output and the theoretical performance, and generate performance deviation data;

[0100] In the above content, based on the real-time load and terrain data set, the mechanical performance of the tractor is evaluated, including the actual output power of the engine and the efficiency of the transmission system, and the deviation between the actual output and the theoretical performance is calculated according to the formula Calculating performance deviation ;

[0101] In the formula, is the performance deviation value, represents the theoretical output power, Represents the actual output power;

[0102] Detailed explanation of the formula and the process of formula calculation and derivation:

[0103] Assuming theoretical output power Kilowatt, actual output power Kilowatt, calculated performance deviation :

[0104] ,

[0105] result It shows that there is a deviation of 11.21 kW between the actual output power of the tractor and the theoretical power. The deviation reflects the performance degradation caused by wear and load. The calculation process is used to evaluate the mechanical performance of the tractor under different working conditions and provides a basis for improving maintenance and operation strategies.

[0106] S402: Based on the performance deviation data, considering the workload and terrain conditions, analyzing the difference between the actual grip of the track and the designed grip, evaluating the performance of the track in actual work, and generating grip evaluation data;

[0107] In sub-step S402, the performance deviation data is used to analyze the difference between the actual grip and the designed grip of the track in combination with the workload and terrain conditions. The key parameters include the friction coefficient of the track, the ground material and the slope terrain characteristics. The ground grip test equipment and simulation software are used to calculate the grip of the track under actual conditions. The actual data is compared with the design expectations through the analysis software to evaluate the performance of the track in actual work. The generated grip evaluation data provides an accurate reference for the adjustment of the track design and performance improvement. The analysis results have direct application value for improving the working efficiency and safety of the tractor.

[0108] S403: Calculating torque and speed compensation parameters required by the crawler according to the grip evaluation data and taking into account the stability and accuracy of the tractor's turning operation, and generating a compensation parameter calculation result;

[0109] In sub-step S403, the stability and accuracy of the tractor in turning operations are analyzed based on the grip evaluation data. The key usage parameters include the required torque and speed compensation parameters, which are crucial to ensuring smooth and precise operation. Dynamic simulation technology and experimental data are used to calculate the optimal torque and speed compensation to match different terrains and operating conditions. The effectiveness of the compensation parameters is verified through actual operation tests, and the compensation parameter calculation results are generated. The results make an important contribution to improving the tractor's operating performance in complex terrain and ensuring operational safety. The calculation results provide important data support for the updating of operating manuals and training materials.

[0110] See also Figure 6 According to the calculation results of the compensation parameters, the control parameters required by the crawler tractor when turning are calculated according to the actual terrain and load conditions. The steps for generating crawler turning control parameters are as follows:

[0111] S501: According to the calculation result of the compensation parameter, using the crawler speed adjustment data, according to the working terrain and load state data, the speed parameters of the crawlers on both sides of the tractor are adjusted to generate a speed parameter configuration;

[0112] In sub-step S501, based on the calculation results of the compensation parameters, the track speed adjustment data is used to optimize the speed of the tracks on both sides of the tractor to match different working terrains and load conditions. Key technologies include a terrain sensing system and a load monitoring system, which transmit data to the central control unit in real time. The unit uses a predetermined algorithm to adjust the speed parameters. The algorithm is based on feedback control theory to ensure that the dynamic adjustment of the track speed matches the current working conditions. The adjustment results implemented by the control software can be immediately reflected in the operating efficiency of the tracks. The generated speed parameter configuration directly affects the operating stability and efficiency of the tractor, ensuring that the tractor can maintain optimal performance under different terrains, improve operating efficiency and reduce energy consumption.

[0113] S502: In combination with the speed parameter configuration, according to the real-time ground slope and soil hardness information, the torque output of the crawler is adjusted to optimize the turning response and generate a torque parameter adjustment result;

[0114] In sub-step S502, the torque output of the crawler is adjusted according to the real-time ground slope and soil hardness information in combination with the speed parameter configuration to optimize the turning response of the tractor in different terrains. The torque sensing technology and the automatic control system are used to ensure that the torque output accurately matches the terrain requirements. Through dynamic data analysis and simulation tests, the adjustment strategy is optimized in real time based on the terrain data and the tractor load conditions. The adjusted torque parameters can improve the maneuverability of the tractor in complex terrains. The generated torque parameter adjustment results provide the operator with more precise control options, enhancing the terrain adaptability and operational safety of the tractor.

[0115] S503: Based on the torque parameter adjustment result, adjusting and executing the turning control parameter, evaluating the adjustment effect and terrain adaptability, and generating the track turning control parameter;

[0116] In sub-step S503, based on the torque parameter adjustment result, the turning control parameters are adjusted and executed. The control algorithm and real-time feedback system are used to ensure the precise adjustment and immediate execution of the control parameters. Calculations and simulations are performed through an integrated control unit to ensure that each turning operation meets the predetermined performance standards. The adjustment effect and terrain adaptability are evaluated through field tests and data backflow analysis to ensure that each parameter adjustment helps to improve operational accuracy and safety. The generated track turning control parameters ensure the optimal performance of the tractor in various operating environments, allowing the machine to maintain efficient and precise turning operations under a variety of terrain conditions.

[0117] See also Figure 7 ,Based on the track turning control parameters, the actual tractor's turning behavior is monitored in real time, the yaw angle and path deviation are identified, and the turning parameters are adjusted in real time. The specific steps for generating parameter real-time adjustment records are as follows:

[0118] S601: Based on the crawler turning control parameters, real-time monitoring of the actual turning behavior of the tractor includes measuring the real-time yaw angle and path deviation, and generating turning behavior monitoring data;

[0119] In sub-step S601, navigation and sensing technology is used to monitor the actual turning behavior of the tractor in real time, including accurate measurement of yaw angle and path deviation. Key parameter types include angle sensors and GPS positioning systems. The equipment provides accurate real-time data, allowing the system to monitor the navigation accuracy of the tractor under various terrain conditions. Through real-time monitoring software, data is continuously recorded and analyzed to ensure instant feedback on turning performance. The data is transmitted wirelessly to the central control unit for subsequent behavior analysis and adjustment decision support. The generated turning behavior monitoring data helps to evaluate the efficiency and accuracy of the tractor control system and provides a key basis for upcoming parameter adjustments.

[0120] S602: Analyze the monitoring data based on the turning behavior monitoring data, calculate the turning parameter adjustment value by analyzing and presetting the deviation of the turning path and angle, and generate the deviation analysis result;

[0121] The specific formula for calculating the turning parameter adjustment value is:

[0122] ,

[0123] in, Represents the required turn parameter adjustment amount, which is used to correct the actual behavior of the turn to match the preset path and angle. Represents the actual turning angle, indicating the turning angle of the tractor in actual operation. Represents the preset turning angle, which indicates the target turning angle preset by the tractor control system. The difference between the two directly reflects the turning angle deviation. Represents the variance of the turning angle, which is used to evaluate the consistency between the predicted accuracy of the turning angle and the actual behavior. The angle adjustment coefficient adjusts the influence of the difference between the actual turning angle and the preset angle. Represents the actual turning speed, indicating the actual speed of the tractor when turning. represents the preset turning speed, which indicates the ideal turning speed set by the control system. The ratio of the two reflects the speed adaptability. Represents the variance of speed, which is used to evaluate the consistency of speed control and the accuracy of prediction, The speed ratio adjustment coefficient is used to adjust the ratio of the actual speed to the preset speed. is the error correction coefficient, which is used to integrate the influence of other unlisted error factors. Represents systematic error, which summarizes other error factors not directly accounted for by the model.

[0124] formula:

[0125] ,

[0126] Detailed explanation of the formula and the process of formula calculation and derivation:

[0127] The formula is used to calculate the turning parameter adjustment value to control the tractor to turn;

[0128] Parameter meaning and setting value:

[0129] is the actual turning angle, assumed to be 30°, reflecting the actual turning angle of the tractor;

[0130] is the preset turning angle, assumed to be 28°, indicating the ideal turning angle;

[0131] is the angle adjustment factor, which adjusts the influence of the difference between the actual turning angle and the preset angle, assuming 0.5, and is adjusted according to the ground conditions and tractor load changes;

[0132] is the actual turning speed, assumed to be 15km / h, reflecting the current driving speed of the tractor;

[0133] is the preset turning speed, assumed to be 14km / h;

[0134] is the speed ratio adjustment factor, assumed to be 0.7, which is adjusted according to the tractor's performance and terrain conditions;

[0135] is the variance of the turning angle, assumed to be 4, representing the uncertainty of the turning angle prediction;

[0136] is the variance of speed, assumed to be 2, showing the variability of speed prediction;

[0137] is the error correction factor, assumed to be 0.2, used to correct unexpected system errors;

[0138] is the systematic error, assumed to be 1.5, and is used to accumulate other error factors that are not directly considered by the model;

[0139] Substitute the parameters into the formula for calculation:

[0140] ,

[0141] ,

[0142] ,

[0143] ,

[0144] result It shows the amount of turning parameter adjustment that needs to be input into the control system, indicating that through adjustment, the actual turning behavior of the tractor will be closer to the preset path and angle, improving navigation accuracy and operating efficiency.

[0145] S603: According to the deviation analysis results, the control parameters of the crawler turning are adjusted, the speed and torque settings of the crawler are updated in real time to correct the yaw angle and path deviation, the radius and stability of the tractor steering are optimized, and a parameter real-time adjustment record is generated;

[0146] In sub-step S603, based on the deviation analysis results, the speed and torque settings of the track are updated in real time to correct the yaw angle and path deviation. A real-time control algorithm and a dynamic adjustment system are used to ensure that the radius and stability of the tractor's steering are optimized. The parameter adjustment performed by the control unit is based on real-time data input and preset performance standards to ensure that each adjustment is accurate and timely. The adjusted parameters are verified by a real-time feedback system to ensure that the adjustment effect meets the operational requirements and generate a real-time parameter adjustment record.

[0147] See also Figure 8 A crawler tractor turning radius control system, the crawler tractor turning radius control system is used to execute the crawler tractor turning radius control method, the system comprises:

[0148] The crawler simulation analysis module simulates and analyzes the crawler behavior based on the tractor crawler size data, calculates the contact effect and stress distribution of the crawler on various terrains, and obtains crawler simulation data;

[0149] The tension analysis module is based on track simulation data. By analyzing the track tension changes, it evaluates the impact of differential tension on track stability and turning radius, and generates tension impact analysis data.

[0150] The terrain data acquisition module uses load sensors and terrain sensors based on the tension impact analysis data to collect the load data of the crawler tractor and the terrain data of the current working area in real time to generate the tractor workload data;

[0151] The turning control module calculates the compensation parameters of the track torque and speed required for turning based on the tractor workload data and the actual mechanical performance parameters of the tractor, and adjusts the turning control parameters according to the actual terrain and load conditions to obtain the control parameter calculation results;

[0152] The real-time turning monitoring module continuously monitors the actual turning behavior of the tractor in real time based on the control parameter calculation results, identifies the yaw angle and path deviation, adjusts the control parameters, and generates real-time parameter adjustment records.

[0153] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A method for controlling the turning radius of a crawler tractor, characterized in that: The following steps are involved: Based on the tractor track size data, simulate and analyze the behavior of tractor tracks on various terrains, calculate the contact effect and stress distribution of the tracks on various ground materials, and generate track behavior simulation results; Based on the track behavior simulation results, by calculating the influence of track tension changes on track stability and turning radius, analyzing the influence of various tensions on track performance, and generating tension evaluation data; Based on the tension evaluation data, using a load sensor and a terrain sensor, real-time collection of load data of the crawler tractor and terrain data of the current working area is performed to generate a real-time load and terrain data set; Using the real-time load and terrain data set, combined with the actual mechanical performance parameters of the tractor, the compensation parameters required for turning are calculated, including the torque and speed of the crawler, and the compensation parameter calculation results are generated; According to the calculation result of the compensation parameters, according to the actual terrain and load conditions, the control parameters required for the crawler tractor when turning are calculated, and the crawler turning control parameters are generated; Based on the crawler turning control parameters, the actual tractor's turning behavior is monitored in real time, the yaw angle and path deviation are identified, the turning parameters are adjusted in real time, and a parameter real-time adjustment record is generated; Among them, based on the tractor track size data, the behavior of the tractor track on various terrains is simulated and analyzed, the contact effect and stress distribution of the track on various ground materials are calculated, and the steps to generate the track behavior simulation results are as follows: Based on the tractor track size data, the movement data of tracks of various sizes on soil, sand, and rocks are collected to conduct mechanical analysis of the contact between the track and the ground, record the pressure and friction coefficient of the track on the ground of various materials, and generate track contact surface analysis data; Based on the track contact surface analysis data, the stress distribution of the track on various terrains is simulated, the stress deviation of the track caused by the terrain change is calculated, and the track stress distribution data is generated; Based on the track stress distribution data, the influence of various terrain and load conditions on the track behavior and performance is evaluated, the adaptability and operational performance of the track are analyzed, and the track behavior simulation results are generated.

2. The crawler tractor turning radius control method according to claim 1, characterized in that: The track behavior simulation results include the friction coefficient between the track and various ground materials, contact pressure distribution information, and track deformation data; the tension evaluation data include the track extension under various tension settings, the track sliding resistance data under various terrain conditions, and the evaluation results of the impact of tension on turning radius; the real-time load and terrain data set includes the terrain slope, soil compaction, and tractor load data of the tractor's current operating area; the compensation parameter calculation results include engine torque output data, track speed adjustment value, and steering torque demand data; the track turning control parameters include adjusted track speed, target turning radius, and torque distribution ratio information; the parameter real-time adjustment record includes real-time path deviation during track turning, yaw angle correction record, and real-time adjustment data of track speed and torque.

3. The crawler tractor turning radius control method according to claim 1, characterized in that: Based on the track behavior simulation results, by calculating the impact of track tension changes on track stability and turning radius, the impact of various tensions on track performance is analyzed, and the steps for generating tension evaluation data are specifically as follows: Using the track behavior simulation results, identifying the performance of the track under various tensions, recording the sliding, sinking and turning performance data of the track under various tensions, and generating track performance evaluation data; Based on the track performance evaluation data, simulate the changes in track stability and turning radius under various tensions, calculate the effects of various tension levels on track grip, sliding resistance and sinking depth, evaluate the relationship between track performance and tension, and generate relationship data calculation results; According to the calculation results of the relationship data, the influence of various tensions on the track performance is analyzed, including the optimal track tension settings under various terrain conditions, and the tension evaluation data is generated.

4. The crawler tractor turning radius control method according to claim 1, characterized in that: Based on the tension evaluation data, using load sensors and terrain sensors, real-time collection of the load data of the crawler tractor and the terrain data of the current working area, and generating the real-time load and terrain data set are specifically as follows: Based on the tension evaluation data, using a load sensor, real-time collection and recording of the load data of the tractor during actual operation to generate real-time load data; Based on the real-time load data, using a terrain sensor, soil hardness and ground slope information of the working area are collected to generate a terrain data collection record; Based on the terrain data collection records, the terrain data is formatted and standardized, the load data of the crawler is calculated, and a real-time load and terrain data set is generated.

5. The crawler tractor turning radius control method according to claim 1, characterized in that: The real-time load and terrain data set is used in combination with the actual mechanical performance parameters of the tractor to calculate the compensation parameters required for turning, including the torque and speed of the crawler. The steps for generating the compensation parameter calculation results are specifically as follows: Based on the real-time load and terrain data set, evaluate the mechanical performance of the tractor, including the actual output power of the engine and the efficiency of the transmission system, consider the wear of the machine, calculate the deviation between the actual output and the theoretical performance, and generate performance deviation data; Based on the performance deviation data, considering the workload and terrain conditions, analyzing the difference between the actual grip of the track and the designed grip, evaluating the performance of the track in actual work, and generating grip evaluation data; According to the grip evaluation data, taking into account the stability and accuracy of the tractor's turning operation, the torque and speed compensation parameters required by the crawler are calculated, and the compensation parameter calculation results are generated.

6. The crawler tractor turning radius control method according to claim 1, characterized in that: According to the calculation result of the compensation parameter, according to the actual terrain and load conditions, the control parameters required for the crawler tractor when turning are calculated, and the steps of generating the crawler turning control parameters are specifically as follows: According to the calculation result of the compensation parameter, using the crawler speed adjustment data, according to the working terrain and load state data, the speed parameters of the crawlers on both sides of the tractor are adjusted to generate a speed parameter configuration; In combination with the speed parameter configuration, according to the real-time ground slope and soil hardness information, the torque output of the crawler is adjusted to optimize the turning response and generate a torque parameter adjustment result; Based on the torque parameter adjustment result, the turning control parameters are adjusted and executed, and the adjustment effect and terrain adaptability are evaluated to generate the track turning control parameters.

7. The crawler tractor turning radius control method according to claim 1, characterized in that: Based on the crawler turning control parameters, the actual tractor's turning behavior is monitored in real time, the yaw angle and path deviation are identified, and the turning parameters are adjusted in real time. The steps of generating the parameter real-time adjustment record are as follows: Based on the crawler turning control parameters, real-time monitoring of the actual turning behavior of the tractor includes measuring the real-time yaw angle and path deviation, and generating turning behavior monitoring data; Based on the turning behavior monitoring data, the monitoring data is analyzed, and by analyzing and presetting the deviation of the turning path and angle, the turning parameter adjustment value is calculated to generate the deviation analysis result; According to the deviation analysis results, the control parameters of the track turning are adjusted, the speed and torque settings of the track are updated in real time to correct the yaw angle and path deviation, the radius and stability of the tractor steering are optimized, and the real-time parameter adjustment record is generated.

8. The crawler tractor turning radius control method according to claim 7, characterized in that: The specific formula for calculating the turning parameter adjustment value is: ， in, Represents the required turn parameter adjustment amount, which is used to correct the actual behavior of the turn to match the preset path and angle. Represents the actual turning angle, indicating the turning angle of the tractor in actual operation. Represents the preset turning angle, which indicates the target turning angle preset by the tractor control system. The difference between the two directly reflects the turning angle deviation. Represents the variance of the turning angle, which is used to evaluate the consistency between the predicted accuracy of the turning angle and the actual behavior. The angle adjustment coefficient adjusts the influence of the difference between the actual turning angle and the preset angle. Represents the actual turning speed, indicating the actual speed of the tractor when turning. represents the preset turning speed, which indicates the ideal turning speed set by the control system. The ratio of the two reflects the speed adaptability. Represents the variance of speed, which is used to evaluate the consistency of speed control and the accuracy of prediction, The speed ratio adjustment coefficient is used to adjust the ratio of the actual speed to the preset speed. is the error correction coefficient, which is used to integrate the influence of other unlisted error factors. Represents systematic error, which summarizes other error factors not directly accounted for by the model.

9. A crawler tractor turning radius control system, characterized in that: According to the crawler tractor turning radius control method according to any one of claims 1 to 8, the system comprises: The crawler simulation analysis module simulates and analyzes the crawler behavior based on the tractor crawler size data, calculates the contact effect and stress distribution of the crawler on various terrains, and obtains crawler simulation data; The tension analysis module analyzes the track tension change based on the track simulation data, evaluates the influence of the differential tension on the track stability and turning radius, and generates tension influence analysis data; The terrain data acquisition module collects the load data of the crawler tractor and the terrain data of the current working area in real time based on the tension influence analysis data, using a load sensor and a terrain sensor, and generates tractor working load data; The turning control module calculates the compensation parameters of the crawler torque and speed required for turning based on the tractor workload data and the actual mechanical performance parameters of the tractor, and adjusts the turning control parameters according to the actual terrain and load conditions to obtain the control parameter calculation results; The real-time turning monitoring module continuously monitors the actual turning behavior of the tractor in real time based on the control parameter calculation results, identifies the yaw angle and path deviation, adjusts the control parameters, and generates real-time parameter adjustment records.

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